Add asset kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8

.gitattributes

@@ -4595,3 +4595,7 @@ dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/mesh/spatula_
 dataset/kitchen_supplies/utensils/c1cb78b140be5616a016214ebf77c9a1/spatula_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/bottle_opener_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/mesh/bottle_opener_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/bottle_opener_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002.obj filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/bottle_opener_002.urdf

@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="bottle_opener_002">
+   <link name="bottle_opener_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/bottle_opener_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>bf1d8f268ab650d5bd10031847e198b8</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>utensils</super_category>
+         <category>bottle_opener</category>
+         <name>wing corkscrew</name>
+         <color>silver,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>metal wing corkscrew with black handles and spiral tip</description>
+         <min_height>0.1594</min_height>
+         <max_height>0.1594</max_height>
+         <real_height>0.1594</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428012701</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>20</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/bottle_opener_002.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93c2c92ab65e58bdc097913a8fd8ed82fb45f8ca944bd99c368e8a70cd00e528
+size 142445053

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e6913804a389b926d66af7a3b781512d041843394ef8d87423a5f525a182c89
+size 103111776

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.mtl

@@ -0,0 +1,6 @@
+newmtl bottle_opener_002_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/bf1d8f268ab650d5bd10031847e198b8/mesh/bottle_opener_002.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37ed937f615381d5282ffca8453541e39f1ae290387e26b28b98464657d45e08
+size 116839486

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mesh/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl bottle_opener_002_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_002_geometry_Looks_material_0.png

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/bottle_opener_002.xml

@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bottle_opener_002">
+  <asset>
+    <material name="material_0" texture="texture_0_bottle_opener_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_bottle_opener_002_geometry_Looks_material_0" type="2d" file="mesh/bottle_opener_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/bottle_opener_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/bottle_opener_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/bottle_opener_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/bottle_opener_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/bottle_opener_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/bottle_opener_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/bottle_opener_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/bottle_opener_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/bottle_opener_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/bottle_opener_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/bottle_opener_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/bottle_opener_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/bottle_opener_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/bottle_opener_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/bottle_opener_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/bottle_opener_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/bottle_opener_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/bottle_opener_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/bottle_opener_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/bottle_opener_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/bottle_opener_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/bottle_opener_002_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/bottle_opener_002_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/bottle_opener_002_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/bottle_opener_002_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/bottle_opener_002_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/bottle_opener_002_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/bottle_opener_002_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/bottle_opener_002_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/bottle_opener_002_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/bottle_opener_002_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/bottle_opener_002_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="bottle_opener_002">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206efff2a4025a8573b19ca088645eb001840fa09fafb5367243875f13a7b9d1
+size 111760703

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_0.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.00133509 0.00814126 0.06374152
+v -0.00193927 0.00810772 0.06374152
+v -0.01688166 0.00559085 0.07466190
+v 0.01679892 0.00558765 0.07466190
+v 0.00125235 0.00813807 0.06374152
+v -0.00430781 0.00780749 0.06374152
+v -0.01770473 0.00547746 0.07466190
+v 0.01897920 0.00520118 0.07466190
+v 0.00384418 0.00785860 0.06374152
+v -0.00528850 0.00753760 0.06374152
+v -0.01880801 0.00516765 0.07386233
+v -0.01905318 0.00520118 0.07466190
+v 0.01953084 0.00505905 0.07466190
+v 0.00521889 0.00754718 0.06374152
+v -0.00628232 0.00623766 0.06374151
+v -0.01829140 0.00264283 0.06981527
+v -0.01564266 0.00499997 0.06986766
+v -0.01831329 0.00502871 0.07241604
+v -0.02032283 0.00469813 0.07466190
+v 0.02025322 0.00470772 0.07466190
+v 0.01823493 0.00503031 0.07241176
+v 0.01873403 0.00516765 0.07386233
+v 0.00542466 0.00733159 0.06374152
+v 0.01556430 0.00500157 0.06986338
+v 0.01821741 0.00265561 0.06980779
+v -0.00789346 0.00378470 0.06374150
+v -0.01501659 0.00122632 0.06757902
+v -0.01688166 0.00122632 0.06873455
+v -0.01839647 0.00122631 0.06973616
+v -0.01969238 0.00122631 0.07086177
+v -0.02094014 0.00276898 0.07233799
+v -0.01916701 0.00354034 0.07149673
+v -0.01736762 0.00431008 0.07065548
+v -0.00872091 0.00122634 0.06374149
+v -0.02010392 0.00452726 0.07386233
+v -0.02136919 0.00327682 0.07386232
+v -0.02153993 0.00339500 0.07466189
+v 0.02002994 0.00453844 0.07386233
+v 0.02095809 0.00401143 0.07466189
+v 0.02085740 0.00278016 0.07233051
+v 0.01908865 0.00355151 0.07149032
+v 0.01728926 0.00432285 0.07065120
+v 0.00653670 0.00583522 0.06374151
+v 0.01962278 0.00122631 0.07085001
+v 0.01832687 0.00122631 0.06972547
+v 0.01679892 0.00122632 0.06871745
+v 0.01493385 0.00122632 0.06757367
+v 0.00868196 0.00122634 0.06374149
+v 0.00803400 0.00316508 0.06374150
+v -0.01502097 -0.00127454 0.06757581
+v -0.01688166 -0.00127454 0.06872814
+v -0.01840085 -0.00127455 0.06973402
+v -0.01969676 -0.00127455 0.07086177
+v -0.02107148 0.00122630 0.07218192
+v -0.02206093 0.00122630 0.07386231
+v -0.02238928 0.00122630 0.07466188
+v -0.00872529 -0.00094555 0.06374149
+v 0.02129520 0.00328641 0.07386232
+v 0.02146595 0.00340937 0.07466189
+v 0.02186436 0.00259172 0.07466189
+v 0.02233281 0.00122630 0.07466188
+v 0.02200008 0.00122630 0.07386231
+v 0.02099312 0.00122630 0.07217016
+v 0.01962278 -0.00127455 0.07085108
+v 0.01832687 -0.00127455 0.06972547
+v 0.01679892 -0.00127454 0.06871852
+v 0.00867758 -0.00127452 0.06374149
+v -0.01829578 -0.00269746 0.06981204
+v -0.00872529 -0.00127452 0.06374149
+v -0.02094014 -0.00281725 0.07233797
+v -0.02107148 -0.00127456 0.07218192
+v -0.02206093 -0.00127456 0.07386231
+v -0.02238490 -0.00127456 0.07466188
+v 0.02233719 -0.00127456 0.07466188
+v 0.02200008 -0.00127456 0.07386231
+v 0.02099312 -0.00127456 0.07217123
+v 0.02085740 -0.00282842 0.07233156
+v 0.01821741 -0.00270545 0.06980777
+v 0.00784136 -0.00384566 0.06374148
+v -0.01564704 -0.00504821 0.06986441
+v -0.01737638 -0.00436471 0.07064902
+v -0.01917139 -0.00359177 0.07149351
+v -0.00807734 -0.00322444 0.06374148
+v -0.00657565 -0.00588340 0.06374147
+v -0.00548113 -0.00735422 0.06374146
+v -0.00527537 -0.00757141 0.06374146
+v -0.01831767 -0.00507697 0.07240959
+v -0.02012144 -0.00458031 0.07386229
+v -0.02136919 -0.00332828 0.07386230
+v -0.02192083 -0.00265755 0.07466187
+v 0.02147471 -0.00347041 0.07466187
+v 0.02129520 -0.00334585 0.07386230
+v 0.02007372 -0.00459788 0.07386229
+v 0.01825244 -0.00508496 0.07239141
+v 0.01910179 -0.00360135 0.07148068
+v 0.01731991 -0.00437429 0.07063085
+v 0.01559057 -0.00505939 0.06984624
+v 0.00521014 -0.00758738 0.06374146
+v 0.00622147 -0.00628425 0.06374147
+v -0.00392692 -0.00787803 0.06374146
+v -0.01907507 -0.00525264 0.07466186
+v -0.01964423 -0.00510572 0.07466186
+v -0.01882552 -0.00521750 0.07386229
+v -0.02034910 -0.00475917 0.07466186
+v -0.02103208 -0.00407726 0.07466187
+v -0.02154431 -0.00344805 0.07466187
+v 0.02031014 -0.00478153 0.07466186
+v 0.01877781 -0.00522709 0.07386229
+v 0.00422945 -0.00784609 0.06374146
+v 0.01902298 -0.00526382 0.07466186
+v -0.00133509 -0.00817347 0.06374146
+v -0.01688166 -0.00564230 0.07466186
+v 0.01765702 -0.00553690 0.07466186
+v 0.01679892 -0.00564869 0.07466186
+v 0.00186528 -0.00813514 0.06374146
+v 0.00125235 -0.00816708 0.06374146
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 23
+f 1 23 43
+f 1 43 49
+f 1 49 48
+f 1 48 67
+f 1 67 79
+f 1 79 99
+f 1 99 98
+f 1 98 109
+f 1 109 115
+f 1 115 116
+f 1 116 111
+f 1 111 100
+f 1 100 86
+f 1 86 85
+f 1 85 84
+f 1 84 83
+f 1 83 69
+f 1 69 57
+f 1 57 34
+f 1 34 26
+f 1 26 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 12
+f 3 12 19
+f 3 19 37
+f 3 37 56
+f 3 56 73
+f 3 73 90
+f 3 90 106
+f 3 106 105
+f 3 105 104
+f 3 104 102
+f 3 102 101
+f 3 101 112
+f 3 112 114
+f 3 114 113
+f 3 113 110
+f 3 110 107
+f 3 107 91
+f 3 91 74
+f 3 74 61
+f 3 61 60
+f 3 60 59
+f 3 59 39
+f 3 39 20
+f 3 20 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 21
+f 14 21 24
+f 14 24 25
+f 14 25 23
+f 15 26 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 16 26 34
+f 16 34 27
+f 17 33 18
+f 18 33 32
+f 18 32 31
+f 18 31 35
+f 18 35 19
+f 19 35 36
+f 19 36 37
+f 20 38 21
+f 20 39 38
+f 21 38 40
+f 21 40 41
+f 21 41 42
+f 21 42 24
+f 23 25 43
+f 24 42 25
+f 25 42 41
+f 25 41 40
+f 25 40 44
+f 25 44 45
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 49
+f 25 49 43
+f 27 50 51
+f 27 51 28
+f 27 34 50
+f 28 51 29
+f 29 51 52
+f 29 52 30
+f 30 53 54
+f 30 54 31
+f 30 52 53
+f 31 54 55
+f 31 55 56
+f 31 56 36
+f 31 36 35
+f 34 57 50
+f 36 56 37
+f 38 39 58
+f 38 58 40
+f 39 59 58
+f 40 58 60
+f 40 60 61
+f 40 61 62
+f 40 62 63
+f 40 63 44
+f 44 63 76
+f 44 76 64
+f 44 64 65
+f 44 65 45
+f 45 65 46
+f 46 65 66
+f 46 66 47
+f 47 66 48
+f 48 66 67
+f 50 68 51
+f 50 57 69
+f 50 69 68
+f 51 68 52
+f 52 68 53
+f 53 70 71
+f 53 71 54
+f 53 68 70
+f 54 71 72
+f 54 72 55
+f 55 72 56
+f 56 72 73
+f 58 59 60
+f 61 74 62
+f 62 74 75
+f 62 75 63
+f 63 75 76
+f 64 76 77
+f 64 77 78
+f 64 78 65
+f 65 78 66
+f 66 78 67
+f 67 78 79
+f 68 80 81
+f 68 81 82
+f 68 82 70
+f 68 69 83
+f 68 83 84
+f 68 84 85
+f 68 85 86
+f 68 86 80
+f 70 82 87
+f 70 87 88
+f 70 88 89
+f 70 89 90
+f 70 90 73
+f 70 73 72
+f 70 72 71
+f 74 91 92
+f 74 92 77
+f 74 77 75
+f 75 77 76
+f 77 93 94
+f 77 94 95
+f 77 95 78
+f 77 92 93
+f 78 95 96
+f 78 96 97
+f 78 97 98
+f 78 98 99
+f 78 99 79
+f 80 87 81
+f 80 86 87
+f 81 87 82
+f 86 100 101
+f 86 101 102
+f 86 102 103
+f 86 103 87
+f 87 103 102
+f 87 102 104
+f 87 104 88
+f 88 104 105
+f 88 105 89
+f 89 106 90
+f 89 105 106
+f 91 107 92
+f 92 107 93
+f 93 107 94
+f 94 97 96
+f 94 96 95
+f 94 107 108
+f 94 108 98
+f 94 98 97
+f 98 108 110
+f 98 110 109
+f 100 111 112
+f 100 112 101
+f 107 110 108
+f 109 113 114
+f 109 114 115
+f 109 110 113
+f 111 116 114
+f 111 114 112
+f 114 116 115
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_1.obj

@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
+v 0.04410555 0.00064277 -0.04496400
+v 0.04410555 -0.00069196 -0.04496400
+v 0.04409233 0.00051691 -0.04760665
+v 0.04405706 0.00029404 -0.05443244
+v 0.04391158 0.00189360 -0.04496399
+v 0.04387852 0.00163398 -0.04232559
+v 0.04406588 0.00038316 -0.04232560
+v 0.04391158 -0.00194279 -0.04496401
+v 0.04405706 -0.00035628 -0.05443244
+v 0.04409233 -0.00056740 -0.04760665
+v 0.04406588 -0.00043106 -0.04232560
+v 0.04387852 -0.00168188 -0.04232561
+v 0.04362945 -0.00122425 -0.05539843
+v 0.04362063 0.00116726 -0.05539843
+v 0.04388072 0.00176773 -0.04760664
+v 0.04295495 0.00372919 -0.04496399
+v 0.04294834 0.00372918 -0.04232559
+v 0.04279405 0.00372917 -0.03968294
+v 0.04247223 0.00372916 -0.03704880
+v 0.04377272 0.00105052 -0.03985743
+v 0.04402400 0.00009863 -0.04085321
+v 0.04294173 -0.00377577 -0.04232561
+v 0.04294834 -0.00377576 -0.04496401
+v 0.04388293 -0.00181823 -0.04760666
+v 0.04402400 -0.00014655 -0.04085321
+v 0.04377272 -0.00109844 -0.03985743
+v 0.04246782 -0.00377579 -0.03704882
+v 0.04278964 -0.00377578 -0.03968296
+v 0.04228267 -0.00390684 -0.05552185
+v 0.04191897 -0.00316079 -0.05734319
+v 0.04230250 -0.00127407 -0.05772193
+v 0.04229589 0.00122758 -0.05771341
+v 0.04191015 0.00310513 -0.05733466
+v 0.04227165 0.00385509 -0.05551332
+v 0.04282050 0.00372919 -0.04760664
+v 0.04175365 0.00524486 -0.04496398
+v 0.04178011 0.00528025 -0.04232558
+v 0.04157291 0.00509936 -0.05462391
+v 0.04172941 0.00525402 -0.03968293
+v 0.04159054 0.00514519 -0.03704879
+v 0.04147152 0.00503766 -0.03544448
+v 0.04334730 0.00122751 -0.03704881
+v 0.04194101 0.00385371 -0.03449977
+v 0.04334951 -0.00127414 -0.03704881
+v 0.04177349 -0.00531897 -0.04232562
+v 0.04172059 -0.00529407 -0.03968297
+v 0.04174704 -0.00528356 -0.04496402
+v 0.04157732 -0.00514718 -0.05463672
+v 0.04281829 -0.00377576 -0.04760666
+v 0.04194322 -0.00389904 -0.03450830
+v 0.04146931 -0.00508038 -0.03545728
+v 0.04158614 -0.00518526 -0.03704883
+v 0.04092046 -0.00482856 -0.05639424
+v 0.04008065 -0.00390683 -0.05766661
+v 0.03987346 -0.00104199 -0.05904963
+v 0.03987346 0.00099421 -0.05904112
+v 0.04007625 0.00385510 -0.05766233
+v 0.04091164 0.00477289 -0.05638143
+v 0.04012033 0.00598040 -0.04232558
+v 0.04012033 0.00601841 -0.03968293
+v 0.04007625 0.00532094 -0.05551331
+v 0.04012033 0.00585979 -0.04496398
+v 0.04012033 0.00594498 -0.03704879
+v 0.04029006 0.00563685 -0.03449976
+v 0.03970153 0.00563160 -0.03176775
+v 0.04126873 0.00477149 -0.03368271
+v 0.04168973 0.00304079 -0.03176776
+v 0.04281168 0.00122750 -0.03440616
+v 0.04281388 -0.00127415 -0.03440616
+v 0.04169634 -0.00309533 -0.03176778
+v 0.04012033 -0.00600863 -0.04232562
+v 0.04012033 -0.00605060 -0.03968297
+v 0.04012033 -0.00597456 -0.03704883
+v 0.04008065 -0.00536745 -0.05552186
+v 0.04012033 -0.00588538 -0.04496402
+v 0.04126873 -0.00481554 -0.03369551
+v 0.03969933 -0.00567171 -0.03176779
+v 0.04029006 -0.00567432 -0.03450831
+v 0.03919236 -0.00512356 -0.05697723
+v 0.03850464 -0.00512356 -0.05697723
+v 0.03759650 -0.00387012 -0.05764108
+v 0.03880441 -0.00005339 -0.05949646
+v 0.03884629 -0.00005339 -0.05949646
+v 0.03884629 0.00000561 -0.05949646
+v 0.03880441 0.00000561 -0.05949646
+v 0.03759650 0.00382232 -0.05763680
+v 0.03850464 0.00507708 -0.05697719
+v 0.03918574 0.00507708 -0.05697719
+v 0.03752817 0.00648779 -0.03704879
+v 0.03752817 0.00660447 -0.03440614
+v 0.03752817 0.00655595 -0.03176775
+v 0.03759650 0.00529865 -0.05543671
+v 0.03752817 0.00624913 -0.02912509
+v 0.03925628 0.00534838 -0.02912509
+v 0.03894989 0.00509926 -0.02752504
+v 0.04099761 0.00429162 -0.03176775
+v 0.04147152 0.00260286 -0.03028259
+v 0.04212617 0.00122749 -0.03176777
+v 0.04213278 -0.00127416 -0.03176777
+v 0.04147813 -0.00266135 -0.03026559
+v 0.04099540 -0.00434615 -0.03176779
+v 0.03752817 -0.00662490 -0.03440618
+v 0.03752817 -0.00651082 -0.03704883
+v 0.03752817 -0.00658164 -0.03176779
+v 0.03759650 -0.00534253 -0.05543675
+v 0.03895209 -0.00514728 -0.02751656
+v 0.03925848 -0.00539245 -0.02912513
+v 0.03752817 -0.00628140 -0.02912513
+v 0.03579786 -0.00310048 -0.05729639
+v 0.03677653 -0.00476825 -0.05625380
+v 0.03777504 -0.00104199 -0.05899005
+v 0.03777504 0.00099421 -0.05899005
+v 0.03580447 0.00305137 -0.05729211
+v 0.03677874 0.00471914 -0.05625376
+v 0.03493601 0.00668705 -0.02912509
+v 0.03493601 0.00659658 -0.02648670
+v 0.03612849 0.00506133 -0.05449625
+v 0.02975610 0.00633039 -0.02120565
+v 0.03234826 0.00643793 -0.02648670
+v 0.03493601 0.00611407 -0.02384404
+v 0.03759650 0.00562633 -0.02658032
+v 0.04056999 0.00355344 -0.02929107
+v 0.03666853 0.00529461 -0.02384404
+v 0.03626956 0.00501270 -0.02246527
+v 0.03850464 0.00455119 -0.02576327
+v 0.03939514 0.00372125 -0.02658033
+v 0.03904467 0.00288343 -0.02475473
+v 0.04025699 0.00122747 -0.02648672
+v 0.04112105 0.00122748 -0.02863573
+v 0.04158172 0.00122748 -0.02995493
+v 0.04158614 -0.00127417 -0.02994217
+v 0.04112325 -0.00127417 -0.02862297
+v 0.04026361 -0.00127418 -0.02648672
+v 0.03904908 -0.00293540 -0.02474198
+v 0.03940176 -0.00377189 -0.02657609
+v 0.04057440 -0.00360799 -0.02928258
+v 0.03493601 -0.00670752 -0.02912513
+v 0.03493601 -0.00663279 -0.02648674
+v 0.03613070 -0.00510653 -0.05449203
+v 0.03234826 -0.00647415 -0.02648674
+v 0.02975610 -0.00636010 -0.02120569
+v 0.03850905 -0.00460447 -0.02575905
+v 0.03628058 -0.00506732 -0.02245255
+v 0.03667955 -0.00534658 -0.02384408
+v 0.03759871 -0.00567042 -0.02657610
+v 0.03493601 -0.00616604 -0.02384408
+v 0.03550249 -0.00387013 -0.05543674
+v 0.03431663 -0.00127408 -0.05553035
+v 0.03545400 -0.00127407 -0.05764958
+v 0.03546062 0.00122758 -0.05764958
+v 0.03432544 0.00122757 -0.05553035
+v 0.03550691 0.00382231 -0.05543672
+v 0.03234826 0.00658870 -0.02384404
+v 0.03234826 0.00630548 -0.02120565
+v 0.02207000 0.00339081 -0.01602675
+v 0.02213171 0.00343670 -0.01602675
+v 0.02765769 0.00552011 -0.02120565
+v 0.02975610 0.00603540 -0.02384404
+v 0.02468199 0.00458656 -0.01602674
+v 0.02716394 0.00489206 -0.01602674
+v 0.02726974 0.00490386 -0.01602674
+v 0.02954229 0.00555681 -0.01830767
+v 0.03391325 0.00517921 -0.01948644
+v 0.03484123 0.00541129 -0.02143545
+v 0.03670600 0.00372910 -0.02182696
+v 0.03797563 0.00372124 -0.02386108
+v 0.03445108 0.00370811 -0.01858854
+v 0.03578464 0.00372910 -0.02050776
+v 0.03622768 0.00245204 -0.01989072
+v 0.03853109 0.00122745 -0.02303553
+v 0.03925628 0.00122746 -0.02435472
+v 0.03925848 -0.00127419 -0.02434621
+v 0.03853329 -0.00127420 -0.02302702
+v 0.03623209 -0.00252503 -0.01988223
+v 0.03662003 -0.00352542 -0.02142271
+v 0.03798444 -0.00377190 -0.02385684
+v 0.03234826 -0.00663018 -0.02384408
+v 0.03234826 -0.00634699 -0.02120569
+v 0.02975610 -0.00607557 -0.02384408
+v 0.02766209 -0.00555899 -0.02120569
+v 0.02206559 -0.00344415 -0.01602677
+v 0.02955993 -0.00559571 -0.01831197
+v 0.02716394 -0.00493622 -0.01602678
+v 0.02457619 -0.00458484 -0.01602678
+v 0.03564797 -0.00419279 -0.02069078
+v 0.03475527 -0.00355034 -0.01880134
+v 0.03391987 -0.00522991 -0.01947797
+v 0.03484564 -0.00546721 -0.02142272
+v 0.02186280 -0.00310063 -0.01602677
+v 0.02158948 -0.00262993 -0.01602677
+v 0.02158948 -0.00127422 -0.01700552
+v 0.02158948 0.00122743 -0.01700126
+v 0.02158948 -0.00234935 -0.01626933
+v 0.02158948 -0.00165838 -0.01684382
+v 0.02158948 0.00268673 -0.01602675
+v 0.03125717 0.00505857 -0.01706507
+v 0.03221160 0.00545455 -0.01858853
+v 0.02949600 0.00469276 -0.01602674
+v 0.03298087 0.00452757 -0.01772467
+v 0.03386256 0.00285980 -0.01700551
+v 0.03637757 0.00078428 -0.01969072
+v 0.03712039 0.00146214 -0.02094182
+v 0.03553335 0.00146213 -0.01871195
+v 0.03734522 -0.00127420 -0.02120567
+v 0.03634010 -0.00127421 -0.01973753
+v 0.03536143 -0.00127421 -0.01841833
+v 0.03386256 -0.00290789 -0.01700553
+v 0.03220719 -0.00549869 -0.01858432
+v 0.03125056 -0.00510143 -0.01706937
+v 0.02868485 -0.00480904 -0.01602678
+v 0.03297646 -0.00457565 -0.01772046
+v 0.03205510 0.00369761 -0.01602675
+v 0.03210359 0.00364648 -0.01602675
+v 0.03317043 0.00180040 -0.01602675
+v 0.03330710 0.00122743 -0.01602676
+v 0.03406535 0.00122743 -0.01681402
+v 0.03406535 -0.00127422 -0.01681402
+v 0.03330489 -0.00127422 -0.01602676
+v 0.03209698 -0.00368933 -0.01602677
+v 0.02956654 -0.00471071 -0.01602678
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 2
+f 2 8 9
+f 2 9 10
+f 2 11 12
+f 2 12 8
+f 3 10 9
+f 3 9 4
+f 4 9 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 16 17
+f 5 17 6
+f 5 15 16
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 25
+f 7 25 11
+f 8 12 22
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 9 24 13
+f 11 25 12
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 22
+f 13 29 30
+f 13 30 31
+f 13 31 14
+f 13 24 29
+f 14 31 32
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 34 35
+f 15 35 16
+f 16 36 37
+f 16 37 17
+f 16 35 38
+f 16 38 36
+f 17 37 39
+f 17 39 18
+f 18 39 40
+f 18 40 41
+f 18 41 19
+f 19 42 20
+f 19 41 43
+f 19 43 42
+f 20 42 21
+f 21 42 44
+f 21 44 25
+f 22 45 23
+f 22 28 46
+f 22 46 45
+f 23 47 48
+f 23 48 49
+f 23 49 24
+f 23 45 47
+f 24 49 29
+f 25 44 26
+f 26 44 27
+f 27 44 50
+f 27 50 51
+f 27 51 28
+f 28 51 52
+f 28 52 46
+f 29 48 53
+f 29 53 30
+f 29 49 48
+f 30 53 54
+f 30 54 55
+f 30 55 31
+f 31 55 56
+f 31 56 32
+f 32 56 33
+f 33 56 57
+f 33 57 58
+f 33 58 34
+f 34 58 38
+f 34 38 35
+f 36 59 37
+f 36 38 59
+f 37 59 60
+f 37 60 39
+f 38 58 61
+f 38 61 62
+f 38 62 59
+f 39 60 63
+f 39 63 40
+f 40 63 64
+f 40 64 41
+f 41 64 65
+f 41 65 66
+f 41 66 43
+f 42 43 67
+f 42 67 68
+f 42 68 69
+f 42 69 44
+f 43 66 67
+f 44 69 70
+f 44 70 50
+f 45 71 47
+f 45 46 72
+f 45 72 71
+f 46 52 73
+f 46 73 72
+f 47 71 48
+f 48 74 53
+f 48 71 75
+f 48 75 74
+f 50 76 51
+f 50 70 76
+f 51 76 77
+f 51 77 78
+f 51 78 52
+f 52 78 73
+f 53 79 54
+f 53 74 79
+f 54 79 80
+f 54 80 81
+f 54 81 55
+f 55 82 83
+f 55 83 84
+f 55 84 56
+f 55 81 82
+f 56 84 85
+f 56 85 86
+f 56 86 57
+f 57 86 87
+f 57 87 88
+f 57 88 58
+f 58 88 61
+f 59 62 89
+f 59 89 90
+f 59 90 60
+f 60 90 91
+f 60 91 63
+f 61 88 87
+f 61 87 92
+f 61 92 89
+f 61 89 62
+f 63 91 64
+f 64 91 65
+f 65 91 93
+f 65 93 94
+f 65 94 66
+f 66 94 95
+f 66 95 96
+f 66 96 67
+f 67 96 97
+f 67 97 68
+f 68 97 98
+f 68 98 99
+f 68 99 69
+f 69 99 100
+f 69 100 70
+f 70 100 101
+f 70 101 76
+f 71 72 102
+f 71 102 103
+f 71 103 75
+f 72 73 104
+f 72 104 102
+f 73 78 104
+f 74 105 80
+f 74 80 79
+f 74 75 103
+f 74 103 105
+f 76 101 106
+f 76 106 107
+f 76 107 77
+f 77 107 108
+f 77 108 104
+f 77 104 78
+f 80 109 81
+f 80 105 110
+f 80 110 109
+f 81 109 111
+f 81 111 82
+f 82 85 84
+f 82 84 83
+f 82 111 112
+f 82 112 85
+f 85 112 86
+f 86 113 87
+f 86 112 113
+f 87 113 114
+f 87 114 92
+f 89 92 115
+f 89 115 90
+f 90 115 91
+f 91 115 116
+f 91 116 93
+f 92 114 117
+f 92 117 118
+f 92 118 119
+f 92 119 115
+f 93 116 120
+f 93 120 121
+f 93 121 94
+f 94 121 95
+f 95 122 96
+f 95 121 123
+f 95 123 124
+f 95 124 125
+f 95 125 126
+f 95 126 122
+f 96 122 97
+f 97 122 126
+f 97 126 127
+f 97 127 128
+f 97 128 129
+f 97 129 130
+f 97 130 98
+f 98 130 131
+f 98 131 99
+f 99 131 100
+f 100 131 132
+f 100 132 133
+f 100 133 134
+f 100 134 135
+f 100 135 136
+f 100 136 101
+f 101 136 106
+f 102 104 137
+f 102 137 103
+f 103 137 105
+f 104 108 138
+f 104 138 137
+f 105 139 110
+f 105 137 140
+f 105 140 141
+f 105 141 139
+f 106 135 142
+f 106 142 143
+f 106 143 144
+f 106 144 145
+f 106 145 107
+f 106 136 135
+f 107 145 108
+f 108 145 146
+f 108 146 138
+f 109 110 139
+f 109 139 147
+f 109 147 148
+f 109 148 149
+f 109 149 111
+f 111 149 112
+f 112 149 150
+f 112 150 113
+f 113 150 151
+f 113 151 152
+f 113 152 117
+f 113 117 114
+f 115 119 153
+f 115 153 116
+f 116 153 154
+f 116 154 120
+f 117 152 155
+f 117 155 156
+f 117 156 157
+f 117 157 158
+f 117 158 118
+f 118 157 159
+f 118 159 160
+f 118 160 161
+f 118 161 162
+f 118 162 154
+f 118 154 153
+f 118 153 119
+f 118 158 157
+f 120 123 121
+f 120 154 163
+f 120 163 164
+f 120 164 123
+f 123 164 124
+f 124 165 166
+f 124 166 125
+f 124 164 163
+f 124 163 167
+f 124 167 168
+f 124 168 165
+f 125 166 127
+f 125 127 126
+f 127 166 165
+f 127 165 169
+f 127 169 170
+f 127 170 171
+f 127 171 128
+f 128 171 133
+f 128 133 132
+f 128 132 129
+f 129 132 131
+f 129 131 130
+f 133 171 172
+f 133 172 134
+f 134 142 135
+f 134 172 173
+f 134 173 174
+f 134 174 175
+f 134 175 176
+f 134 176 142
+f 137 138 177
+f 137 177 140
+f 138 146 178
+f 138 178 177
+f 139 141 179
+f 139 179 180
+f 139 180 181
+f 139 181 147
+f 140 177 141
+f 141 178 182
+f 141 182 183
+f 141 183 184
+f 141 184 180
+f 141 180 179
+f 141 177 178
+f 142 176 143
+f 143 176 175
+f 143 175 174
+f 143 174 185
+f 143 185 186
+f 143 186 187
+f 143 187 188
+f 143 188 144
+f 144 188 146
+f 144 146 145
+f 146 188 187
+f 146 187 178
+f 147 181 189
+f 147 189 190
+f 147 190 148
+f 148 191 192
+f 148 192 151
+f 148 151 150
+f 148 150 149
+f 148 190 193
+f 148 193 194
+f 148 194 191
+f 151 192 195
+f 151 195 152
+f 152 195 155
+f 154 162 196
+f 154 196 197
+f 154 197 163
+f 155 195 190
+f 155 190 189
+f 155 189 181
+f 155 181 184
+f 155 184 183
+f 155 183 210
+f 155 210 220
+f 155 220 219
+f 155 219 218
+f 155 218 215
+f 155 215 214
+f 155 214 213
+f 155 213 212
+f 155 212 198
+f 155 198 161
+f 155 161 160
+f 155 160 159
+f 155 159 156
+f 156 159 157
+f 161 198 196
+f 161 196 162
+f 163 197 196
+f 163 196 199
+f 163 199 200
+f 163 200 167
+f 165 168 169
+f 167 169 168
+f 167 200 169
+f 169 201 202
+f 169 202 170
+f 169 200 203
+f 169 203 201
+f 170 173 172
+f 170 172 171
+f 170 202 201
+f 170 201 173
+f 173 201 204
+f 173 204 174
+f 174 204 205
+f 174 205 206
+f 174 206 207
+f 174 207 186
+f 174 186 185
+f 178 187 208
+f 178 208 209
+f 178 209 182
+f 180 184 181
+f 182 209 183
+f 183 209 210
+f 186 207 187
+f 187 207 211
+f 187 211 209
+f 187 209 208
+f 190 195 192
+f 190 192 191
+f 190 191 194
+f 190 194 193
+f 196 198 212
+f 196 212 199
+f 199 212 200
+f 200 212 213
+f 200 213 214
+f 200 214 215
+f 200 215 216
+f 200 216 203
+f 201 205 204
+f 201 203 216
+f 201 216 206
+f 201 206 205
+f 206 216 217
+f 206 217 207
+f 207 217 218
+f 207 218 219
+f 207 219 211
+f 209 211 219
+f 209 219 220
+f 209 220 210
+f 215 218 217
+f 215 217 216
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_10.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02069825 -0.00263056 -0.01701353
+v 0.02069825 -0.00263056 -0.01601353
+v 0.02069825 0.00268777 -0.01701353
+v 0.02069825 0.00268777 -0.01601353
+v 0.02169825 -0.00263056 -0.01701353
+v 0.02169825 -0.00263056 -0.01601353
+v 0.02169825 0.00268777 -0.01701353
+v 0.02169825 0.00268777 -0.01601353
+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/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_11.obj

@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v 0.00125361 -0.02060590 -0.03968625
+v 0.00384391 -0.02029459 -0.03968624
+v 0.00125361 -0.02055742 -0.03704402
+v -0.00133668 -0.02055585 -0.03704402
+v -0.00133668 -0.02060121 -0.03968625
+v -0.00133668 -0.02058555 -0.04232642
+v 0.00125361 -0.02058712 -0.04232642
+v 0.00409668 -0.02023200 -0.04250379
+v 0.00429669 -0.02019759 -0.04236353
+v 0.00517038 -0.02004585 -0.04174475
+v 0.00429669 -0.02021167 -0.03968624
+v 0.00516379 -0.02004429 -0.03817227
+v 0.00429669 -0.02017570 -0.03742972
+v 0.00401755 -0.02021794 -0.03719252
+v 0.00327024 -0.02016789 -0.03534852
+v 0.00125361 -0.02027427 -0.03505769
+v -0.00374235 -0.02025549 -0.03725440
+v -0.00374235 -0.02030554 -0.03968624
+v -0.00133668 -0.02027271 -0.03506181
+v -0.00333463 -0.02016633 -0.03535265
+v -0.00374235 -0.02019136 -0.03639634
+v -0.00374235 -0.02028050 -0.04221709
+v -0.00349288 -0.02019132 -0.04496451
+v -0.00133668 -0.02042285 -0.04496452
+v 0.00125361 -0.02042911 -0.04496452
+v 0.00345817 -0.02019601 -0.04496451
+v 0.00512972 -0.02003489 -0.04350417
+v 0.00619463 -0.01971732 -0.04250379
+v 0.00647597 -0.01963911 -0.03968417
+v 0.00518137 -0.02004898 -0.03968417
+v 0.00619024 -0.01967979 -0.03719252
+v 0.00499784 -0.02000989 -0.03641491
+v 0.00429669 -0.02007403 -0.03597969
+v 0.00643421 -0.01906343 -0.03440590
+v 0.00401755 -0.01970483 -0.03444096
+v 0.00384391 -0.01868016 -0.03176573
+v 0.00125361 -0.01978776 -0.03373348
+v -0.00133668 -0.01978619 -0.03373967
+v -0.00374235 -0.01869268 -0.03176573
+v -0.00374235 -0.01991290 -0.03486586
+v -0.00374235 -0.02020384 -0.04394145
+v -0.00374235 -0.02016786 -0.04467574
+v -0.00374235 -0.02013813 -0.04496451
+v -0.00374235 -0.02001611 -0.04576275
+v -0.00295438 -0.02009120 -0.04636092
+v -0.00133668 -0.02015690 -0.04644342
+v 0.00125361 -0.02016159 -0.04645167
+v 0.00290868 -0.02009745 -0.04636710
+v 0.00429669 -0.02002393 -0.04496451
+v 0.00475497 -0.01992850 -0.04496451
+v 0.00643421 -0.01941851 -0.04496451
+v 0.00748483 -0.01910877 -0.04389607
+v 0.00748483 -0.01923236 -0.04242335
+v 0.00748483 -0.01924644 -0.03968417
+v 0.00748483 -0.01922142 -0.03864048
+v 0.00748483 -0.01917919 -0.03712445
+v 0.00748483 -0.01865043 -0.03443065
+v 0.00748483 -0.01824370 -0.03332508
+v 0.00636277 -0.01801843 -0.03177192
+v 0.00545172 -0.01764142 -0.03023731
+v 0.00429669 -0.01856127 -0.03176573
+v 0.00429669 -0.01777439 -0.02997537
+v 0.00384391 -0.01782445 -0.02987636
+v 0.00125361 -0.01799966 -0.02953190
+v 0.00125361 -0.01900243 -0.03176573
+v -0.00133668 -0.01899930 -0.03176573
+v -0.00374235 -0.01862072 -0.03160484
+v -0.00374235 -0.01909781 -0.04674663
+v -0.00374235 -0.01900395 -0.04678994
+v -0.00133668 -0.01878649 -0.04699827
+v 0.00125361 -0.01878649 -0.04700652
+v 0.00379995 -0.01894919 -0.04681057
+v 0.00429669 -0.01884125 -0.04682501
+v 0.00643421 -0.01837036 -0.04687657
+v 0.00748483 -0.01816230 -0.04675282
+v 0.00748483 -0.01901333 -0.04496451
+v 0.00748483 -0.01783852 -0.03233295
+v 0.00717932 -0.01733167 -0.03089529
+v 0.00636277 -0.01674815 -0.02926375
+v 0.00429669 -0.01702661 -0.02868209
+v 0.00384391 -0.01708763 -0.02855627
+v 0.00125361 -0.01727380 -0.02820768
+v -0.00133668 -0.01799966 -0.02953396
+v -0.00374235 -0.01783227 -0.02986192
+v -0.00374235 -0.01893667 -0.04681470
+v -0.00374235 -0.01128210 -0.04722307
+v 0.00384391 -0.01128210 -0.04723338
+v 0.00748483 -0.01621463 -0.04695494
+v 0.00748483 -0.01725501 -0.03104380
+v 0.00748483 -0.01702192 -0.03059827
+v 0.00748483 -0.01561085 -0.02813755
+v 0.00748483 -0.01524009 -0.02759508
+v 0.00429669 -0.01680135 -0.02835206
+v 0.00384391 -0.01583612 -0.02713099
+v 0.00125361 -0.01602228 -0.02705673
+v -0.00133668 -0.01601915 -0.02705673
+v -0.00133668 -0.01727067 -0.02821387
+v -0.00374235 -0.01778065 -0.02976704
+v 0.00748483 -0.00874466 -0.04705186
+v -0.00374235 -0.00961290 -0.04677960
+v 0.00748483 -0.00700818 -0.04660839
+v 0.00643421 -0.01128367 -0.04708899
+v 0.00748483 -0.01473948 -0.02733105
+v 0.00643421 -0.01545284 -0.02740325
+v 0.00429669 -0.01577041 -0.02717842
+v 0.00429669 -0.01547787 -0.02704229
+v 0.00384391 -0.01378364 -0.02628323
+v 0.00125361 -0.01378364 -0.02616154
+v -0.00374235 -0.01584238 -0.02713099
+v -0.00133668 -0.01378364 -0.02616360
+v -0.00374235 -0.01378364 -0.02628117
+v -0.00374235 -0.01709233 -0.02854389
+v -0.00374235 -0.00950495 -0.04673834
+v 0.00748483 -0.00584897 -0.04511297
+v 0.00748483 -0.01378207 -0.02689377
+v 0.00643421 -0.01378207 -0.02663801
+v 0.00429669 -0.01378364 -0.02634305
+v 0.00748483 -0.01276835 -0.02654931
+v 0.00748483 -0.01128374 -0.02636367
+v 0.00748483 -0.01027001 -0.02634510
+v -0.00374235 -0.01126653 -0.02661118
+v -0.00374235 -0.00866957 -0.04507998
+v 0.00748483 -0.00529831 -0.04387952
+v 0.00748483 -0.00782799 -0.02687725
+v -0.00374235 -0.00968336 -0.02745480
+v -0.00374235 -0.00863046 -0.04496447
+v 0.00633750 -0.00462407 -0.03961606
+v 0.00731120 -0.00462407 -0.04034004
+v 0.00748483 -0.00497605 -0.04221910
+v 0.00748483 -0.00717721 -0.02755173
+v 0.00748483 -0.00706301 -0.02770643
+v 0.00748483 -0.00603676 -0.02912551
+v -0.00374235 -0.00889021 -0.02910902
+v -0.00374235 -0.00822842 -0.04266876
+v -0.00374235 -0.00818305 -0.04228305
+v -0.00374235 -0.00815334 -0.03988215
+v -0.00374235 -0.00815177 -0.03949437
+v 0.00635069 -0.00462408 -0.03704396
+v 0.00748483 -0.00462407 -0.04034623
+v 0.00748483 -0.00462409 -0.03465130
+v 0.00649136 -0.00462409 -0.03515252
+v -0.00374235 -0.00826757 -0.03191833
+v -0.00374235 -0.00817213 -0.03484726
+v -0.00374235 -0.00817526 -0.03445124
+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 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 3
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 17 18
+f 4 18 5
+f 4 16 19
+f 4 19 20
+f 4 20 21
+f 4 21 17
+f 5 18 6
+f 6 18 22
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 7
+f 7 25 26
+f 7 26 8
+f 8 27 9
+f 8 26 27
+f 9 27 10
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 11
+f 11 30 12
+f 12 30 29
+f 12 29 31
+f 12 31 32
+f 12 32 13
+f 13 32 14
+f 14 32 33
+f 14 33 15
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 15 37 16
+f 16 37 19
+f 17 21 40
+f 17 40 39
+f 17 39 67
+f 17 67 84
+f 17 84 98
+f 17 98 112
+f 17 112 109
+f 17 109 111
+f 17 111 121
+f 17 121 125
+f 17 125 133
+f 17 133 142
+f 17 142 144
+f 17 144 143
+f 17 143 137
+f 17 137 136
+f 17 136 135
+f 17 135 134
+f 17 134 126
+f 17 126 122
+f 17 122 113
+f 17 113 100
+f 17 100 86
+f 17 86 85
+f 17 85 69
+f 17 69 68
+f 17 68 44
+f 17 44 43
+f 17 43 42
+f 17 42 41
+f 17 41 22
+f 17 22 18
+f 19 37 38
+f 19 38 20
+f 20 38 39
+f 20 39 40
+f 20 40 21
+f 22 41 23
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 24 45 46
+f 24 46 25
+f 25 46 47
+f 25 47 48
+f 25 48 26
+f 26 48 49
+f 26 49 27
+f 27 49 50
+f 27 50 51
+f 27 51 28
+f 28 51 52
+f 28 52 53
+f 28 53 29
+f 29 54 55
+f 29 55 31
+f 29 53 54
+f 31 55 56
+f 31 56 32
+f 32 34 33
+f 32 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 61
+f 34 61 36
+f 34 36 35
+f 36 61 60
+f 36 60 62
+f 36 62 63
+f 36 63 64
+f 36 64 65
+f 36 65 37
+f 37 65 66
+f 37 66 38
+f 38 66 39
+f 39 66 67
+f 44 68 45
+f 45 68 69
+f 45 69 46
+f 46 69 70
+f 46 70 47
+f 47 70 71
+f 47 71 72
+f 47 72 73
+f 47 73 48
+f 48 51 50
+f 48 50 49
+f 48 73 74
+f 48 74 75
+f 48 75 51
+f 51 76 52
+f 51 75 76
+f 52 76 75
+f 52 75 88
+f 52 88 99
+f 52 99 101
+f 52 101 114
+f 52 114 123
+f 52 123 129
+f 52 129 139
+f 52 139 140
+f 52 140 132
+f 52 132 131
+f 52 131 130
+f 52 130 124
+f 52 124 120
+f 52 120 119
+f 52 119 118
+f 52 118 115
+f 52 115 103
+f 52 103 92
+f 52 92 91
+f 52 91 90
+f 52 90 89
+f 52 89 77
+f 52 77 58
+f 52 58 57
+f 52 57 56
+f 52 56 55
+f 52 55 54
+f 52 54 53
+f 58 77 59
+f 59 78 60
+f 59 77 78
+f 60 78 79
+f 60 79 80
+f 60 80 81
+f 60 81 62
+f 62 81 63
+f 63 81 82
+f 63 82 64
+f 64 83 65
+f 64 82 83
+f 65 83 66
+f 66 83 67
+f 67 83 84
+f 69 85 70
+f 70 85 86
+f 70 86 71
+f 71 86 87
+f 71 87 88
+f 71 88 74
+f 71 74 73
+f 71 73 72
+f 74 88 75
+f 77 89 78
+f 78 89 90
+f 78 90 91
+f 78 91 79
+f 79 91 92
+f 79 92 93
+f 79 93 80
+f 80 93 81
+f 81 93 94
+f 81 94 82
+f 82 94 95
+f 82 95 96
+f 82 96 97
+f 82 97 83
+f 83 98 84
+f 83 97 98
+f 86 99 87
+f 86 100 101
+f 86 101 99
+f 87 99 102
+f 87 102 88
+f 88 102 99
+f 92 103 104
+f 92 104 93
+f 93 104 105
+f 93 105 94
+f 94 106 107
+f 94 107 95
+f 94 105 106
+f 95 107 108
+f 95 108 96
+f 96 109 97
+f 96 108 110
+f 96 110 111
+f 96 111 109
+f 97 109 112
+f 97 112 98
+f 100 113 101
+f 101 113 114
+f 103 115 116
+f 103 116 104
+f 104 116 106
+f 104 106 105
+f 106 116 117
+f 106 117 107
+f 107 117 118
+f 107 118 119
+f 107 119 108
+f 108 120 110
+f 108 119 120
+f 110 120 121
+f 110 121 111
+f 113 122 114
+f 114 122 123
+f 115 118 116
+f 116 118 117
+f 120 124 121
+f 121 124 125
+f 122 126 123
+f 123 126 127
+f 123 127 128
+f 123 128 129
+f 124 130 125
+f 125 130 131
+f 125 131 132
+f 125 132 133
+f 126 134 127
+f 127 134 135
+f 127 135 136
+f 127 136 137
+f 127 137 138
+f 127 138 141
+f 127 141 140
+f 127 140 139
+f 127 139 128
+f 128 139 129
+f 132 140 141
+f 132 141 133
+f 133 141 142
+f 137 143 138
+f 138 143 144
+f 138 144 141
+f 141 144 142
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_12.obj

@@ -0,0 +1,898 @@
+# https://github.com/mikedh/trimesh
+v 0.01434278 0.00551643 -0.02398318
+v 0.01417166 0.00551643 -0.02398318
+v 0.01540313 0.00485394 -0.02398318
+v 0.00796988 0.01511123 -0.02766561
+v 0.00748484 0.01520910 -0.02757684
+v 0.00748484 0.01373732 -0.02687814
+v 0.01152819 0.00550890 -0.02398318
+v 0.01788088 0.00690542 -0.03091112
+v 0.01741740 0.00870092 -0.03178280
+v 0.01569685 0.01024421 -0.03015094
+v 0.01417571 0.01119654 -0.02916319
+v 0.01258316 0.01214886 -0.02817543
+v 0.01085587 0.01291674 -0.02745168
+v 0.01578443 0.00381504 -0.02398319
+v 0.00969851 0.01458425 -0.02836888
+v 0.00891166 0.01555918 -0.02919958
+v 0.00748484 0.01722293 -0.03101578
+v 0.00748484 0.01621037 -0.02923145
+v 0.00748484 0.01123041 -0.02637062
+v 0.01012157 0.00386021 -0.02398319
+v 0.01142579 0.00542609 -0.02398318
+v 0.01856128 0.00613378 -0.03178281
+v 0.01829047 0.00785023 -0.03267269
+v 0.01784989 0.00951774 -0.03364224
+v 0.01611317 0.01079002 -0.03176686
+v 0.01512962 0.01203972 -0.03176686
+v 0.01329455 0.01284900 -0.02993472
+v 0.01159152 0.01371475 -0.02915180
+v 0.01631528 0.00135705 -0.02398320
+v 0.01920127 0.00372473 -0.03176689
+v 0.01818268 0.00523790 -0.03029207
+v 0.01059988 0.01517147 -0.03013045
+v 0.00901676 0.01684276 -0.03176229
+v 0.00814503 0.01769346 -0.03264080
+v 0.00748484 0.01740738 -0.03139814
+v 0.00958398 0.00122154 -0.02398320
+v 0.01007307 0.00376234 -0.02398319
+v 0.00748484 -0.01026660 -0.02634794
+v 0.00957994 -0.00127408 -0.02398320
+v 0.01960817 0.00622413 -0.03440696
+v 0.01860844 0.00870093 -0.03447523
+v 0.01822310 0.01018024 -0.03540153
+v 0.01688520 0.01132077 -0.03425901
+v 0.01548801 0.01246130 -0.03311420
+v 0.01383618 0.01337222 -0.03176685
+v 0.01290113 0.01497198 -0.03310738
+v 0.01246459 0.01462192 -0.03176685
+v 0.01633953 0.00122154 -0.02398320
+v 0.02028453 0.00375109 -0.03452760
+v 0.01951385 0.00122157 -0.03176690
+v 0.02076418 0.00293803 -0.03548804
+v 0.01116845 0.01557801 -0.03176684
+v 0.00987366 0.01725682 -0.03360807
+v 0.00901676 0.01801342 -0.03445699
+v 0.00748484 0.01861568 -0.03442740
+v 0.00748484 0.01779885 -0.03231305
+v 0.00748484 -0.01127916 -0.02636387
+v 0.00958129 -0.00140583 -0.02398321
+v 0.02062001 0.00460179 -0.03704250
+v 0.02014845 0.00622414 -0.03704250
+v 0.01831337 0.01032329 -0.03704248
+v 0.01744973 0.01157298 -0.03704248
+v 0.01615494 0.01322168 -0.03704247
+v 0.01591916 0.01295441 -0.03487578
+v 0.01913660 0.00872729 -0.03704249
+v 0.01444652 0.01396319 -0.03399272
+v 0.01340638 0.01539357 -0.03486894
+v 0.01172894 0.01632332 -0.03423851
+v 0.01634088 -0.00127408 -0.02398320
+v 0.02036941 0.00122157 -0.03395180
+v 0.01951385 -0.00127405 -0.03176690
+v 0.02079786 0.00217015 -0.03539018
+v 0.02083963 0.00122535 -0.03527184
+v 0.02106329 0.00122536 -0.03704480
+v 0.02079786 0.00312624 -0.03618676
+v 0.01055676 0.01762948 -0.03536737
+v 0.00748484 0.01883400 -0.03547660
+v 0.00748484 -0.01276976 -0.02654823
+v 0.01005690 -0.00377347 -0.02398321
+v 0.02065370 0.00479754 -0.03968486
+v 0.02083963 0.00335210 -0.03704479
+v 0.02087466 0.00355161 -0.03968715
+v 0.02021177 0.00622415 -0.03968486
+v 0.02069277 0.00499705 -0.04341284
+v 0.01834167 0.01036847 -0.03968484
+v 0.01748072 0.01161816 -0.03968484
+v 0.01919588 0.00872730 -0.03968485
+v 0.01618458 0.01325556 -0.03968483
+v 0.01501240 0.01450526 -0.03968483
+v 0.01497737 0.01447137 -0.03704247
+v 0.01368393 0.01562320 -0.03704246
+v 0.01578443 -0.00386005 -0.02398321
+v 0.01920262 -0.00377344 -0.03176691
+v 0.02036671 -0.00127405 -0.03395635
+v 0.02083828 -0.00127028 -0.03527639
+v 0.02076283 -0.00297543 -0.03549262
+v 0.02106194 -0.00127027 -0.03704480
+v 0.02124922 0.00122538 -0.04232497
+v 0.01071036 0.01771982 -0.03704245
+v 0.00902754 0.01854417 -0.03704245
+v 0.01200650 0.01687666 -0.03704246
+v 0.00748484 0.01913891 -0.03710163
+v 0.00748484 -0.01378231 -0.02689417
+v 0.01152550 -0.00557273 -0.02398322
+v 0.01047457 -0.00485002 -0.02398322
+v 0.01006633 -0.00381488 -0.02398321
+v 0.02079786 0.00423292 -0.04145781
+v 0.02087870 0.00391297 -0.04245013
+v 0.02033034 0.00598702 -0.04245012
+v 0.01922013 0.00872731 -0.04232494
+v 0.02069277 0.00499705 -0.04369961
+v 0.01835379 0.01038730 -0.04232493
+v 0.01749419 0.01163699 -0.04232493
+v 0.01619940 0.01327439 -0.04232492
+v 0.01503126 0.01452409 -0.04232492
+v 0.01373917 0.01566839 -0.04232491
+v 0.01371896 0.01564956 -0.03968482
+v 0.01204692 0.01690302 -0.03968482
+v 0.01578173 -0.00387134 -0.02398321
+v 0.02028049 -0.00379602 -0.03452990
+v 0.01818673 -0.00529793 -0.03028529
+v 0.01856263 -0.00619002 -0.03177830
+v 0.01960277 -0.00627659 -0.03440700
+v 0.02079786 -0.00277593 -0.03567014
+v 0.02079786 -0.00317117 -0.03622319
+v 0.02061732 -0.00463917 -0.03704254
+v 0.02083694 -0.00338571 -0.03704481
+v 0.02124518 -0.00127025 -0.04232497
+v 0.02117646 0.00122539 -0.04496733
+v 0.02117646 -0.00127024 -0.04496733
+v 0.01075213 0.01774618 -0.03968481
+v 0.00902754 0.01860064 -0.03968481
+v 0.00748484 0.01919538 -0.03968481
+v 0.00748484 -0.01473840 -0.02733115
+v 0.01434547 -0.00556897 -0.02398322
+v 0.01156457 -0.00557273 -0.02398322
+v 0.01878764 0.00896823 -0.04520855
+v 0.01827295 0.01025932 -0.04449162
+v 0.02051627 0.00446631 -0.04545891
+v 0.02013228 0.00598702 -0.04473289
+v 0.02084502 0.00367207 -0.04473517
+v 0.01603907 0.01309372 -0.04496500
+v 0.01485207 0.01434718 -0.04496500
+v 0.01355863 0.01551407 -0.04496499
+v 0.01206847 0.01691432 -0.04232491
+v 0.01333362 -0.01052633 -0.02745404
+v 0.01417705 -0.01124527 -0.02916554
+v 0.01570089 -0.01030047 -0.03014420
+v 0.01742279 -0.00874964 -0.03177831
+v 0.01788627 -0.00696921 -0.03090663
+v 0.01828912 -0.00789894 -0.03266592
+v 0.01860440 -0.00874963 -0.03447985
+v 0.01821906 -0.01022893 -0.03541072
+v 0.02014306 -0.00627658 -0.03704254
+v 0.02079786 -0.00360780 -0.03704253
+v 0.02065235 -0.00484243 -0.03968490
+v 0.02087331 -0.00358897 -0.03968717
+v 0.02087601 -0.00395784 -0.04247974
+v 0.02084233 0.00122539 -0.04646034
+v 0.02079786 0.00264447 -0.04623046
+v 0.02084367 -0.00127024 -0.04646262
+v 0.02084502 -0.00372447 -0.04472836
+v 0.02079786 -0.00325770 -0.04561370
+v 0.02075744 -0.00285870 -0.04636931
+v 0.02079786 -0.00212093 -0.04641483
+v 0.01077234 0.01775372 -0.04232490
+v 0.00902754 0.01860818 -0.04232490
+v 0.00748484 0.01920667 -0.04072491
+v 0.00748484 -0.01523903 -0.02759745
+v 0.00794293 -0.01514870 -0.02768166
+v 0.01083970 -0.01295044 -0.02746316
+v 0.01256833 -0.01219384 -0.02818462
+v 0.01808298 0.00996196 -0.04625319
+v 0.01747937 0.01114766 -0.04520854
+v 0.02079786 0.00320909 -0.04560230
+v 0.02075609 0.00279880 -0.04636702
+v 0.01574535 0.01276248 -0.04649443
+v 0.01321371 0.01522423 -0.04650125
+v 0.01033310 0.01749024 -0.04629186
+v 0.01185964 0.01676753 -0.04496499
+v 0.01056350 0.01762952 -0.04496499
+v 0.01329455 -0.01289020 -0.02994393
+v 0.01784854 -0.00956645 -0.03364914
+v 0.01512827 -0.01209596 -0.03176694
+v 0.01611587 -0.01084250 -0.03176694
+v 0.01912986 -0.00877973 -0.03704255
+v 0.01688789 -0.01136947 -0.03426364
+v 0.01592455 -0.01300687 -0.03487588
+v 0.01616437 -0.01327788 -0.03704257
+v 0.01745916 -0.01162166 -0.03704256
+v 0.01830933 -0.01037196 -0.03704256
+v 0.02021042 -0.00627657 -0.03968490
+v 0.02069007 -0.00504192 -0.04346296
+v 0.02069007 -0.00504192 -0.04368827
+v 0.01938990 0.00122162 -0.04706119
+v 0.02079786 0.00130820 -0.04647400
+v 0.02079786 0.00203091 -0.04641481
+v 0.02079786 -0.00127024 -0.04648310
+v 0.02051897 -0.00452622 -0.04544757
+v 0.01955023 -0.00372446 -0.04683133
+v 0.01808702 -0.01002187 -0.04626920
+v 0.01848988 -0.00835435 -0.04661741
+v 0.01891563 -0.00627655 -0.04684727
+v 0.00748484 0.01895826 -0.04496498
+v 0.00748484 0.01918786 -0.04241594
+v 0.00902754 0.01836729 -0.04496498
+v 0.00748484 -0.01561169 -0.02813912
+v 0.00748484 -0.01701946 -0.03059713
+v 0.00889550 -0.01558533 -0.02921336
+v 0.00967156 -0.01461795 -0.02839174
+v 0.01157400 -0.01375219 -0.02916783
+v 0.01632471 0.01123048 -0.04675617
+v 0.01848583 0.00829445 -0.04661735
+v 0.01954754 0.00366832 -0.04682676
+v 0.01890890 0.00622417 -0.04684495
+v 0.01412990 0.01365082 -0.04678347
+v 0.01136516 0.01612762 -0.04667195
+v 0.00902754 0.01779890 -0.04656724
+v 0.00748484 0.01872488 -0.04561362
+v 0.01057967 -0.01520891 -0.03015332
+v 0.01243899 -0.01465934 -0.03176695
+v 0.01288765 -0.01501317 -0.03312569
+v 0.01383483 -0.01340964 -0.03176695
+v 0.01548666 -0.01251378 -0.03311658
+v 0.01919453 -0.00877972 -0.03968491
+v 0.01444517 -0.01400814 -0.03399965
+v 0.01340503 -0.01543474 -0.03488499
+v 0.01497737 -0.01452757 -0.03704257
+v 0.01619402 -0.01331174 -0.03968493
+v 0.01748880 -0.01167058 -0.03968492
+v 0.01501375 -0.01456144 -0.03968493
+v 0.01834032 -0.01042088 -0.03968492
+v 0.01922148 -0.00877971 -0.04232500
+v 0.02033303 -0.00603565 -0.04247975
+v 0.01879033 -0.00902437 -0.04521999
+v 0.02013902 -0.00603565 -0.04472610
+v 0.01161981 0.00372478 -0.04723415
+v 0.00902754 0.00872732 -0.04721592
+v 0.00902754 0.01623678 -0.04704747
+v 0.01704957 0.00896823 -0.04688591
+v 0.01938990 -0.00127400 -0.04706346
+v 0.01827161 -0.01030795 -0.04450763
+v 0.01748880 -0.01119628 -0.04522000
+v 0.01604850 -0.01314987 -0.04496510
+v 0.01575344 -0.01281486 -0.04649681
+v 0.01633279 -0.01127909 -0.04676080
+v 0.01705362 -0.00902437 -0.04688825
+v 0.01420939 -0.01127909 -0.04706350
+v 0.00748484 -0.01725284 -0.03104321
+v 0.00901002 -0.01687265 -0.03177379
+v 0.00748484 0.01747142 -0.04694278
+v 0.00748484 0.01810380 -0.04674931
+v 0.00986154 -0.01729047 -0.03362640
+v 0.01114420 -0.01560790 -0.03176696
+v 0.01171547 -0.01636448 -0.03425456
+v 0.01054464 -0.01766688 -0.03538570
+v 0.01368258 -0.01566434 -0.03704258
+v 0.01372031 -0.01569821 -0.03968494
+v 0.01503396 -0.01458025 -0.04232502
+v 0.01620749 -0.01333056 -0.04232502
+v 0.01750228 -0.01168939 -0.04232501
+v 0.01374186 -0.01571702 -0.04232503
+v 0.01835110 -0.01043593 -0.04232501
+v 0.01161981 -0.00377339 -0.04723417
+v 0.00902754 -0.00877970 -0.04722053
+v 0.00748484 0.00868968 -0.04704978
+v 0.01484668 -0.01440333 -0.04496510
+v 0.01320562 -0.01526908 -0.04649454
+v 0.01412585 -0.01370320 -0.04678130
+v 0.00902754 -0.01628540 -0.04704987
+v 0.00748484 -0.01784004 -0.03233368
+v 0.00813425 -0.01773840 -0.03265914
+v 0.00901002 -0.01805458 -0.03446623
+v 0.00748484 -0.01865308 -0.03443209
+v 0.00902754 -0.01858532 -0.03704259
+v 0.01069823 -0.01776097 -0.03704259
+v 0.01199437 -0.01691404 -0.03704258
+v 0.01204692 -0.01694790 -0.03968494
+v 0.01355324 -0.01555892 -0.04496511
+v 0.01206847 -0.01696672 -0.04232503
+v 0.00748484 -0.00874206 -0.04704984
+v 0.00748484 -0.01621388 -0.04695428
+v 0.01033715 -0.01754262 -0.04629426
+v 0.01136786 -0.01617624 -0.04666979
+v 0.00748484 -0.01816370 -0.04675173
+v 0.00748484 -0.01824280 -0.03332599
+v 0.00748484 -0.01918005 -0.03712452
+v 0.00748484 -0.01922146 -0.03864029
+v 0.00748484 -0.01924779 -0.03968495
+v 0.00902754 -0.01864553 -0.03968495
+v 0.01075213 -0.01779107 -0.03968495
+v 0.01186098 -0.01681238 -0.04496511
+v 0.01077368 -0.01780236 -0.04232504
+v 0.01056485 -0.01767813 -0.04496511
+v 0.00902754 -0.01841966 -0.04496512
+v 0.00748484 -0.01901440 -0.04496512
+v 0.00902754 -0.01785881 -0.04657193
+v 0.00748484 -0.01923273 -0.04242290
+v 0.00902754 -0.01865305 -0.04232504
+v 0.00748484 -0.01910851 -0.04389543
+f 1 2 7
+f 1 7 21
+f 1 21 20
+f 1 20 37
+f 1 37 36
+f 1 36 39
+f 1 39 58
+f 1 58 79
+f 1 79 106
+f 1 106 105
+f 1 105 104
+f 1 104 136
+f 1 136 135
+f 1 135 119
+f 1 119 92
+f 1 92 69
+f 1 69 48
+f 1 48 29
+f 1 29 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 14 8
+f 4 13 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 5
+f 5 18 17
+f 5 17 35
+f 5 35 56
+f 5 56 55
+f 5 55 77
+f 5 77 102
+f 5 102 133
+f 5 133 168
+f 5 168 205
+f 5 205 204
+f 5 204 219
+f 5 219 252
+f 5 252 251
+f 5 251 266
+f 5 266 281
+f 5 281 282
+f 5 282 285
+f 5 285 296
+f 5 296 300
+f 5 300 298
+f 5 298 289
+f 5 289 288
+f 5 288 287
+f 5 287 274
+f 5 274 286
+f 5 286 271
+f 5 271 249
+f 5 249 208
+f 5 208 207
+f 5 207 169
+f 5 169 134
+f 5 134 103
+f 5 103 78
+f 5 78 57
+f 5 57 38
+f 5 38 19
+f 5 19 6
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 8 22 23
+f 8 23 9
+f 8 14 22
+f 9 23 24
+f 9 24 10
+f 10 25 26
+f 10 26 27
+f 10 27 11
+f 10 24 25
+f 11 27 12
+f 12 27 28
+f 12 28 15
+f 12 15 13
+f 14 29 30
+f 14 30 31
+f 14 31 22
+f 15 28 32
+f 15 32 16
+f 16 33 17
+f 16 32 33
+f 17 33 34
+f 17 34 35
+f 19 36 37
+f 19 37 20
+f 19 38 39
+f 19 39 36
+f 22 31 30
+f 22 30 40
+f 22 40 23
+f 23 40 41
+f 23 41 24
+f 24 41 42
+f 24 42 25
+f 25 42 43
+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 27 46 47
+f 27 47 32
+f 27 32 28
+f 29 48 30
+f 30 49 40
+f 30 48 50
+f 30 50 51
+f 30 51 49
+f 32 47 52
+f 32 52 53
+f 32 53 33
+f 33 53 34
+f 34 54 55
+f 34 55 56
+f 34 56 35
+f 34 53 54
+f 38 57 58
+f 38 58 39
+f 40 49 51
+f 40 51 59
+f 40 59 60
+f 40 60 42
+f 40 42 41
+f 42 61 62
+f 42 62 63
+f 42 63 64
+f 42 64 43
+f 42 60 65
+f 42 65 61
+f 43 64 44
+f 44 64 66
+f 44 66 45
+f 45 66 46
+f 46 66 67
+f 46 67 68
+f 46 68 52
+f 46 52 47
+f 48 69 50
+f 50 70 51
+f 50 69 71
+f 50 71 70
+f 51 70 72
+f 51 72 73
+f 51 73 74
+f 51 74 75
+f 51 75 59
+f 52 68 76
+f 52 76 53
+f 53 76 54
+f 54 76 55
+f 55 76 77
+f 57 78 79
+f 57 79 58
+f 59 80 60
+f 59 75 81
+f 59 81 82
+f 59 82 80
+f 60 83 65
+f 60 80 84
+f 60 84 83
+f 61 85 86
+f 61 86 62
+f 61 65 87
+f 61 87 85
+f 62 86 63
+f 63 86 88
+f 63 88 89
+f 63 89 90
+f 63 90 64
+f 64 90 67
+f 64 67 66
+f 65 83 87
+f 67 91 76
+f 67 76 68
+f 67 90 91
+f 69 92 93
+f 69 93 71
+f 70 73 72
+f 70 71 94
+f 70 94 95
+f 70 95 73
+f 71 93 96
+f 71 96 94
+f 73 95 97
+f 73 97 74
+f 74 98 81
+f 74 81 75
+f 74 97 98
+f 76 99 100
+f 76 100 77
+f 76 91 101
+f 76 101 99
+f 77 100 102
+f 78 103 104
+f 78 104 105
+f 78 105 106
+f 78 106 79
+f 80 107 84
+f 80 82 107
+f 81 98 82
+f 82 98 108
+f 82 108 107
+f 83 84 109
+f 83 109 110
+f 83 110 87
+f 84 107 108
+f 84 108 111
+f 84 111 109
+f 85 87 110
+f 85 110 112
+f 85 112 113
+f 85 113 86
+f 86 113 114
+f 86 114 88
+f 88 114 115
+f 88 115 89
+f 89 115 116
+f 89 116 117
+f 89 117 91
+f 89 91 90
+f 91 117 118
+f 91 118 101
+f 92 119 93
+f 93 120 96
+f 93 119 121
+f 93 121 122
+f 93 122 123
+f 93 123 120
+f 94 96 95
+f 95 96 124
+f 95 124 97
+f 96 125 124
+f 96 120 123
+f 96 123 126
+f 96 126 125
+f 97 124 125
+f 97 125 127
+f 97 127 128
+f 97 128 98
+f 98 129 108
+f 98 128 130
+f 98 130 129
+f 99 131 132
+f 99 132 100
+f 99 101 131
+f 100 132 133
+f 100 133 102
+f 101 118 131
+f 103 134 135
+f 103 135 136
+f 103 136 104
+f 108 129 111
+f 109 111 110
+f 110 111 137
+f 110 137 138
+f 110 138 112
+f 111 139 140
+f 111 140 137
+f 111 129 141
+f 111 141 139
+f 112 138 113
+f 113 138 142
+f 113 142 114
+f 114 142 115
+f 115 142 143
+f 115 143 144
+f 115 144 116
+f 116 144 145
+f 116 145 118
+f 116 118 117
+f 118 145 131
+f 119 135 146
+f 119 146 147
+f 119 147 148
+f 119 148 149
+f 119 149 150
+f 119 150 122
+f 119 122 121
+f 122 150 151
+f 122 151 123
+f 123 151 152
+f 123 152 153
+f 123 153 154
+f 123 154 126
+f 125 126 155
+f 125 155 127
+f 126 154 156
+f 126 156 157
+f 126 157 127
+f 126 127 155
+f 127 157 128
+f 128 157 158
+f 128 158 130
+f 129 159 160
+f 129 160 141
+f 129 130 161
+f 129 161 159
+f 130 158 162
+f 130 162 163
+f 130 163 164
+f 130 164 165
+f 130 165 161
+f 131 145 166
+f 131 166 132
+f 132 167 168
+f 132 168 133
+f 132 166 167
+f 134 169 135
+f 135 169 170
+f 135 170 171
+f 135 171 172
+f 135 172 146
+f 137 140 173
+f 137 173 138
+f 138 173 174
+f 138 174 142
+f 139 141 175
+f 139 175 176
+f 139 176 173
+f 139 173 140
+f 141 160 175
+f 142 174 173
+f 142 173 177
+f 142 177 143
+f 143 177 178
+f 143 178 144
+f 144 179 180
+f 144 180 145
+f 144 178 179
+f 145 180 181
+f 145 181 166
+f 146 172 147
+f 147 172 182
+f 147 182 148
+f 148 183 149
+f 148 182 184
+f 148 184 185
+f 148 185 183
+f 149 151 150
+f 149 183 151
+f 151 183 152
+f 152 183 153
+f 153 186 154
+f 153 183 185
+f 153 185 187
+f 153 187 188
+f 153 188 189
+f 153 189 190
+f 153 190 191
+f 153 191 186
+f 154 186 192
+f 154 192 193
+f 154 193 156
+f 156 193 158
+f 156 158 157
+f 158 193 194
+f 158 194 162
+f 159 195 196
+f 159 196 197
+f 159 197 160
+f 159 161 198
+f 159 198 195
+f 160 176 175
+f 160 197 176
+f 161 165 198
+f 162 194 199
+f 162 199 163
+f 163 199 164
+f 164 200 165
+f 164 199 201
+f 164 201 202
+f 164 202 203
+f 164 203 200
+f 165 200 198
+f 166 181 167
+f 167 204 205
+f 167 205 168
+f 167 181 206
+f 167 206 204
+f 169 207 170
+f 170 207 208
+f 170 208 209
+f 170 209 210
+f 170 210 171
+f 171 210 172
+f 172 210 211
+f 172 211 182
+f 173 212 177
+f 173 176 213
+f 173 213 212
+f 176 197 214
+f 176 214 215
+f 176 215 213
+f 177 212 216
+f 177 216 178
+f 178 216 217
+f 178 217 179
+f 179 181 180
+f 179 217 218
+f 179 218 219
+f 179 219 204
+f 179 204 206
+f 179 206 181
+f 182 211 220
+f 182 220 221
+f 182 221 222
+f 182 222 223
+f 182 223 184
+f 184 223 224
+f 184 224 185
+f 185 224 187
+f 186 191 225
+f 186 225 192
+f 187 224 188
+f 188 224 226
+f 188 226 227
+f 188 227 228
+f 188 228 189
+f 189 229 230
+f 189 230 190
+f 189 228 231
+f 189 231 229
+f 190 230 232
+f 190 232 191
+f 191 232 225
+f 192 225 233
+f 192 233 234
+f 192 234 193
+f 193 234 194
+f 194 234 233
+f 194 233 235
+f 194 235 236
+f 194 236 199
+f 195 237 238
+f 195 238 239
+f 195 239 240
+f 195 240 215
+f 195 215 214
+f 195 214 196
+f 195 198 241
+f 195 241 237
+f 196 214 197
+f 198 200 241
+f 199 236 201
+f 200 203 241
+f 201 236 235
+f 201 235 242
+f 201 242 243
+f 201 243 244
+f 201 244 245
+f 201 245 246
+f 201 246 202
+f 202 246 203
+f 203 246 247
+f 203 247 248
+f 203 248 241
+f 208 249 250
+f 208 250 209
+f 209 250 220
+f 209 220 210
+f 210 220 211
+f 212 213 215
+f 212 215 240
+f 212 240 216
+f 216 240 239
+f 216 239 217
+f 217 239 251
+f 217 251 252
+f 217 252 218
+f 218 252 219
+f 220 250 253
+f 220 253 254
+f 220 254 221
+f 221 254 222
+f 222 226 223
+f 222 254 255
+f 222 255 227
+f 222 227 226
+f 223 226 224
+f 225 232 233
+f 227 255 256
+f 227 256 257
+f 227 257 228
+f 228 257 258
+f 228 258 231
+f 229 231 259
+f 229 259 260
+f 229 260 261
+f 229 261 230
+f 230 261 232
+f 231 258 262
+f 231 262 259
+f 232 263 233
+f 232 261 263
+f 233 263 242
+f 233 242 235
+f 237 241 264
+f 237 264 265
+f 237 265 238
+f 238 265 266
+f 238 266 251
+f 238 251 239
+f 241 248 264
+f 242 263 261
+f 242 261 244
+f 242 244 243
+f 244 260 259
+f 244 259 267
+f 244 267 245
+f 244 261 260
+f 245 267 268
+f 245 268 269
+f 245 269 246
+f 246 269 248
+f 246 248 247
+f 248 269 270
+f 248 270 265
+f 248 265 264
+f 249 271 272
+f 249 272 250
+f 250 272 253
+f 253 272 273
+f 253 273 256
+f 253 256 254
+f 254 256 255
+f 256 273 274
+f 256 274 275
+f 256 275 276
+f 256 276 277
+f 256 277 257
+f 257 277 278
+f 257 278 258
+f 258 278 280
+f 258 280 262
+f 259 262 279
+f 259 279 267
+f 262 280 279
+f 265 281 266
+f 265 270 282
+f 265 282 281
+f 267 279 268
+f 268 279 283
+f 268 283 284
+f 268 284 269
+f 269 284 270
+f 270 284 285
+f 270 285 282
+f 271 286 272
+f 272 286 274
+f 272 274 273
+f 274 287 275
+f 275 287 288
+f 275 288 289
+f 275 289 290
+f 275 290 276
+f 276 291 278
+f 276 278 277
+f 276 290 291
+f 278 291 280
+f 279 280 292
+f 279 292 283
+f 280 291 293
+f 280 293 294
+f 280 294 292
+f 283 292 294
+f 283 294 295
+f 283 295 296
+f 283 296 297
+f 283 297 284
+f 284 297 285
+f 285 297 296
+f 289 298 299
+f 289 299 290
+f 290 299 293
+f 290 293 291
+f 293 299 294
+f 294 299 295
+f 295 299 296
+f 296 299 300
+f 298 300 299
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_13.obj

@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.03330837 0.00122669 -0.01602042
+v 0.03330519 -0.00127428 -0.01602042
+v 0.03316975 0.00180049 -0.01602041
+v 0.02749436 0.00122661 0.00520337
+v 0.02749596 -0.00127436 0.00520337
+v 0.03209586 -0.00369024 -0.01602043
+v 0.02666584 -0.00359951 0.00520336
+v 0.03210223 0.00364748 -0.01602041
+v 0.02666424 0.00352762 0.00520338
+v 0.02956567 -0.00471130 -0.01602044
+v 0.02457381 -0.00480121 0.00520335
+v 0.03205443 0.00369675 -0.01602041
+v 0.02457381 0.00471193 0.00520339
+v 0.02868298 -0.00480886 -0.01602044
+v 0.02457381 -0.00486786 0.00256440
+v 0.02198308 -0.00492873 0.00520335
+v 0.02949397 0.00469366 -0.01602040
+v 0.02457381 0.00478149 0.00256444
+v 0.02198308 0.00484910 0.00520339
+v 0.02716454 -0.00494313 -0.01591863
+v 0.02716136 -0.00493734 -0.01602044
+v 0.02457381 -0.00491132 -0.00007662
+v 0.01703105 -0.00496447 0.00520335
+v 0.02457381 -0.00493063 -0.00271765
+v 0.02726811 0.00490425 -0.01602040
+v 0.02457381 0.00482884 -0.00007658
+v 0.01703105 0.00488678 0.00520339
+v 0.02457381 -0.00490934 -0.01327760
+v 0.02457381 -0.00462725 -0.01591863
+v 0.02457541 -0.00458475 -0.01602044
+v 0.01703105 -0.00491519 0.00256440
+v 0.02716136 0.00489265 -0.01602040
+v 0.02457381 0.00485304 -0.01327756
+v 0.01703105 0.00488581 0.00496859
+v 0.02198308 -0.00482434 -0.01063865
+v 0.02198308 -0.00490742 -0.00799762
+v 0.02200061 -0.00348544 -0.01589576
+v 0.02198308 -0.00453646 -0.01327760
+v 0.02206593 -0.00344487 -0.01602043
+v 0.01703105 -0.00483017 -0.00007662
+v 0.02468216 0.00458643 -0.01602040
+v 0.02198308 0.00476126 -0.01063861
+v 0.01703105 0.00476412 -0.00007658
+v 0.01703105 0.00483849 0.00232756
+v 0.01703105 0.00484428 0.00256444
+v 0.01703105 -0.00466015 -0.00271765
+v 0.01703105 -0.00438193 -0.00535867
+v 0.02042800 -0.00292227 -0.01500018
+v 0.01703105 -0.00361878 -0.00818878
+v 0.02186199 -0.00310098 -0.01602043
+v 0.02213126 0.00343689 -0.01602041
+v 0.02200379 0.00343303 -0.01589158
+v 0.02457381 0.00457870 -0.01591859
+v 0.02198308 0.00447533 -0.01327756
+v 0.01703105 0.00431012 -0.00535863
+v 0.01703105 0.00456996 -0.00295241
+v 0.01703105 0.00459314 -0.00271761
+v 0.01703105 0.00475059 -0.00031346
+v 0.02080721 -0.00127428 -0.01602042
+v 0.01703105 -0.00127430 -0.01109162
+v 0.02207071 0.00339149 -0.01602041
+v 0.02043279 0.00286792 -0.01499392
+v 0.01703105 0.00355665 -0.00817214
+v 0.01703105 0.00423960 -0.00563084
+v 0.02081040 -0.00015372 -0.01602042
+v 0.01703105 -0.00085119 -0.01108538
+v 0.02081518 0.00122669 -0.01602042
+v 0.02092353 0.00182464 -0.01602041
+v 0.01703105 0.00122667 -0.01101266
+v 0.01703105 0.00247957 -0.00994875
+f 1 2 6
+f 1 6 10
+f 1 10 14
+f 1 14 21
+f 1 21 30
+f 1 30 39
+f 1 39 50
+f 1 50 59
+f 1 59 65
+f 1 65 67
+f 1 67 68
+f 1 68 61
+f 1 61 51
+f 1 51 41
+f 1 41 32
+f 1 32 25
+f 1 25 17
+f 1 17 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 9 13
+f 4 13 19
+f 4 19 27
+f 4 27 23
+f 4 23 16
+f 4 16 11
+f 4 11 7
+f 4 7 5
+f 6 7 11
+f 6 11 10
+f 8 12 9
+f 9 12 13
+f 10 11 15
+f 10 15 14
+f 11 16 15
+f 12 17 13
+f 13 18 19
+f 13 17 18
+f 14 20 21
+f 14 15 20
+f 15 16 22
+f 15 22 20
+f 16 23 24
+f 16 24 22
+f 17 25 18
+f 18 26 19
+f 18 25 26
+f 19 26 25
+f 19 25 27
+f 20 28 21
+f 20 22 24
+f 20 24 23
+f 20 23 28
+f 21 28 29
+f 21 29 30
+f 23 27 34
+f 23 34 45
+f 23 45 44
+f 23 44 43
+f 23 43 58
+f 23 58 57
+f 23 57 56
+f 23 56 55
+f 23 55 64
+f 23 64 63
+f 23 63 70
+f 23 70 69
+f 23 69 66
+f 23 66 60
+f 23 60 49
+f 23 49 47
+f 23 47 46
+f 23 46 40
+f 23 40 31
+f 23 31 28
+f 25 32 33
+f 25 33 34
+f 25 34 27
+f 28 35 29
+f 28 31 36
+f 28 36 35
+f 29 37 30
+f 29 35 38
+f 29 38 37
+f 30 37 39
+f 31 40 35
+f 31 35 36
+f 32 41 33
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 45
+f 33 45 34
+f 35 40 46
+f 35 46 47
+f 35 47 38
+f 37 38 48
+f 37 48 39
+f 38 47 49
+f 38 49 48
+f 39 48 50
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 42 54 55
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 43
+f 48 59 50
+f 48 49 60
+f 48 60 59
+f 51 61 52
+f 52 62 54
+f 52 54 53
+f 52 61 62
+f 54 63 64
+f 54 64 55
+f 54 62 63
+f 59 60 65
+f 60 66 67
+f 60 67 65
+f 61 68 62
+f 62 68 69
+f 62 69 70
+f 62 70 63
+f 66 69 67
+f 67 69 68
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_14.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01152517 -0.00557556 -0.02397958
+v 0.01047275 -0.00484871 -0.02397958
+v 0.01156418 -0.00557556 -0.02397958
+v 0.01181286 -0.00549744 0.00520335
+v 0.01051501 -0.00488033 0.00520335
+v 0.01006479 -0.00381548 -0.02397957
+v 0.00899937 -0.00346357 0.00520336
+v 0.00873037 -0.00318109 0.00520336
+v 0.01434597 -0.00556904 -0.02397958
+v 0.01409485 -0.00549417 0.00256360
+v 0.01441911 -0.00541270 0.00520335
+v 0.01005585 -0.00377419 -0.02397957
+v 0.00872875 -0.00277583 0.00153800
+v 0.00872875 -0.00238686 -0.00094748
+v 0.00872875 -0.00313546 0.00520336
+v 0.01578278 -0.00386980 -0.02397957
+v 0.01530168 -0.00476722 -0.02319680
+v 0.01703105 -0.00465974 -0.00271875
+v 0.01703105 -0.00482924 -0.00007900
+v 0.01703105 -0.00491508 0.00256360
+v 0.01703105 -0.00496290 0.00520335
+v 0.00958043 -0.00140569 -0.02397957
+v 0.00872875 -0.00139490 -0.00289301
+v 0.00872875 0.00311934 0.00520338
+v 0.01578522 -0.00385894 -0.02397957
+v 0.01703105 -0.00361780 -0.00818965
+v 0.01703105 -0.00362323 -0.00817251
+v 0.01703105 -0.00438160 -0.00536136
+v 0.01703105 0.00488703 0.00520339
+v 0.00957962 -0.00127314 -0.02397956
+v 0.00872875 -0.00112437 -0.00314726
+v 0.00872875 0.00303895 0.00452916
+v 0.00890428 0.00330948 0.00520338
+v 0.01058328 0.00464703 -0.02331390
+v 0.01012167 0.00386369 -0.02397955
+v 0.01007129 0.00376590 -0.02397955
+v 0.01634190 -0.00127314 -0.02397956
+v 0.01703105 -0.00127319 -0.01108936
+v 0.01415174 0.00544982 0.00520339
+v 0.01703105 0.00488594 0.00496627
+v 0.01434191 0.00552381 -0.02397954
+v 0.00958287 0.00122683 -0.02397956
+v 0.00872875 0.00107681 -0.00313298
+v 0.00872875 0.00243489 -0.00007897
+v 0.00908389 0.00349744 0.00520338
+v 0.01142440 0.00543146 -0.02397954
+v 0.01634028 0.00122683 -0.02397956
+v 0.01703105 -0.00085055 -0.01108365
+v 0.01181448 0.00545091 0.00520339
+v 0.01703105 0.00483924 0.00232652
+v 0.01540408 0.00485998 -0.02397954
+v 0.01152842 0.00551295 -0.02397954
+v 0.01703105 0.00476319 -0.00007896
+v 0.00872875 0.00141579 -0.00253588
+v 0.01051907 0.00483379 0.00520339
+v 0.01631590 0.00136046 -0.02397956
+v 0.01703105 0.00355616 -0.00817249
+v 0.01703105 0.00247947 -0.00994661
+v 0.01703105 0.00122678 -0.01101223
+v 0.01578522 0.00382023 -0.02397955
+v 0.01703105 0.00475124 -0.00031608
+v 0.01703105 0.00459263 -0.00271871
+v 0.01703105 0.00456981 -0.00295297
+v 0.01703105 0.00431015 -0.00536132
+v 0.01703105 0.00423845 -0.00563272
+f 1 2 6
+f 1 6 12
+f 1 12 22
+f 1 22 30
+f 1 30 42
+f 1 42 36
+f 1 36 35
+f 1 35 46
+f 1 46 52
+f 1 52 41
+f 1 41 51
+f 1 51 60
+f 1 60 56
+f 1 56 47
+f 1 47 37
+f 1 37 25
+f 1 25 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 4
+f 4 10 11
+f 4 11 21
+f 4 21 29
+f 4 29 39
+f 4 39 49
+f 4 49 55
+f 4 55 45
+f 4 45 33
+f 4 33 24
+f 4 24 15
+f 4 15 8
+f 4 8 7
+f 4 7 5
+f 4 9 10
+f 6 8 13
+f 6 13 14
+f 6 14 12
+f 8 15 13
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 11
+f 12 14 22
+f 13 15 24
+f 13 24 32
+f 13 32 44
+f 13 44 54
+f 13 54 43
+f 13 43 31
+f 13 31 23
+f 13 23 14
+f 14 23 22
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 18
+f 18 28 27
+f 18 27 26
+f 18 26 38
+f 18 38 48
+f 18 48 59
+f 18 59 58
+f 18 58 57
+f 18 57 65
+f 18 65 64
+f 18 64 63
+f 18 63 62
+f 18 62 61
+f 18 61 53
+f 18 53 50
+f 18 50 40
+f 18 40 29
+f 18 29 21
+f 18 21 20
+f 18 20 19
+f 22 23 31
+f 22 31 30
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 32
+f 25 37 26
+f 26 37 38
+f 29 40 41
+f 29 41 39
+f 30 31 43
+f 30 43 42
+f 32 36 44
+f 33 45 34
+f 34 46 35
+f 34 45 46
+f 36 42 44
+f 37 47 38
+f 38 47 48
+f 39 41 49
+f 40 50 41
+f 41 52 49
+f 41 50 53
+f 41 53 51
+f 42 43 54
+f 42 54 44
+f 45 55 46
+f 46 55 52
+f 47 56 57
+f 47 57 58
+f 47 58 59
+f 47 59 48
+f 49 52 55
+f 51 53 61
+f 51 61 62
+f 51 62 63
+f 51 63 64
+f 51 64 60
+f 56 60 57
+f 57 60 65
+f 60 64 65
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_15.obj

@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v -0.00911309 0.00006014 0.03850938
+v -0.00911309 -0.00127340 0.03850604
+v -0.00911309 0.00122669 0.03850604
+v -0.01429433 0.00122669 0.03936869
+v -0.01429433 -0.00127340 0.03936869
+v -0.01429433 -0.00345152 0.03879024
+v -0.00911309 -0.00379752 0.03684426
+v -0.01429433 0.00338558 0.03879026
+v -0.00911309 0.00190427 0.03809813
+v -0.02206621 0.00122669 0.03937537
+v -0.02206621 -0.00127340 0.03937872
+v -0.02206621 -0.00335781 0.03879024
+v -0.01429433 -0.00458323 0.03689106
+v -0.00911309 -0.00517310 0.03424962
+v -0.02206621 0.00330629 0.03879026
+v -0.00911309 0.00375201 0.03685097
+v -0.00911309 0.00488973 0.03514909
+v -0.01429433 0.00451129 0.03689110
+v -0.02365916 0.00283535 0.03842246
+v -0.02381869 0.00122669 0.03853613
+v -0.02381869 -0.00127340 0.03853613
+v -0.02365916 -0.00288687 0.03842244
+v -0.02206621 -0.00442825 0.03689106
+v -0.02724746 -0.00332897 0.03614211
+v -0.02724746 -0.00441142 0.03424962
+v -0.00911309 -0.00571011 0.03200942
+v -0.02206621 0.00437192 0.03689110
+v -0.02724746 0.00434190 0.03424966
+v -0.02724746 0.00327026 0.03614213
+v -0.00911309 0.00528500 0.03385512
+v -0.02874516 0.00280172 0.03577768
+v -0.02884755 0.00122670 0.03588132
+v -0.02884755 -0.00127339 0.03588132
+v -0.02874755 -0.00285802 0.03577766
+v -0.02465683 -0.00474300 0.03424962
+v -0.01688496 -0.00590473 0.02897009
+v -0.03168105 -0.00325446 0.03081911
+v -0.03208345 -0.00365452 0.02897010
+v -0.02984047 -0.00478383 0.02897009
+v -0.00911309 -0.00609935 0.02897009
+v -0.00911309 0.00553609 0.03254109
+v -0.00911309 0.00567545 0.03179547
+v -0.01688496 0.00587249 0.02897013
+v -0.02465683 0.00468430 0.03424966
+v -0.02984047 0.00472036 0.02897013
+v -0.03208107 0.00359706 0.02897012
+v -0.03168105 0.00320060 0.03081913
+v -0.03195249 0.00122672 0.03108326
+v -0.03195249 -0.00127337 0.03108326
+v -0.01947797 -0.00599963 0.02632865
+v -0.03304779 -0.00127337 0.02897011
+v -0.03325733 -0.00127336 0.02632867
+v -0.03343591 -0.00127335 0.02368723
+v -0.03228584 -0.00361846 0.02368722
+v -0.02984047 -0.00481024 0.02368721
+v -0.02206621 -0.00572690 0.02368721
+v -0.01688496 -0.00603927 0.02632865
+v -0.00911309 -0.00615701 0.02632865
+v -0.00911309 0.00606111 0.02897013
+v -0.01947797 0.00595419 0.02632869
+v -0.02206621 0.00566827 0.02368725
+v -0.02984047 0.00474921 0.02368725
+v -0.03228346 0.00356464 0.02368724
+v -0.03304541 0.00122672 0.02897011
+v -0.03343115 0.00122674 0.02368723
+v -0.03325495 0.00122673 0.02632867
+v -0.01947797 -0.00600442 0.02368721
+v -0.01688496 -0.00606689 0.02368721
+v -0.03305494 -0.00127334 0.02105248
+v -0.03211679 -0.00351754 0.02105247
+v -0.02984047 -0.00471052 0.02105246
+v -0.02465683 -0.00478975 0.00522054
+v -0.01947797 -0.00599360 0.02105246
+v -0.00911309 -0.00615940 0.02368721
+v -0.00911309 0.00611398 0.02632869
+v -0.01688496 0.00600465 0.02632869
+v -0.01688496 0.00602869 0.02368725
+v -0.01947797 0.00595180 0.02368725
+v -0.01947797 0.00593980 0.02105250
+v -0.02465683 0.00470723 0.00522058
+v -0.02984047 0.00464470 0.02105250
+v -0.03210726 0.00345773 0.02105249
+v -0.03304541 0.00122675 0.02105248
+v -0.00911309 -0.00614134 0.01312814
+v -0.00911309 -0.00615336 0.01576958
+v -0.02753557 0.00122681 0.00522056
+v -0.02753557 -0.00127328 0.00522056
+v -0.02674267 -0.00357514 0.00522055
+v -0.02673791 -0.00358836 0.00522055
+v -0.02672600 -0.00359557 0.00522055
+v -0.02464255 -0.00479095 0.00522054
+v -0.01422766 -0.00549256 0.00522054
+v -0.01420862 -0.00549376 0.00522054
+v -0.01170371 -0.00592388 0.01048670
+v -0.00911309 0.00610921 0.01576962
+v -0.00911309 0.00609481 0.01312818
+v -0.01688496 0.00595542 0.01841106
+v -0.01170371 0.00587376 0.01048674
+v -0.01419909 0.00543287 0.00522058
+v -0.02673791 0.00352146 0.00522057
+v -0.02753319 0.00124002 0.00522056
+v -0.00911309 -0.00593709 0.01048670
+v -0.01188229 -0.00549376 0.00522054
+v -0.00911309 0.00588217 0.01048674
+v -0.01170371 0.00598548 0.01312818
+v -0.01189420 0.00543407 0.00522058
+v -0.00911309 -0.00538565 0.00834680
+v -0.01057745 -0.00488826 0.00522054
+v -0.00911309 0.00533194 0.00836021
+v -0.01060127 0.00484059 0.00522058
+v -0.00918928 -0.00354391 0.00522055
+v -0.00911309 -0.00345260 0.00522055
+v -0.00911309 0.00339411 0.00522057
+v -0.01050602 0.00474928 0.00522058
+f 1 2 7
+f 1 7 14
+f 1 14 26
+f 1 26 40
+f 1 40 58
+f 1 58 74
+f 1 74 85
+f 1 85 84
+f 1 84 102
+f 1 102 107
+f 1 107 112
+f 1 112 113
+f 1 113 109
+f 1 109 104
+f 1 104 96
+f 1 96 95
+f 1 95 75
+f 1 75 59
+f 1 59 42
+f 1 42 41
+f 1 41 30
+f 1 30 17
+f 1 17 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 9 8
+f 4 10 11
+f 4 11 5
+f 4 8 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 15 10
+f 8 9 16
+f 8 16 17
+f 8 17 18
+f 8 18 15
+f 10 15 19
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 12 23 13
+f 12 22 24
+f 12 24 25
+f 12 25 23
+f 13 23 26
+f 13 26 14
+f 15 18 27
+f 15 27 28
+f 15 28 29
+f 15 29 19
+f 17 30 18
+f 18 30 27
+f 19 29 31
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 21 34 22
+f 22 34 24
+f 23 25 35
+f 23 35 36
+f 23 36 26
+f 24 34 25
+f 25 34 37
+f 25 37 38
+f 25 38 39
+f 25 39 35
+f 26 36 40
+f 27 30 41
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 28 31 29
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 31
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 33
+f 33 49 34
+f 34 49 37
+f 35 39 50
+f 35 50 36
+f 36 50 40
+f 37 49 51
+f 37 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 38 54 39
+f 39 54 55
+f 39 55 56
+f 39 56 50
+f 40 50 57
+f 40 57 58
+f 42 59 43
+f 43 59 60
+f 43 60 44
+f 44 60 45
+f 45 60 61
+f 45 61 62
+f 45 62 63
+f 45 63 46
+f 46 64 47
+f 46 63 65
+f 46 65 66
+f 46 66 64
+f 47 64 48
+f 48 64 51
+f 48 51 49
+f 50 56 67
+f 50 67 68
+f 50 68 57
+f 51 64 66
+f 51 66 52
+f 52 66 53
+f 53 66 65
+f 53 65 69
+f 53 69 70
+f 53 70 54
+f 54 70 71
+f 54 71 55
+f 55 71 72
+f 55 72 73
+f 55 73 56
+f 56 73 67
+f 57 68 58
+f 58 68 74
+f 59 75 76
+f 59 76 60
+f 60 76 77
+f 60 77 78
+f 60 78 61
+f 61 78 79
+f 61 79 62
+f 62 79 80
+f 62 80 81
+f 62 81 63
+f 63 81 82
+f 63 82 65
+f 65 82 83
+f 65 83 69
+f 67 73 68
+f 68 73 84
+f 68 84 85
+f 68 85 74
+f 69 83 86
+f 69 86 87
+f 69 87 88
+f 69 88 89
+f 69 89 70
+f 70 89 90
+f 70 90 72
+f 70 72 71
+f 72 90 89
+f 72 89 88
+f 72 88 87
+f 72 87 86
+f 72 86 101
+f 72 101 100
+f 72 100 80
+f 72 80 99
+f 72 99 106
+f 72 106 110
+f 72 110 114
+f 72 114 113
+f 72 113 112
+f 72 112 111
+f 72 111 108
+f 72 108 103
+f 72 103 93
+f 72 93 92
+f 72 92 91
+f 72 91 73
+f 73 91 92
+f 73 92 93
+f 73 93 94
+f 73 94 84
+f 75 77 76
+f 75 95 77
+f 77 95 96
+f 77 96 79
+f 77 79 78
+f 79 96 97
+f 79 97 98
+f 79 98 99
+f 79 99 80
+f 80 100 82
+f 80 82 81
+f 82 100 83
+f 83 100 101
+f 83 101 86
+f 84 94 102
+f 93 103 102
+f 93 102 94
+f 96 104 98
+f 96 98 105
+f 96 105 97
+f 97 105 98
+f 98 104 99
+f 99 104 106
+f 102 103 107
+f 103 108 107
+f 104 109 106
+f 106 109 110
+f 107 108 111
+f 107 111 112
+f 109 113 114
+f 109 114 110
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_16.obj

@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.00748483 0.00475205 -0.04226720
+v 0.00708590 0.00475204 -0.04207535
+v 0.00748483 0.00589732 -0.04496760
+v 0.00748483 0.00475202 -0.03629703
+v 0.00648037 0.00475204 -0.04178241
+v -0.00374235 0.00844786 -0.04475511
+v -0.00374235 0.00946623 -0.04673142
+v 0.00748483 0.00659687 -0.04613317
+v 0.00748483 0.00495166 -0.03463016
+v 0.00747714 0.00475202 -0.03601027
+v 0.00629574 0.00475204 -0.03968439
+v -0.00374235 0.00813523 -0.04244667
+v -0.00374235 0.01123675 -0.04721826
+v 0.00748483 0.00765392 -0.04693565
+v 0.00748483 0.00695902 -0.04660970
+v 0.00748483 0.00520547 -0.03281683
+v 0.00646278 0.00475203 -0.03701493
+v -0.00374235 0.00812592 -0.03925529
+v -0.00374235 0.00812284 -0.03965343
+v -0.00374235 0.00816615 -0.03451669
+v 0.00384391 0.01123675 -0.04723477
+v 0.00748483 0.00869704 -0.04705117
+v -0.00374235 0.01889148 -0.04681802
+v -0.00133668 0.01873981 -0.04699956
+v 0.00748483 0.00542679 -0.03145115
+v -0.00374235 0.00836579 -0.03176471
+v -0.00374235 0.00818008 -0.03412060
+v 0.00125361 0.01873981 -0.04699956
+v 0.00748483 0.01747072 -0.04694387
+v -0.00374235 0.01906172 -0.04674376
+v -0.00133668 0.02011103 -0.04644669
+v 0.00748483 0.00577655 -0.03020513
+v -0.00374235 0.00889199 -0.02911176
+v -0.00374235 0.00840139 -0.03157286
+v 0.00125361 0.02010948 -0.04644669
+v 0.00378127 0.01889921 -0.04680771
+v 0.00429669 0.01878469 -0.04682215
+v 0.00643421 0.01831265 -0.04687372
+v 0.00748483 0.01810681 -0.04674994
+v -0.00374235 0.02010175 -0.04496549
+v -0.00296647 0.02004603 -0.04636211
+v -0.00133668 0.02038342 -0.04496549
+v 0.00748483 0.00615418 -0.02912621
+v -0.00374235 0.00893996 -0.02899211
+v 0.00125361 0.02038187 -0.04496549
+v 0.00287681 0.02004603 -0.04636004
+v 0.00748483 0.01873052 -0.04561532
+v -0.00374235 0.02016210 -0.04411762
+v -0.00351926 0.02014972 -0.04496549
+v -0.00133668 0.02054901 -0.04232697
+v 0.00748483 0.00716479 -0.02757899
+v -0.00374235 0.00965652 -0.02747171
+v 0.00343399 0.02014817 -0.04496549
+v 0.00125361 0.02054746 -0.04232697
+v 0.00472969 0.01987579 -0.04496755
+v 0.00643421 0.01935887 -0.04496755
+v 0.00748483 0.01895803 -0.04496755
+v -0.00374235 0.02024257 -0.04243012
+v -0.00374235 0.02026887 -0.03987413
+v -0.00374235 0.02027042 -0.03968434
+v -0.00133668 0.02056138 -0.03968433
+v 0.00125361 0.02056293 -0.03968433
+v -0.00374235 0.00972462 -0.02742013
+v 0.00748483 0.00874340 -0.02684045
+v -0.00374235 0.01121966 -0.02662796
+v 0.00429669 0.02006769 -0.04421045
+v 0.00409558 0.02018686 -0.04249408
+v 0.00384391 0.02025030 -0.03968434
+v 0.00512862 0.01998876 -0.04348223
+v 0.00748483 0.01918707 -0.04241569
+v -0.00374235 0.02021779 -0.03718198
+v -0.00133668 0.02051494 -0.03704169
+v 0.00125361 0.02051649 -0.03704169
+v 0.00748483 0.01123668 -0.02637009
+v 0.00643421 0.01123668 -0.02634121
+v -0.00374235 0.01141776 -0.02656607
+v 0.00429669 0.02015281 -0.04234967
+v 0.00429669 0.02016827 -0.03968434
+v 0.00429669 0.02016518 -0.04038162
+v 0.00403074 0.02017446 -0.03714897
+v 0.00429669 0.02013422 -0.03737177
+v 0.00516928 0.01999957 -0.03810412
+v 0.00516928 0.01999958 -0.04172460
+v 0.00619353 0.01966994 -0.04249408
+v 0.00748483 0.01920563 -0.04072613
+v -0.00374235 0.02014968 -0.03629698
+v -0.00335881 0.02012337 -0.03534183
+v -0.00133668 0.02023016 -0.03504683
+v 0.00125361 0.02023016 -0.03504683
+v 0.00329222 0.02012492 -0.03534183
+v 0.00643421 0.01373460 -0.02662382
+v 0.00429669 0.01373460 -0.02633708
+v 0.00384391 0.01373615 -0.02627931
+v 0.00125361 0.01373615 -0.02616379
+v 0.00748483 0.01374079 -0.02687757
+v -0.00133668 0.01373615 -0.02615966
+v -0.00374235 0.01373615 -0.02627519
+v 0.00518467 0.02000422 -0.03968434
+v 0.00429669 0.02012029 -0.03693443
+v 0.00501982 0.01996706 -0.03634649
+v 0.00619353 0.01963742 -0.03715104
+v 0.00648037 0.01959255 -0.03968434
+v 0.00748483 0.01920099 -0.03968434
+v -0.00374235 0.02008778 -0.03558320
+v -0.00374235 0.01988658 -0.03487973
+v -0.00374235 0.01867011 -0.03176467
+v -0.00133668 0.01974573 -0.03372654
+v 0.00125361 0.01974573 -0.03372654
+v 0.00384391 0.01865618 -0.03176467
+v 0.00403074 0.01966527 -0.03444032
+v 0.00429669 0.01959562 -0.03443413
+v 0.00643421 0.01903073 -0.03440732
+v 0.00643421 0.01542155 -0.02738710
+v 0.00429669 0.01573263 -0.02716843
+v 0.00384391 0.01579918 -0.02712511
+v 0.00125361 0.01598645 -0.02705497
+v 0.00748483 0.01521262 -0.02757690
+v -0.00133668 0.01598490 -0.02705703
+v -0.00374235 0.01389711 -0.02633913
+v 0.00748483 0.01883417 -0.03547592
+v 0.00748483 0.01914062 -0.03710153
+v -0.00133668 0.01897500 -0.03176467
+v -0.00374235 0.01780032 -0.02983582
+v -0.00133668 0.01796746 -0.02950987
+v 0.00125361 0.01897655 -0.03176467
+v 0.00548139 0.01760531 -0.03021747
+v 0.00125361 0.01797056 -0.02950368
+v 0.00384391 0.01779413 -0.02984819
+v 0.00429669 0.01774305 -0.02994928
+v 0.00638146 0.01798450 -0.03176261
+v 0.00748483 0.01780342 -0.03231135
+v 0.00748483 0.01861750 -0.03442588
+v 0.00384391 0.01704969 -0.02852791
+v 0.00125361 0.01723696 -0.02818134
+v 0.00748483 0.01621396 -0.02922932
+v 0.00638146 0.01672005 -0.02925201
+v 0.00429669 0.01699089 -0.02865582
+v -0.00374235 0.01580537 -0.02712511
+v -0.00133668 0.01723541 -0.02818959
+v -0.00374235 0.01705743 -0.02851760
+v 0.00720899 0.01729423 -0.03087968
+v 0.00429669 0.01720447 -0.02899621
+v 0.00748483 0.01741186 -0.03139954
+v 0.00748483 0.01722613 -0.03101377
+v -0.00374235 0.01589514 -0.02720763
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 14
+f 1 14 22
+f 1 22 29
+f 1 29 39
+f 1 39 47
+f 1 47 57
+f 1 57 70
+f 1 70 85
+f 1 85 103
+f 1 103 121
+f 1 121 120
+f 1 120 132
+f 1 132 131
+f 1 131 143
+f 1 143 144
+f 1 144 135
+f 1 135 117
+f 1 117 95
+f 1 95 74
+f 1 74 64
+f 1 64 51
+f 1 51 43
+f 1 43 32
+f 1 32 25
+f 1 25 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 7 8
+f 3 5 6
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 19
+f 6 19 18
+f 6 18 20
+f 6 20 27
+f 6 27 26
+f 6 26 34
+f 6 34 33
+f 6 33 44
+f 6 44 52
+f 6 52 63
+f 6 63 65
+f 6 65 76
+f 6 76 97
+f 6 97 119
+f 6 119 138
+f 6 138 145
+f 6 145 140
+f 6 140 123
+f 6 123 106
+f 6 106 105
+f 6 105 104
+f 6 104 86
+f 6 86 71
+f 6 71 60
+f 6 60 59
+f 6 59 58
+f 6 58 48
+f 6 48 40
+f 6 40 30
+f 6 30 23
+f 6 23 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 10 16 17
+f 11 18 19
+f 11 19 12
+f 11 17 20
+f 11 20 18
+f 13 21 22
+f 13 22 14
+f 13 23 24
+f 13 24 21
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 20
+f 21 24 28
+f 21 28 29
+f 21 29 22
+f 23 30 31
+f 23 31 24
+f 24 31 28
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 28 31 35
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 29 38 39
+f 30 40 41
+f 30 41 31
+f 31 41 42
+f 31 42 45
+f 31 45 35
+f 32 43 33
+f 33 43 44
+f 35 45 46
+f 35 46 36
+f 36 46 37
+f 37 46 38
+f 38 46 39
+f 39 46 47
+f 40 48 49
+f 40 49 41
+f 41 49 42
+f 42 49 50
+f 42 50 54
+f 42 54 45
+f 43 51 52
+f 43 52 44
+f 45 53 46
+f 45 54 53
+f 46 53 55
+f 46 55 56
+f 46 56 47
+f 47 56 57
+f 48 58 49
+f 49 58 50
+f 50 58 59
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 54
+f 51 63 52
+f 51 64 65
+f 51 65 63
+f 53 66 55
+f 53 54 67
+f 53 67 66
+f 54 62 68
+f 54 68 67
+f 55 66 69
+f 55 69 56
+f 56 69 70
+f 56 70 57
+f 60 71 72
+f 60 72 61
+f 61 72 73
+f 61 73 62
+f 62 73 68
+f 64 74 75
+f 64 75 76
+f 64 76 65
+f 66 67 69
+f 67 68 77
+f 67 77 69
+f 68 78 79
+f 68 79 77
+f 68 73 80
+f 68 80 81
+f 68 81 82
+f 68 82 78
+f 69 77 83
+f 69 83 84
+f 69 84 70
+f 70 84 85
+f 71 86 72
+f 72 86 87
+f 72 87 88
+f 72 88 73
+f 73 88 89
+f 73 89 90
+f 73 90 80
+f 74 91 92
+f 74 92 93
+f 74 93 94
+f 74 94 75
+f 74 95 91
+f 75 94 96
+f 75 96 76
+f 76 96 97
+f 77 79 83
+f 78 98 83
+f 78 83 79
+f 78 82 98
+f 80 90 99
+f 80 99 81
+f 81 99 82
+f 82 99 100
+f 82 100 101
+f 82 101 102
+f 82 102 98
+f 83 98 102
+f 83 102 84
+f 84 102 85
+f 85 102 103
+f 86 104 87
+f 87 105 106
+f 87 106 107
+f 87 107 88
+f 87 104 105
+f 88 107 108
+f 88 108 89
+f 89 108 90
+f 90 100 99
+f 90 108 109
+f 90 109 110
+f 90 110 111
+f 90 111 112
+f 90 112 100
+f 91 95 113
+f 91 113 114
+f 91 114 115
+f 91 115 92
+f 92 115 93
+f 93 115 116
+f 93 116 94
+f 94 116 96
+f 95 117 113
+f 96 116 118
+f 96 118 119
+f 96 119 97
+f 100 120 121
+f 100 121 101
+f 100 112 120
+f 101 121 102
+f 102 121 103
+f 106 122 107
+f 106 123 124
+f 106 124 122
+f 107 122 125
+f 107 125 108
+f 108 125 109
+f 109 126 112
+f 109 112 111
+f 109 111 110
+f 109 125 127
+f 109 127 128
+f 109 128 129
+f 109 129 126
+f 112 126 130
+f 112 130 131
+f 112 131 132
+f 112 132 120
+f 113 117 133
+f 113 133 114
+f 114 133 115
+f 115 133 134
+f 115 134 116
+f 116 134 118
+f 117 135 136
+f 117 136 137
+f 117 137 133
+f 118 138 119
+f 118 134 139
+f 118 139 138
+f 122 124 127
+f 122 127 125
+f 123 140 139
+f 123 139 124
+f 124 139 127
+f 126 141 130
+f 126 129 142
+f 126 142 137
+f 126 137 136
+f 126 136 141
+f 127 139 134
+f 127 134 128
+f 128 134 133
+f 128 133 129
+f 129 133 142
+f 130 141 131
+f 131 141 143
+f 133 137 142
+f 135 144 141
+f 135 141 136
+f 138 139 145
+f 139 140 145
+f 141 144 143
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_17.obj

@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.01836932 0.00563799 0.08546651
+v 0.01679963 0.00560692 0.07982554
+v 0.01679963 0.00561245 0.08546651
+v 0.01938970 0.00563244 0.08546651
+v 0.01938970 0.00562355 0.08442557
+v 0.01938970 0.00557359 0.08178538
+v 0.01938970 0.00550919 0.07982554
+v 0.01513433 0.00518603 0.07982554
+v 0.01603477 0.00543032 0.08546651
+v 0.02048831 0.00535814 0.08546651
+v 0.02120276 0.00517157 0.08442557
+v 0.02109324 0.00513493 0.08178538
+v 0.02095940 0.00508830 0.07982554
+v 0.01417131 0.00443086 0.07982554
+v 0.00755531 0.00240413 0.08546650
+v 0.01032965 0.00373121 0.08546650
+v 0.01507870 0.00515602 0.08546651
+v 0.02119928 0.00517601 0.08546651
+v 0.02249780 0.00442307 0.08442557
+v 0.02129315 0.00487508 0.07982554
+v 0.01383755 0.00416434 0.07982554
+v 0.00634718 0.00125806 0.08546649
+v 0.02249606 0.00438531 0.08546651
+v 0.02357381 0.00305713 0.08178537
+v 0.02239002 0.00430759 0.08178538
+v 0.02318790 0.00362793 0.08546650
+v 0.02363987 0.00317261 0.08442556
+v 0.02225443 0.00408105 0.07982553
+v 0.01351249 0.00384228 0.07982553
+v 0.00633849 -0.00130727 0.08546649
+v 0.01262595 0.00291277 0.07982553
+v 0.01214792 0.00122698 0.07982552
+v 0.02345387 0.00283059 0.07982553
+v 0.02409009 0.00122696 0.08442555
+v 0.02395971 0.00122697 0.08178536
+v 0.02314792 0.00315264 0.07982553
+v 0.02361553 0.00313486 0.08546650
+v 0.00900158 -0.00303747 0.08546648
+v 0.01214444 -0.00127393 0.07982552
+v 0.01250253 -0.00254549 0.07982551
+v 0.01262247 -0.00296860 0.07982551
+v 0.01382886 -0.00422017 0.07982550
+v 0.01512564 -0.00523742 0.07982550
+v 0.02355295 0.00235861 0.07982553
+v 0.02403968 0.00122696 0.08546649
+v 0.02409356 -0.00127395 0.08442555
+v 0.02396319 -0.00127394 0.08178536
+v 0.02371983 0.00058177 0.07982552
+v 0.02371809 0.00122698 0.07982552
+v 0.01507001 -0.00520745 0.08546647
+v 0.01553762 -0.00535402 0.07982550
+v 0.02404141 -0.00127395 0.08546649
+v 0.02389192 -0.00201023 0.08546648
+v 0.02364334 -0.00324181 0.08442554
+v 0.02357729 -0.00312409 0.08178535
+v 0.02372157 -0.00127393 0.07982552
+v 0.02345560 -0.00289086 0.07982551
+v 0.01679963 -0.00567499 0.08546647
+v 0.01679963 -0.00567052 0.07982550
+v 0.02361900 -0.00320294 0.08546648
+v 0.02253952 -0.00445451 0.08546647
+v 0.02254473 -0.00449338 0.08442553
+v 0.02243696 -0.00437454 0.08178534
+v 0.02230137 -0.00414243 0.07982550
+v 0.01938970 -0.00570719 0.08546647
+v 0.01746714 -0.00567052 0.07982550
+v 0.02203019 -0.00478878 0.08546647
+v 0.02124448 -0.00523966 0.08546647
+v 0.02124969 -0.00523633 0.08442553
+v 0.02114192 -0.00520078 0.08178534
+v 0.02100459 -0.00515524 0.07982550
+v 0.01938970 -0.00569942 0.08442553
+v 0.01938970 -0.00558834 0.07982550
+v 0.01938970 -0.00565165 0.08178534
+v 0.01984166 -0.00547174 0.07982550
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 16
+f 1 16 15
+f 1 15 22
+f 1 22 30
+f 1 30 38
+f 1 38 50
+f 1 50 58
+f 1 58 65
+f 1 65 68
+f 1 68 67
+f 1 67 61
+f 1 61 60
+f 1 60 53
+f 1 53 52
+f 1 52 45
+f 1 45 37
+f 1 37 26
+f 1 26 23
+f 1 23 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 13
+f 2 13 20
+f 2 20 28
+f 2 28 36
+f 2 36 33
+f 2 33 44
+f 2 44 49
+f 2 49 48
+f 2 48 56
+f 2 56 57
+f 2 57 64
+f 2 64 71
+f 2 71 75
+f 2 75 73
+f 2 73 66
+f 2 66 59
+f 2 59 51
+f 2 51 43
+f 2 43 42
+f 2 42 41
+f 2 41 40
+f 2 40 39
+f 2 39 32
+f 2 32 31
+f 2 31 29
+f 2 29 21
+f 2 21 14
+f 2 14 8
+f 2 8 9
+f 2 9 3
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 12 19 13
+f 13 19 20
+f 14 21 15
+f 15 21 22
+f 18 23 19
+f 19 24 25
+f 19 25 20
+f 19 23 26
+f 19 26 27
+f 19 27 24
+f 20 25 28
+f 21 29 22
+f 22 29 31
+f 22 31 32
+f 22 32 30
+f 24 33 25
+f 24 27 34
+f 24 34 35
+f 24 35 33
+f 25 33 36
+f 25 36 28
+f 26 37 27
+f 27 37 34
+f 30 32 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 43
+f 30 43 38
+f 33 35 44
+f 34 45 46
+f 34 46 47
+f 34 47 35
+f 34 37 45
+f 35 47 48
+f 35 48 49
+f 35 49 44
+f 38 43 50
+f 43 51 50
+f 45 52 46
+f 46 52 53
+f 46 53 54
+f 46 54 55
+f 46 55 47
+f 47 56 48
+f 47 55 57
+f 47 57 56
+f 50 51 58
+f 51 59 58
+f 53 60 54
+f 54 60 61
+f 54 61 62
+f 54 62 55
+f 55 62 63
+f 55 63 57
+f 57 63 64
+f 58 59 65
+f 59 66 65
+f 61 67 62
+f 62 67 68
+f 62 68 69
+f 62 69 70
+f 62 70 71
+f 62 71 63
+f 63 71 64
+f 65 66 72
+f 65 72 69
+f 65 69 68
+f 66 73 74
+f 66 74 72
+f 69 72 74
+f 69 74 70
+f 70 74 73
+f 70 73 75
+f 70 75 71
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_18.obj

@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02271528 -0.00567482 0.07456314
+v -0.02271528 -0.00567482 0.07556314
+v -0.02271528 0.00562133 0.07456314
+v -0.02271528 0.00562133 0.07556314
+v 0.00568276 -0.00567482 0.07456314
+v 0.00568276 -0.00567482 0.07556314
+v 0.00568276 0.00562133 0.07456314
+v 0.00568276 0.00562133 0.07556314
+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/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_19.obj

@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.00374254 0.00533874 -0.03892326
+v -0.00376865 0.00533874 -0.03890890
+v -0.00567495 0.00715589 -0.04393426
+v -0.00567495 0.00775966 -0.04540496
+v -0.00374254 0.00946568 -0.04673412
+v -0.00374254 0.00533873 -0.03532959
+v -0.00567495 0.00624511 -0.03926170
+v -0.00567495 0.00688251 -0.04256613
+v -0.00402876 0.00533874 -0.03702181
+v -0.00567495 0.00892186 -0.04687154
+v -0.00374254 0.01123603 -0.04721818
+v -0.00374254 0.00965712 -0.02747153
+v -0.00567495 0.00801689 -0.02902018
+v -0.00567495 0.00796718 -0.02912479
+v -0.00381329 0.00533873 -0.03534190
+v -0.00567495 0.00622172 -0.03873865
+v -0.00398260 0.00533873 -0.03605982
+v -0.00567495 0.00619686 -0.03659722
+v -0.00567495 0.00618809 -0.03704438
+v -0.00567495 0.01138076 -0.04703563
+v -0.00392926 0.01123603 -0.04722434
+v -0.00374254 0.01889048 -0.04681817
+v -0.00374254 0.00972437 -0.02741820
+v -0.00567495 0.00905628 -0.02722950
+v -0.00567495 0.00624217 -0.03494192
+v -0.00385699 0.00533873 -0.03552651
+v -0.00567495 0.01777068 -0.04687561
+v -0.00567495 0.01850162 -0.04685304
+v -0.00387080 0.01889925 -0.04680792
+v -0.00374254 0.01906299 -0.04674638
+v -0.00374254 0.01121988 -0.02662645
+v -0.00567495 0.00961765 -0.02693207
+v -0.00567495 0.01961412 -0.04496596
+v -0.00481591 0.01987434 -0.04496596
+v -0.00374254 0.02010239 -0.04496596
+v -0.00374254 0.01141577 -0.02656491
+v -0.00392926 0.01123596 -0.02659773
+v -0.00567495 0.01123596 -0.02642338
+v -0.00567495 0.01984801 -0.04299273
+v -0.00520902 0.01998835 -0.04341322
+v -0.00374254 0.02016232 -0.04411883
+v -0.00374254 0.01373579 -0.02627158
+v -0.00567495 0.01205169 -0.02632082
+v -0.00567495 0.01986116 -0.04198150
+v -0.00525139 0.01999858 -0.04165332
+v -0.00417896 0.02018863 -0.04245122
+v -0.00374254 0.02024418 -0.04243071
+v -0.00392926 0.01373579 -0.02628184
+v -0.00374254 0.01389806 -0.02633722
+v -0.00567495 0.01373579 -0.02652183
+v -0.00567495 0.01986993 -0.03968624
+v -0.00526066 0.02000150 -0.03968624
+v -0.00392926 0.02024856 -0.03968624
+v -0.00374254 0.02027049 -0.03987495
+v -0.00567495 0.01440680 -0.02679873
+v -0.00392926 0.01579267 -0.02713101
+v -0.00374254 0.01580583 -0.02712486
+v -0.00567495 0.01986407 -0.03867706
+v -0.00524590 0.01999710 -0.03818683
+v -0.00410632 0.02017399 -0.03720227
+v -0.00374254 0.02027195 -0.03968624
+v -0.00567495 0.01553245 -0.02731357
+v -0.00374254 0.01589646 -0.02720691
+v -0.00374254 0.01705720 -0.02851555
+v -0.00392926 0.01704258 -0.02854222
+v -0.00567495 0.01594178 -0.02777303
+v -0.00567495 0.01984507 -0.03777660
+v -0.00567495 0.01980121 -0.03681050
+v -0.00508775 0.01996493 -0.03642898
+v -0.00374254 0.02008919 -0.03557979
+v -0.00374254 0.02014913 -0.03629360
+v -0.00374254 0.02021785 -0.03718176
+v -0.00374254 0.01780131 -0.02983650
+v -0.00392926 0.01778816 -0.02986112
+v -0.00554745 0.01759811 -0.03023239
+v -0.00567495 0.01747385 -0.03009496
+v -0.00567495 0.01680869 -0.02903860
+v -0.00567495 0.01957753 -0.03560030
+v -0.00567495 0.01924568 -0.03441677
+v -0.00374254 0.01988745 -0.03487829
+v -0.00374254 0.01787441 -0.02999854
+v -0.00392926 0.01864630 -0.03176461
+v -0.00567495 0.01765220 -0.03044776
+v -0.00567495 0.01757618 -0.03027956
+v -0.00410632 0.01966086 -0.03443729
+v -0.00567495 0.01818288 -0.03176666
+v -0.00374254 0.01872524 -0.03190614
+v -0.00374254 0.01866969 -0.03176461
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 22
+f 1 22 30
+f 1 30 35
+f 1 35 41
+f 1 41 47
+f 1 47 54
+f 1 54 61
+f 1 61 72
+f 1 72 71
+f 1 71 70
+f 1 70 80
+f 1 80 87
+f 1 87 88
+f 1 88 81
+f 1 81 73
+f 1 73 64
+f 1 64 63
+f 1 63 57
+f 1 57 49
+f 1 49 42
+f 1 42 36
+f 1 36 31
+f 1 31 23
+f 1 23 12
+f 1 12 6
+f 1 6 15
+f 1 15 26
+f 1 26 17
+f 1 17 9
+f 1 9 2
+f 2 7 8
+f 2 8 3
+f 2 9 7
+f 3 8 7
+f 3 7 16
+f 3 16 19
+f 3 19 18
+f 3 18 25
+f 3 25 14
+f 3 14 13
+f 3 13 24
+f 3 24 32
+f 3 32 38
+f 3 38 43
+f 3 43 50
+f 3 50 55
+f 3 55 62
+f 3 62 66
+f 3 66 77
+f 3 77 76
+f 3 76 84
+f 3 84 83
+f 3 83 86
+f 3 86 79
+f 3 79 78
+f 3 78 68
+f 3 68 67
+f 3 67 58
+f 3 58 51
+f 3 51 44
+f 3 44 39
+f 3 39 33
+f 3 33 28
+f 3 28 27
+f 3 27 20
+f 3 20 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 7 9 16
+f 9 17 18
+f 9 18 19
+f 9 19 16
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 12 23 24
+f 12 24 13
+f 14 25 15
+f 15 25 26
+f 17 26 25
+f 17 25 18
+f 20 27 21
+f 21 27 28
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 23 31 32
+f 23 32 24
+f 28 30 29
+f 28 33 34
+f 28 34 30
+f 30 34 35
+f 31 36 37
+f 31 37 32
+f 32 37 38
+f 33 39 40
+f 33 40 34
+f 34 40 35
+f 35 40 41
+f 36 42 38
+f 36 38 37
+f 38 42 43
+f 39 44 45
+f 39 45 40
+f 40 45 46
+f 40 46 41
+f 41 46 47
+f 42 48 43
+f 42 49 48
+f 43 48 50
+f 44 51 45
+f 45 51 52
+f 45 52 53
+f 45 53 46
+f 46 53 54
+f 46 54 47
+f 48 55 50
+f 48 49 56
+f 48 56 55
+f 49 57 56
+f 51 58 52
+f 52 58 59
+f 52 59 53
+f 53 59 60
+f 53 60 61
+f 53 61 54
+f 55 56 62
+f 56 63 64
+f 56 64 65
+f 56 65 66
+f 56 66 62
+f 56 57 63
+f 58 67 59
+f 59 67 68
+f 59 68 69
+f 59 69 60
+f 60 69 70
+f 60 70 71
+f 60 71 72
+f 60 72 61
+f 64 73 74
+f 64 74 65
+f 65 74 75
+f 65 75 76
+f 65 76 77
+f 65 77 66
+f 68 78 69
+f 69 78 70
+f 70 78 79
+f 70 79 80
+f 73 81 74
+f 74 81 82
+f 74 82 75
+f 75 82 83
+f 75 83 84
+f 75 84 76
+f 79 85 80
+f 79 86 82
+f 79 82 85
+f 80 85 82
+f 80 82 87
+f 81 88 82
+f 82 88 87
+f 82 86 83
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_2.obj

@@ -0,0 +1,826 @@
+# https://github.com/mikedh/trimesh
+v -0.01164495 0.00550736 -0.02376285
+v -0.01181973 0.00550736 -0.02376285
+v -0.01152421 0.00542475 -0.02376285
+v -0.00965219 0.01345595 -0.02730868
+v -0.01438399 0.00548940 -0.02376285
+v -0.01058705 0.00476746 -0.02376285
+v -0.00965219 0.01314347 -0.02719837
+v -0.00965219 0.01460532 -0.02834049
+v -0.01093087 0.01290641 -0.02745575
+v -0.01473355 0.00524516 -0.02376285
+v -0.01014089 0.00373303 -0.02376286
+v -0.00965219 0.01070825 -0.02638258
+v -0.00965219 0.01124342 -0.02655723
+v -0.00965219 0.01470948 -0.02850136
+v -0.00976143 0.01457658 -0.02838416
+v -0.01265800 0.01214137 -0.02817964
+v -0.01570981 0.00410657 -0.02376285
+v -0.01009950 0.00354266 -0.02376286
+v -0.00965909 0.00122238 -0.02376287
+v -0.00965219 0.00134809 -0.02397888
+v -0.00965219 0.01539193 -0.02957912
+v -0.01166450 0.01370739 -0.02916319
+v -0.01066984 0.01516564 -0.03014674
+v -0.01337553 0.01284177 -0.02994222
+v -0.01425520 0.01119315 -0.02917239
+v -0.01587309 0.00377254 -0.02376286
+v -0.01577190 0.01023415 -0.03016284
+v -0.01747719 0.00868611 -0.03180365
+v -0.01795440 0.00689021 -0.03094648
+v -0.00965564 -0.00127390 -0.02376287
+v -0.00965219 -0.00127390 -0.02392373
+v -0.00965219 0.01623958 -0.03119464
+v -0.00995231 0.01724170 -0.03362136
+v -0.01122984 0.01556434 -0.03176685
+v -0.01252461 0.01460893 -0.03176686
+v -0.01520156 0.01202286 -0.03176687
+v -0.01296847 0.01496092 -0.03313189
+v -0.01390678 0.01335899 -0.03176686
+v -0.01862593 0.00612158 -0.03180366
+v -0.01826487 0.00522004 -0.03029615
+v -0.01926527 0.00372587 -0.03176690
+v -0.01645149 0.00122238 -0.02376287
+v -0.01791530 0.00949425 -0.03366735
+v -0.01617667 0.01077292 -0.03176687
+v -0.01835916 0.00782408 -0.03270447
+v -0.01013629 -0.00378813 -0.02376288
+v -0.00965219 -0.01128773 -0.02655731
+v -0.00965219 0.01709443 -0.03297102
+v -0.00965219 0.01732071 -0.03345361
+v -0.00965219 0.01751467 -0.03391780
+v -0.01062960 0.01761884 -0.03537935
+v -0.01179903 0.01631503 -0.03425561
+v -0.01555803 0.01244309 -0.03313878
+v -0.01348362 0.01538476 -0.03488987
+v -0.01452197 0.01395164 -0.03401663
+v -0.01965393 0.00622575 -0.03440962
+v -0.02034732 0.00371511 -0.03453832
+v -0.02084177 0.00287823 -0.03550350
+v -0.01958954 0.00122241 -0.03176691
+v -0.01645609 -0.00119847 -0.02376287
+v -0.01829591 0.01016592 -0.03542763
+v -0.01867078 0.00868612 -0.03449235
+v -0.01695514 0.01130451 -0.03428321
+v -0.01031108 -0.00412217 -0.02376289
+v -0.00965219 -0.01348590 -0.02732257
+v -0.00965219 0.01787027 -0.03479564
+v -0.00965219 0.01821148 -0.03645253
+v -0.01078253 0.01771224 -0.03704312
+v -0.01207846 0.01686817 -0.03704313
+v -0.01375845 0.01561464 -0.03704313
+v -0.01599498 0.01294595 -0.03490137
+v -0.01505437 0.01446169 -0.03704314
+v -0.02021163 0.00622576 -0.03704317
+v -0.02069688 0.00458433 -0.03704317
+v -0.02094181 0.00333080 -0.03704318
+v -0.02119709 0.00122243 -0.03704319
+v -0.02091651 0.00122242 -0.03529438
+v -0.02044506 0.00122241 -0.03397532
+v -0.01959184 -0.00127387 -0.03176691
+v -0.01645609 -0.00127390 -0.02376287
+v -0.01837986 0.01029524 -0.03704315
+v -0.01919168 0.00872923 -0.03704316
+v -0.01622381 0.01321175 -0.03704314
+v -0.01751974 0.01154876 -0.03704315
+v -0.01129193 -0.00530027 -0.02376289
+v -0.00973958 -0.01461012 -0.02840494
+v -0.00965219 -0.01451314 -0.02827165
+v -0.01164150 -0.00557683 -0.02376289
+v -0.01439779 -0.00555169 -0.02376289
+v -0.01091707 -0.01293995 -0.02746504
+v -0.00965219 0.01826896 -0.03704312
+v -0.00965219 0.01832644 -0.03968356
+v -0.01083083 0.01774098 -0.03968356
+v -0.01212675 0.01689692 -0.03968357
+v -0.01379409 0.01564339 -0.03968357
+v -0.01509002 0.01449762 -0.03968358
+v -0.02029327 0.00622577 -0.03968361
+v -0.02074518 0.00486449 -0.03968361
+v -0.02101655 0.00361456 -0.03968362
+v -0.02136037 0.00122244 -0.03968363
+v -0.02119824 -0.00127385 -0.03704319
+v -0.02091651 -0.00127386 -0.03529438
+v -0.02044506 -0.00127387 -0.03397532
+v -0.02084292 -0.00291889 -0.03550352
+v -0.01926757 -0.00377374 -0.03176692
+v -0.01592024 -0.00366601 -0.02376288
+v -0.01840975 0.01033835 -0.03968359
+v -0.01925262 0.00872924 -0.03968360
+v -0.01625256 0.01324768 -0.03968358
+v -0.01754733 0.01158828 -0.03968359
+v -0.01065489 -0.01519916 -0.03016754
+v -0.00965219 -0.01541826 -0.02960452
+v -0.00965219 -0.01471787 -0.02849686
+v -0.01164955 -0.01374808 -0.02917708
+v -0.01450358 -0.00548704 -0.02376289
+v -0.01264535 -0.01218208 -0.02819351
+v -0.01546258 -0.00487285 -0.02376289
+v -0.00965219 0.01833004 -0.04232399
+v -0.01083658 0.01774099 -0.04232399
+v -0.01213365 0.01690411 -0.04232400
+v -0.01380214 0.01565417 -0.04232400
+v -0.01509692 0.01450122 -0.04232401
+v -0.02030477 0.00622578 -0.04232404
+v -0.02075208 0.00490042 -0.04232404
+v -0.02103265 0.00365049 -0.04232405
+v -0.02138222 0.00132661 -0.04221606
+v -0.02138222 0.00122603 -0.04120262
+v -0.02136037 -0.00127384 -0.03968363
+v -0.02094296 -0.00336785 -0.03704320
+v -0.02069229 -0.00461778 -0.03704321
+v -0.01964129 -0.00627719 -0.03440966
+v -0.02034387 -0.00376295 -0.03453834
+v -0.01587999 -0.00383842 -0.02376288
+v -0.01826602 -0.00527151 -0.03029389
+v -0.01841665 0.01034913 -0.04232402
+v -0.01755423 0.01160266 -0.04232402
+v -0.01926412 0.00872925 -0.04232403
+v -0.01625946 0.01324769 -0.04232401
+v -0.01336978 -0.01288606 -0.02995151
+v -0.01250507 -0.01464961 -0.03176696
+v -0.01121029 -0.01559784 -0.03176697
+v -0.00993621 -0.01728597 -0.03363986
+v -0.00965219 -0.01714229 -0.03301939
+v -0.00965219 -0.01652092 -0.03177846
+v -0.01425060 -0.01123385 -0.02917707
+v -0.01795440 -0.00694169 -0.03094654
+v -0.01835686 -0.00787194 -0.03270913
+v -0.01747949 -0.00873397 -0.03180371
+v -0.01577420 -0.01028562 -0.03016292
+v -0.00965219 0.01809659 -0.04496443
+v -0.01063534 0.01762247 -0.04496444
+v -0.01193242 0.01675326 -0.04496444
+v -0.01362621 0.01550333 -0.04496444
+v -0.01492099 0.01432882 -0.04496445
+v -0.01610422 0.01307530 -0.04496445
+v -0.02002305 0.00622579 -0.04496448
+v -0.02060719 0.00444428 -0.04496448
+v -0.02093146 0.00319434 -0.04496449
+v -0.02138222 0.00133021 -0.04232636
+v -0.02139717 0.00122604 -0.04232636
+v -0.02138222 -0.00127384 -0.04133131
+v -0.02101655 -0.00364440 -0.03968364
+v -0.02074058 -0.00489793 -0.03968365
+v -0.02019783 -0.00627718 -0.03704321
+v -0.01862363 -0.00617304 -0.03180370
+v -0.01829821 -0.01021736 -0.03542082
+v -0.01866618 -0.00873396 -0.03448781
+v -0.01833846 0.01023061 -0.04446579
+v -0.01884441 0.00896272 -0.04519427
+v -0.01519351 -0.01206354 -0.03176695
+v -0.01389873 -0.01339249 -0.03176696
+v -0.01295697 -0.01500160 -0.03314579
+v -0.01178639 -0.01635569 -0.03427182
+v -0.01061580 -0.01765950 -0.03540015
+v -0.00965219 -0.01754098 -0.03392022
+v -0.01791645 -0.00954212 -0.03366053
+v -0.01617782 -0.01081001 -0.03176695
+v -0.00965219 0.01768353 -0.04646046
+v -0.01042607 0.01749676 -0.04629960
+v -0.01329734 0.01523395 -0.04650412
+v -0.01582595 0.01275922 -0.04649494
+v -0.01815908 0.00995405 -0.04622378
+v -0.01754274 0.01112856 -0.04519426
+v -0.02080612 0.00264480 -0.04632952
+v -0.02119134 0.00122246 -0.04496450
+v -0.02138222 0.00122604 -0.04252859
+v -0.02139487 -0.00127383 -0.04232636
+v -0.02103035 -0.00367672 -0.04232407
+v -0.02074748 -0.00492665 -0.04232408
+v -0.02028063 -0.00627717 -0.03968365
+v -0.01918363 -0.00877705 -0.03704322
+v -0.01838216 -0.01035024 -0.03704323
+v -0.01752434 -0.01160018 -0.03704323
+v -0.01622956 -0.01325957 -0.03704324
+v -0.01599728 -0.01299379 -0.03490837
+v -0.01695629 -0.01135236 -0.03428329
+v -0.01555343 -0.01248377 -0.03314578
+v -0.01451737 -0.01399591 -0.03402592
+v -0.01347902 -0.01542901 -0.03490838
+v -0.01076413 -0.01774569 -0.03704326
+v -0.00965219 -0.01829882 -0.03704326
+v -0.00965219 -0.01790015 -0.03481646
+v -0.01375500 -0.01565888 -0.03704325
+v -0.01206006 -0.01690881 -0.03704325
+v -0.00965219 0.01621091 -0.04696603
+v -0.01145522 0.01613189 -0.04667877
+v -0.01421495 0.01364639 -0.04678449
+v -0.01639859 0.01123272 -0.04675693
+v -0.01856154 0.00828388 -0.04661676
+v -0.01895940 0.00622579 -0.04684657
+v -0.01961024 0.00357866 -0.04680751
+v -0.02087282 0.00122246 -0.04640537
+v -0.02087052 -0.00127382 -0.04640307
+v -0.02118674 -0.00127382 -0.04496450
+v -0.02138222 -0.00127383 -0.04248952
+v -0.02138222 -0.00132770 -0.04239990
+v -0.02092571 -0.00321696 -0.04496451
+v -0.02059914 -0.00446690 -0.04496452
+v -0.02000350 -0.00627715 -0.04496452
+v -0.02029097 -0.00627716 -0.04232408
+v -0.01924572 -0.00877704 -0.03968366
+v -0.01841090 -0.01038974 -0.03968367
+v -0.01755538 -0.01164686 -0.03968367
+v -0.01626061 -0.01329548 -0.03968368
+v -0.01509117 -0.01454542 -0.03968368
+v -0.01504977 -0.01450951 -0.03704324
+v -0.01081588 -0.01777801 -0.03968370
+v -0.01211180 -0.01694472 -0.03968369
+v -0.00965219 -0.01835628 -0.03968370
+v -0.01379639 -0.01569119 -0.03968369
+v -0.01429430 0.01123272 -0.04706027
+v -0.00965219 0.00872926 -0.04710164
+v -0.01170359 0.00372592 -0.04723265
+v -0.01712992 0.00896272 -0.04688333
+v -0.01947455 0.00122246 -0.04700975
+v -0.01947455 -0.00127382 -0.04700975
+v -0.01960564 -0.00361565 -0.04680753
+v -0.02080267 -0.00267461 -0.04632724
+v -0.01815563 -0.00999463 -0.04621467
+v -0.01883406 -0.00900689 -0.04518974
+v -0.01925377 -0.00877703 -0.04232409
+v -0.01841550 -0.01040410 -0.04232410
+v -0.01756343 -0.01165403 -0.04232410
+v -0.01626751 -0.01330625 -0.04232411
+v -0.01510382 -0.01455977 -0.04232411
+v -0.01212215 -0.01695548 -0.04232412
+v -0.01082623 -0.01778159 -0.04232413
+v -0.00965219 -0.01835987 -0.04051788
+v -0.01380904 -0.01570196 -0.04232412
+v -0.00965219 -0.00825621 -0.04719132
+v -0.01170359 -0.00377369 -0.04723956
+v -0.01429430 -0.01128048 -0.04706724
+v -0.01894790 -0.00627715 -0.04684661
+v -0.01855349 -0.00832805 -0.04661682
+v -0.01833731 -0.01028198 -0.04445438
+v -0.01639974 -0.01128048 -0.04676160
+v -0.01582940 -0.01281057 -0.04649734
+v -0.01611112 -0.01313024 -0.04496455
+v -0.01754619 -0.01117991 -0.04518975
+v -0.01492559 -0.01438018 -0.04496455
+v -0.01363081 -0.01555468 -0.04496456
+v -0.01193012 -0.01680462 -0.04496456
+v -0.01063420 -0.01766664 -0.04496456
+v -0.00965219 -0.01836346 -0.04232413
+v -0.00965219 -0.01565166 -0.04702360
+v -0.00965219 -0.01625867 -0.04696844
+v -0.01421380 -0.01369774 -0.04678919
+v -0.01712878 -0.00900689 -0.04688798
+v -0.01329734 -0.01527812 -0.04650424
+v -0.01042951 -0.01754811 -0.04630202
+v -0.00965219 -0.01814435 -0.04496457
+v -0.00965219 -0.01828803 -0.04325943
+v -0.00965219 -0.01747269 -0.04660306
+v -0.01145637 -0.01617965 -0.04667889
+v -0.00965219 -0.01773129 -0.04646289
+v -0.00965219 -0.01805455 -0.04551150
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 26
+f 1 26 42
+f 1 42 60
+f 1 60 80
+f 1 80 106
+f 1 106 133
+f 1 133 117
+f 1 117 115
+f 1 115 89
+f 1 89 88
+f 1 88 85
+f 1 85 64
+f 1 64 46
+f 1 46 30
+f 1 30 19
+f 1 19 18
+f 1 18 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 13
+f 4 13 12
+f 4 12 20
+f 4 20 31
+f 4 31 47
+f 4 47 65
+f 4 65 87
+f 4 87 113
+f 4 113 112
+f 4 112 144
+f 4 144 143
+f 4 143 175
+f 4 175 202
+f 4 202 201
+f 4 201 229
+f 4 229 248
+f 4 248 264
+f 4 264 272
+f 4 272 271
+f 4 271 276
+f 4 276 275
+f 4 275 273
+f 4 273 266
+f 4 266 265
+f 4 265 250
+f 4 250 232
+f 4 232 205
+f 4 205 178
+f 4 178 150
+f 4 150 118
+f 4 118 92
+f 4 92 91
+f 4 91 67
+f 4 67 66
+f 4 66 50
+f 4 50 49
+f 4 49 48
+f 4 48 32
+f 4 32 21
+f 4 21 14
+f 4 14 8
+f 4 8 9
+f 4 9 5
+f 4 6 7
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 14 21 15
+f 15 22 16
+f 15 21 23
+f 15 23 22
+f 16 22 24
+f 16 24 25
+f 16 25 17
+f 17 25 27
+f 17 27 28
+f 17 28 29
+f 17 29 26
+f 19 30 20
+f 20 30 31
+f 21 32 23
+f 22 23 24
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 36 27
+f 24 27 25
+f 24 35 37
+f 24 37 38
+f 24 38 36
+f 26 29 39
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 27 43 28
+f 27 36 44
+f 27 44 43
+f 28 43 45
+f 28 45 29
+f 29 45 39
+f 30 46 47
+f 30 47 31
+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 52 37
+f 34 37 35
+f 34 51 52
+f 36 38 53
+f 36 53 44
+f 37 52 54
+f 37 54 55
+f 37 55 38
+f 38 55 53
+f 39 45 56
+f 39 56 40
+f 40 56 41
+f 41 57 58
+f 41 58 42
+f 41 56 57
+f 42 58 59
+f 42 59 60
+f 43 44 61
+f 43 61 62
+f 43 62 45
+f 44 53 63
+f 44 63 61
+f 45 62 56
+f 46 64 47
+f 47 64 65
+f 50 66 51
+f 51 66 67
+f 51 67 68
+f 51 68 69
+f 51 69 70
+f 51 70 54
+f 51 54 52
+f 53 71 63
+f 53 55 71
+f 54 70 72
+f 54 72 71
+f 54 71 55
+f 56 62 61
+f 56 61 73
+f 56 73 74
+f 56 74 58
+f 56 58 57
+f 58 74 75
+f 58 75 76
+f 58 76 77
+f 58 77 78
+f 58 78 59
+f 59 78 79
+f 59 79 60
+f 60 79 80
+f 61 81 82
+f 61 82 73
+f 61 63 71
+f 61 71 83
+f 61 83 84
+f 61 84 81
+f 64 85 65
+f 65 86 87
+f 65 85 88
+f 65 88 89
+f 65 89 90
+f 65 90 86
+f 67 91 68
+f 68 91 92
+f 68 92 93
+f 68 93 94
+f 68 94 69
+f 69 94 70
+f 70 95 96
+f 70 96 72
+f 70 94 95
+f 71 72 83
+f 72 96 83
+f 73 97 98
+f 73 98 74
+f 73 82 97
+f 74 99 75
+f 74 98 99
+f 75 99 100
+f 75 100 76
+f 76 100 101
+f 76 101 77
+f 77 101 102
+f 77 102 103
+f 77 103 78
+f 78 103 79
+f 79 103 104
+f 79 104 80
+f 80 104 105
+f 80 105 106
+f 81 107 108
+f 81 108 82
+f 81 84 107
+f 82 108 97
+f 83 96 109
+f 83 109 110
+f 83 110 84
+f 84 110 107
+f 86 111 112
+f 86 112 113
+f 86 113 87
+f 86 90 114
+f 86 114 111
+f 89 115 90
+f 90 116 114
+f 90 115 117
+f 90 117 116
+f 92 118 93
+f 93 118 119
+f 93 119 120
+f 93 120 94
+f 94 120 121
+f 94 121 95
+f 95 121 96
+f 96 122 109
+f 96 121 122
+f 97 123 124
+f 97 124 98
+f 97 108 137
+f 97 137 123
+f 98 124 125
+f 98 125 99
+f 99 125 126
+f 99 126 127
+f 99 127 100
+f 100 127 128
+f 100 128 101
+f 101 128 129
+f 101 129 104
+f 101 104 102
+f 102 104 103
+f 104 129 130
+f 104 130 131
+f 104 131 132
+f 104 132 105
+f 105 133 106
+f 105 132 131
+f 105 131 134
+f 105 134 133
+f 107 135 108
+f 107 110 136
+f 107 136 135
+f 108 135 137
+f 109 138 136
+f 109 136 110
+f 109 122 138
+f 111 114 139
+f 111 139 140
+f 111 140 141
+f 111 141 142
+f 111 142 143
+f 111 143 144
+f 111 144 112
+f 114 116 139
+f 116 145 139
+f 116 117 145
+f 117 146 147
+f 117 147 148
+f 117 148 149
+f 117 149 145
+f 117 133 146
+f 118 150 151
+f 118 151 119
+f 119 151 120
+f 120 152 153
+f 120 153 121
+f 120 151 152
+f 121 153 122
+f 122 154 155
+f 122 155 138
+f 122 153 154
+f 123 156 124
+f 123 137 156
+f 124 156 157
+f 124 157 158
+f 124 158 125
+f 125 158 159
+f 125 159 126
+f 126 160 127
+f 126 159 160
+f 127 160 128
+f 128 161 162
+f 128 162 129
+f 128 160 161
+f 129 162 130
+f 130 163 164
+f 130 164 131
+f 130 162 163
+f 131 165 134
+f 131 164 166
+f 131 166 167
+f 131 167 147
+f 131 147 165
+f 133 134 165
+f 133 165 146
+f 135 168 137
+f 135 136 168
+f 136 138 155
+f 136 155 168
+f 137 168 169
+f 137 169 156
+f 139 145 149
+f 139 149 170
+f 139 170 171
+f 139 171 172
+f 139 172 140
+f 140 172 141
+f 141 173 174
+f 141 174 142
+f 141 172 173
+f 142 174 175
+f 142 175 143
+f 146 165 147
+f 147 167 176
+f 147 176 148
+f 148 176 149
+f 149 176 166
+f 149 166 177
+f 149 177 170
+f 150 178 179
+f 150 179 151
+f 151 179 152
+f 152 179 153
+f 153 179 180
+f 153 180 154
+f 154 181 155
+f 154 180 181
+f 155 181 182
+f 155 182 183
+f 155 183 168
+f 156 169 182
+f 156 182 184
+f 156 184 157
+f 157 184 158
+f 158 184 185
+f 158 185 186
+f 158 186 160
+f 158 160 159
+f 160 186 187
+f 160 187 161
+f 161 187 162
+f 162 187 188
+f 162 188 163
+f 163 188 189
+f 163 189 190
+f 163 190 164
+f 164 190 191
+f 164 191 166
+f 166 176 167
+f 166 191 192
+f 166 192 193
+f 166 193 194
+f 166 194 195
+f 166 195 196
+f 166 196 177
+f 168 182 169
+f 168 183 182
+f 170 177 197
+f 170 197 171
+f 171 198 172
+f 171 197 195
+f 171 195 198
+f 172 198 199
+f 172 199 173
+f 173 199 174
+f 174 200 201
+f 174 201 202
+f 174 202 175
+f 174 199 203
+f 174 203 204
+f 174 204 200
+f 177 196 197
+f 178 205 206
+f 178 206 179
+f 179 206 180
+f 180 206 207
+f 180 207 181
+f 181 207 208
+f 181 208 182
+f 182 209 184
+f 182 208 209
+f 184 209 210
+f 184 210 211
+f 184 211 212
+f 184 212 185
+f 185 212 213
+f 185 213 214
+f 185 214 215
+f 185 215 186
+f 186 215 187
+f 187 215 216
+f 187 216 188
+f 188 216 217
+f 188 217 189
+f 189 218 219
+f 189 219 220
+f 189 220 190
+f 189 217 218
+f 190 220 221
+f 190 221 191
+f 191 221 192
+f 192 221 222
+f 192 222 223
+f 192 223 193
+f 193 223 194
+f 194 224 225
+f 194 225 226
+f 194 226 195
+f 194 223 224
+f 195 226 199
+f 195 199 198
+f 195 197 196
+f 199 226 203
+f 200 227 201
+f 200 204 228
+f 200 228 227
+f 201 227 229
+f 203 226 225
+f 203 225 230
+f 203 230 228
+f 203 228 204
+f 205 231 207
+f 205 207 206
+f 205 232 233
+f 205 233 231
+f 207 231 208
+f 208 231 234
+f 208 234 210
+f 208 210 209
+f 210 234 231
+f 210 231 235
+f 210 235 211
+f 211 235 212
+f 212 235 236
+f 212 236 213
+f 213 236 237
+f 213 237 238
+f 213 238 214
+f 214 238 217
+f 214 217 216
+f 214 216 215
+f 217 238 218
+f 218 238 219
+f 219 239 240
+f 219 240 241
+f 219 241 220
+f 219 238 239
+f 220 241 221
+f 221 241 242
+f 221 242 222
+f 222 242 223
+f 223 243 244
+f 223 244 224
+f 223 242 243
+f 224 244 245
+f 224 245 225
+f 225 245 230
+f 227 228 246
+f 227 246 247
+f 227 247 248
+f 227 248 229
+f 228 230 249
+f 228 249 246
+f 230 245 249
+f 231 233 235
+f 232 250 233
+f 233 250 251
+f 233 251 235
+f 235 251 236
+f 236 251 252
+f 236 252 253
+f 236 253 237
+f 237 253 238
+f 238 253 254
+f 238 254 239
+f 239 255 240
+f 239 254 256
+f 239 256 257
+f 239 257 258
+f 239 258 259
+f 239 259 255
+f 240 255 241
+f 241 255 242
+f 242 255 243
+f 243 258 244
+f 243 255 258
+f 244 258 245
+f 245 258 260
+f 245 260 261
+f 245 261 249
+f 246 249 261
+f 246 261 262
+f 246 262 263
+f 246 263 247
+f 247 263 264
+f 247 264 248
+f 250 265 252
+f 250 252 251
+f 252 265 266
+f 252 266 267
+f 252 267 256
+f 252 256 268
+f 252 268 253
+f 253 268 256
+f 253 256 254
+f 255 259 258
+f 256 267 257
+f 257 267 269
+f 257 269 260
+f 257 260 258
+f 260 269 261
+f 261 269 270
+f 261 270 262
+f 262 270 263
+f 263 270 271
+f 263 271 272
+f 263 272 264
+f 266 273 274
+f 266 274 267
+f 267 274 269
+f 269 274 270
+f 270 273 275
+f 270 275 276
+f 270 276 271
+f 270 274 273
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_20.obj

@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00748483 -0.00462409 -0.03465124
+v 0.00748483 -0.00392960 -0.03493179
+v 0.00458029 -0.00318225 -0.01886316
+v 0.00429730 -0.00336547 -0.01874625
+v 0.00649201 -0.00462409 -0.03514890
+v 0.00748483 -0.00462407 -0.04034591
+v 0.00748483 -0.00377109 -0.03627112
+v 0.00432725 -0.00318225 -0.01810498
+v 0.00429730 -0.00321189 -0.01813170
+v 0.00748483 -0.00369471 -0.03704266
+v 0.00627547 -0.00318219 -0.03522237
+v 0.00429730 -0.00416321 -0.03688903
+v 0.00635098 -0.00462408 -0.03704267
+v 0.00731167 -0.00462407 -0.04033923
+v 0.00429730 -0.00319624 -0.05218946
+v 0.00431789 -0.00318213 -0.05217276
+v 0.00748483 -0.00385082 -0.03963114
+v 0.00429730 -0.00318225 -0.01807826
+v 0.00642867 -0.00318218 -0.03755701
+v 0.00644832 -0.00318218 -0.03708608
+v 0.00618280 -0.00318217 -0.03995178
+v 0.00633787 -0.00462407 -0.03961779
+v 0.00429730 -0.00318213 -0.05212600
+v 0.00429792 -0.00318213 -0.05219948
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 22
+f 1 22 14
+f 1 14 6
+f 1 6 17
+f 1 17 10
+f 1 10 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 20
+f 3 20 19
+f 3 19 21
+f 3 21 16
+f 3 16 24
+f 3 24 23
+f 3 23 18
+f 3 18 8
+f 4 9 18
+f 4 18 23
+f 4 23 15
+f 4 15 12
+f 4 12 5
+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 8 18 9
+f 10 19 20
+f 10 20 11
+f 10 17 21
+f 10 21 19
+f 12 15 22
+f 12 22 13
+f 14 22 15
+f 15 23 24
+f 15 24 16
+f 16 21 17
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_21.obj

@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.01420634 -0.00549416 0.00521846
+v -0.01188157 -0.00549416 0.00521846
+v -0.01422536 -0.00549309 0.00521846
+v -0.01396547 -0.00546091 -0.01602252
+v -0.01059479 -0.00489614 0.00521846
+v -0.01207570 -0.00546091 -0.01602252
+v -0.01720541 -0.00494535 0.00521846
+v -0.01720541 -0.00494535 0.00520390
+v -0.01526097 -0.00463075 -0.01602252
+v -0.01720541 -0.00494321 0.00487744
+v -0.01720541 -0.00490255 0.00256307
+v -0.01720541 -0.00489506 0.00223661
+v -0.01720541 -0.00482124 -0.00007775
+v -0.01720541 -0.00480305 -0.00040422
+v -0.01720541 -0.00465648 -0.00271858
+v -0.01720541 -0.00462652 -0.00304504
+v -0.01057656 -0.00488758 0.00521846
+v -0.01078020 -0.00456550 -0.01602252
+v -0.01720541 0.00486785 0.00521850
+v -0.01592892 -0.00338017 -0.01602251
+v -0.01720541 -0.00438902 -0.00535940
+v -0.01720541 -0.00428739 -0.00574409
+v -0.01720541 -0.00362625 -0.00820192
+v -0.00918756 -0.00354499 0.00521847
+v -0.01012888 -0.00336305 -0.01602251
+v -0.00911070 -0.00345192 0.00521847
+v -0.01419842 0.00543377 0.00521850
+v -0.01720541 0.00486785 0.00520394
+v -0.01639086 -0.00127374 -0.01602250
+v -0.01720541 -0.00243770 -0.00989871
+v -0.01010273 -0.00331384 -0.01602251
+v -0.00911070 -0.00344978 0.00520391
+v -0.00911070 0.00339475 0.00521849
+v -0.01189425 0.00543484 0.00521850
+v -0.01419683 0.00543377 0.00520394
+v -0.01394328 0.00541031 -0.01327768
+v -0.01394249 0.00540497 -0.01602248
+v -0.01720541 0.00482721 0.00256311
+v -0.01639007 0.00122743 -0.01602250
+v -0.01720541 -0.00127376 -0.01084066
+v -0.01720541 0.00122741 -0.01084898
+v -0.01008530 -0.00323574 -0.01602251
+v -0.00911070 -0.00264207 -0.00017963
+v -0.01059954 0.00484111 0.00521850
+v -0.00911070 0.00241913 -0.00164974
+v -0.01010511 0.00326004 -0.01602249
+v -0.01079050 0.00451062 -0.01602248
+v -0.01208600 0.00540497 -0.01602248
+v -0.01207887 0.00541031 -0.01327768
+v -0.01399240 0.00537288 -0.01602248
+v -0.01720541 0.00459188 -0.00271854
+v -0.01720541 0.00475127 -0.00007771
+v -0.01594635 0.00323222 -0.01602249
+v -0.01720541 0.00356490 -0.00819982
+v -0.00966377 -0.00127374 -0.01602250
+v -0.00911070 -0.00188037 -0.00271857
+v -0.01084042 0.00454593 -0.01602248
+v -0.00911070 0.00170558 -0.00332157
+v -0.00966615 0.00122743 -0.01602250
+v -0.00968278 0.00130553 -0.01602250
+v -0.01523799 0.00456304 -0.01602248
+v -0.01720541 0.00432230 -0.00535936
+v -0.01592813 0.00331246 -0.01602249
+v -0.01590277 0.00336060 -0.01602249
+v -0.00966377 -0.00117639 -0.01602250
+v -0.00911070 0.00122738 -0.00382895
+v -0.00911070 -0.00127379 -0.00382272
+f 1 2 5
+f 1 5 17
+f 1 17 24
+f 1 24 26
+f 1 26 33
+f 1 33 44
+f 1 44 34
+f 1 34 27
+f 1 27 19
+f 1 19 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 9 20
+f 4 20 29
+f 4 29 39
+f 4 39 53
+f 4 53 63
+f 4 63 64
+f 4 64 61
+f 4 61 50
+f 4 50 37
+f 4 37 48
+f 4 48 57
+f 4 57 47
+f 4 47 46
+f 4 46 60
+f 4 60 59
+f 4 59 65
+f 4 65 55
+f 4 55 42
+f 4 42 31
+f 4 31 25
+f 4 25 18
+f 4 18 6
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 9
+f 5 6 17
+f 6 18 17
+f 7 19 28
+f 7 28 38
+f 7 38 52
+f 7 52 51
+f 7 51 62
+f 7 62 54
+f 7 54 41
+f 7 41 40
+f 7 40 30
+f 7 30 23
+f 7 23 22
+f 7 22 21
+f 7 21 16
+f 7 16 15
+f 7 15 14
+f 7 14 13
+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 8
+f 9 16 21
+f 9 21 22
+f 9 22 23
+f 9 23 20
+f 17 18 24
+f 18 25 26
+f 18 26 24
+f 19 27 28
+f 20 23 30
+f 20 30 29
+f 25 31 26
+f 26 32 43
+f 26 43 56
+f 26 56 67
+f 26 67 66
+f 26 66 58
+f 26 58 45
+f 26 45 33
+f 26 31 32
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 28 37 38
+f 29 30 40
+f 29 40 41
+f 29 41 39
+f 31 42 43
+f 31 43 32
+f 33 45 46
+f 33 46 47
+f 33 47 44
+f 34 36 35
+f 34 44 48
+f 34 48 49
+f 34 49 36
+f 36 49 48
+f 36 48 37
+f 37 50 51
+f 37 51 52
+f 37 52 38
+f 39 41 54
+f 39 54 53
+f 42 55 43
+f 43 55 56
+f 44 47 57
+f 44 57 48
+f 45 58 59
+f 45 59 60
+f 45 60 46
+f 50 61 51
+f 51 61 62
+f 53 54 63
+f 54 61 64
+f 54 64 63
+f 54 62 61
+f 55 65 66
+f 55 66 67
+f 55 67 56
+f 58 66 59
+f 59 66 65
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_22.obj

@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.01720541 0.00486784 0.00521850
+v -0.02206859 0.00484762 0.00521850
+v -0.01720541 -0.00494601 0.00521846
+v -0.01720541 0.00486784 0.00520394
+v -0.02724819 0.00489008 -0.01591851
+v -0.02465839 0.00477443 0.00256311
+v -0.02465839 0.00470797 0.00520394
+v -0.02465839 0.00470701 0.00521850
+v -0.02465839 0.00485246 -0.00271854
+v -0.02465839 0.00482645 -0.00007771
+v -0.01720541 -0.00494312 0.00487744
+v -0.02206859 -0.00492674 0.00521846
+v -0.02735418 -0.00494882 -0.01602252
+v -0.01720541 0.00482741 0.00256311
+v -0.02465839 0.00485347 -0.01327768
+v -0.02724502 0.00488430 -0.01602248
+v -0.02877643 0.00474850 -0.01602248
+v -0.02963865 0.00464930 -0.01602248
+v -0.02467104 0.00470027 0.00521850
+v -0.03217465 0.00362554 -0.01602249
+v -0.01720541 -0.00490266 0.00256307
+v -0.02465839 -0.00491030 -0.01327772
+v -0.02206859 -0.00490647 -0.00799815
+v -0.02464415 -0.00479095 0.00521846
+v -0.02465839 -0.00485450 0.00256307
+v -0.02465839 -0.00490072 -0.00007775
+v -0.02465839 -0.00492286 -0.00271858
+v -0.02958169 -0.00472731 -0.01602252
+v -0.02724502 -0.00493726 -0.01602252
+v -0.01720541 0.00475133 -0.00007771
+v -0.02206859 0.00483900 -0.00799811
+v -0.02206859 0.00475522 -0.01063686
+v -0.02465839 0.00457900 -0.01591851
+v -0.02465997 0.00453662 -0.01602248
+v -0.02673719 0.00352145 0.00521849
+v -0.03336118 0.00122746 -0.01602250
+v -0.01720541 -0.00489495 0.00223661
+v -0.02476755 -0.00463870 -0.01602252
+v -0.02206859 -0.00481978 -0.01063690
+v -0.01720541 -0.00482175 -0.00007775
+v -0.02465839 -0.00478999 0.00521846
+v -0.03213194 -0.00373244 -0.01602251
+v -0.01720541 0.00459243 -0.00271854
+v -0.02206859 0.00447690 -0.01327768
+v -0.01720541 0.00432278 -0.00535936
+v -0.02208599 0.00343967 -0.01589773
+v -0.02214928 0.00339825 -0.01602249
+v -0.02753295 0.00123990 0.00521848
+v -0.03336593 -0.00127368 -0.01602250
+v -0.02753612 0.00122738 0.00521848
+v -0.02220623 -0.00349263 -0.01602251
+v -0.02208441 -0.00348878 -0.01589775
+v -0.02206859 -0.00453470 -0.01327772
+v -0.01720541 -0.00438834 -0.00535940
+v -0.01720541 -0.00462623 -0.00304504
+v -0.01720541 -0.00465705 -0.00271858
+v -0.01720541 -0.00480345 -0.00040422
+v -0.02672611 -0.00359576 0.00521847
+v -0.03217940 -0.00368043 -0.01602251
+v -0.02673719 -0.00358902 0.00521847
+v -0.01720541 0.00356484 -0.00819982
+v -0.02051187 0.00287434 -0.01500151
+v -0.02194836 0.00306310 -0.01602249
+v -0.02753770 -0.00125931 0.00521848
+v -0.03323462 -0.00183708 -0.01602251
+v -0.02753770 -0.00127376 0.00521848
+v -0.02214769 -0.00344833 -0.01602251
+v -0.02051345 -0.00292248 -0.01500361
+v -0.01720541 -0.00362556 -0.00820192
+v -0.01720541 -0.00428818 -0.00574409
+v -0.02674193 -0.00357553 0.00521847
+v -0.01720541 0.00122744 -0.01084898
+v -0.02087415 0.00122746 -0.01602250
+v -0.02099122 -0.00189102 -0.01602251
+v -0.01720541 -0.00127370 -0.01084066
+v -0.01720541 -0.00243711 -0.00989871
+v -0.02087099 -0.00127368 -0.01602250
+v -0.02087257 0.00007561 -0.01602250
+f 1 2 8
+f 1 8 19
+f 1 19 35
+f 1 35 48
+f 1 48 50
+f 1 50 64
+f 1 64 66
+f 1 66 71
+f 1 71 60
+f 1 60 58
+f 1 58 41
+f 1 41 24
+f 1 24 12
+f 1 12 3
+f 1 3 11
+f 1 11 21
+f 1 21 37
+f 1 37 40
+f 1 40 57
+f 1 57 56
+f 1 56 55
+f 1 55 54
+f 1 54 70
+f 1 70 69
+f 1 69 76
+f 1 76 75
+f 1 75 72
+f 1 72 61
+f 1 61 45
+f 1 45 43
+f 1 43 30
+f 1 30 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 12 13
+f 3 13 11
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 10
+f 5 10 9
+f 6 10 17
+f 6 17 18
+f 6 18 7
+f 7 18 8
+f 8 18 20
+f 8 20 19
+f 11 13 22
+f 11 22 23
+f 11 23 21
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 28 42
+f 13 42 59
+f 13 59 65
+f 13 65 49
+f 13 49 36
+f 13 36 20
+f 13 20 18
+f 13 18 17
+f 13 17 16
+f 13 16 34
+f 13 34 47
+f 13 47 63
+f 13 63 73
+f 13 73 78
+f 13 78 77
+f 13 77 74
+f 13 74 67
+f 13 67 51
+f 13 51 38
+f 13 38 29
+f 13 29 22
+f 13 27 26
+f 13 26 25
+f 13 25 28
+f 14 30 31
+f 14 31 15
+f 15 32 33
+f 15 33 16
+f 15 31 30
+f 15 30 32
+f 16 33 34
+f 19 20 35
+f 20 36 35
+f 21 23 37
+f 22 29 38
+f 22 38 39
+f 22 39 23
+f 23 40 37
+f 23 39 40
+f 24 41 25
+f 25 41 28
+f 28 41 42
+f 30 43 32
+f 32 44 33
+f 32 43 45
+f 32 45 44
+f 33 46 34
+f 33 44 46
+f 34 46 47
+f 35 36 48
+f 36 49 50
+f 36 50 48
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 39 53 54
+f 39 54 55
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 41 58 42
+f 42 58 60
+f 42 60 59
+f 44 61 62
+f 44 62 46
+f 44 45 61
+f 46 62 47
+f 47 62 63
+f 49 64 50
+f 49 65 66
+f 49 66 64
+f 51 67 52
+f 52 67 68
+f 52 68 53
+f 53 69 70
+f 53 70 54
+f 53 68 69
+f 59 60 65
+f 60 71 65
+f 61 72 62
+f 62 73 63
+f 62 72 73
+f 65 71 66
+f 67 74 68
+f 68 74 75
+f 68 75 76
+f 68 76 69
+f 72 75 77
+f 72 77 78
+f 72 78 73
+f 74 77 75
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_23.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00374235 -0.00382114 -0.03985329
+v -0.00374235 -0.00382114 -0.03983513
+v -0.00529401 -0.00257951 -0.04110607
+v -0.00374235 -0.00368935 -0.04199936
+v -0.00529401 -0.00257951 -0.04090635
+v -0.00374235 -0.00381668 -0.03400333
+v -0.00374235 -0.00367770 -0.04214461
+v -0.00546907 -0.00117473 -0.04212281
+v -0.00523617 -0.00008546 -0.05429843
+v -0.00374235 -0.00242348 -0.05528977
+v -0.00374235 -0.00322227 -0.04740631
+v -0.00525527 -0.00255086 -0.03305920
+v -0.00542104 -0.00144370 -0.03428657
+v -0.00374235 -0.00292562 -0.02368329
+v -0.00545409 0.00126191 -0.04250047
+v -0.00523617 0.00002032 -0.05429843
+v -0.00547131 -0.00072293 -0.03613850
+v -0.00550074 0.00122691 -0.03627649
+v -0.00479188 0.00100286 -0.05531881
+v -0.00374235 0.00121175 -0.05772634
+v -0.00454073 -0.00106083 -0.05531881
+v -0.00374235 -0.00172152 -0.05601239
+v -0.00537956 -0.00062257 -0.02230340
+v -0.00374235 -0.00235188 -0.02125398
+v -0.00526922 0.00251518 -0.04371693
+v -0.00534616 0.00258418 -0.03604771
+v -0.00537956 0.00029184 -0.02230340
+v -0.00534616 0.00258418 -0.03557565
+v -0.00374235 0.00289712 -0.05548947
+v -0.00374235 -0.00118991 -0.05655707
+v -0.00374235 -0.00132272 -0.02062939
+v -0.00402879 0.00533728 -0.03702450
+v -0.00390967 0.00116590 -0.02172966
+v -0.00374235 0.00146891 -0.02183859
+v -0.00374235 0.00229278 -0.02292070
+v -0.00374235 0.00295977 -0.02384304
+v -0.00480152 0.00160339 -0.02384304
+v -0.00398266 0.00533727 -0.03605859
+v -0.00376869 0.00533728 -0.03891276
+v -0.00374235 0.00533728 -0.03892365
+v -0.00374235 0.00117397 -0.02165340
+v -0.00374235 0.00533727 -0.03532871
+v -0.00381327 0.00533727 -0.03534323
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 7
+f 1 7 11
+f 1 11 10
+f 1 10 22
+f 1 22 30
+f 1 30 20
+f 1 20 29
+f 1 29 40
+f 1 40 42
+f 1 42 36
+f 1 36 35
+f 1 35 34
+f 1 34 41
+f 1 41 31
+f 1 31 24
+f 1 24 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 3 5 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 7
+f 5 6 12
+f 5 12 13
+f 5 13 8
+f 6 14 12
+f 8 15 16
+f 8 16 9
+f 8 13 17
+f 8 17 18
+f 8 18 15
+f 9 16 19
+f 9 19 20
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 12 14 23
+f 12 23 13
+f 13 23 17
+f 14 24 23
+f 15 25 16
+f 15 18 26
+f 15 26 25
+f 16 25 19
+f 17 23 18
+f 18 23 27
+f 18 27 28
+f 18 28 26
+f 19 29 20
+f 19 25 29
+f 20 30 21
+f 21 30 22
+f 23 24 31
+f 23 31 27
+f 25 26 32
+f 25 32 29
+f 26 28 32
+f 27 31 33
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 28 38 32
+f 29 32 39
+f 29 39 40
+f 31 41 33
+f 32 38 43
+f 32 43 42
+f 32 42 40
+f 32 40 39
+f 33 41 34
+f 36 42 43
+f 36 43 38
+f 36 38 37
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_24.obj

@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.01679920 0.00565036 0.07650406
+v 0.01679920 0.00560697 0.07982448
+v 0.01939091 0.00550910 0.07982448
+v 0.01679920 0.00558809 0.07466191
+v 0.01429752 0.00539678 0.07466191
+v 0.01513259 0.00518655 0.07982448
+v 0.01939091 0.00548574 0.07914423
+v 0.02095866 0.00508756 0.07982448
+v 0.01955863 0.00527999 0.07652983
+v 0.01898132 0.00520103 0.07466191
+v 0.00568554 0.00310336 0.07466190
+v 0.00568554 0.00299103 0.07478420
+v 0.01417217 0.00443135 0.07982448
+v 0.02076622 0.00501528 0.07742690
+v 0.02091275 0.00507199 0.07914423
+v 0.02129233 0.00487513 0.07982448
+v 0.01953039 0.00505978 0.07466191
+v 0.02053318 0.00492296 0.07566713
+v 0.00568554 -0.00316851 0.07466188
+v 0.00568554 0.00122702 0.07520922
+v 0.01262562 0.00291315 0.07982447
+v 0.01351365 0.00384186 0.07982447
+v 0.01383850 0.00416441 0.07982448
+v 0.02225451 0.00408099 0.07982447
+v 0.02025247 0.00470831 0.07466191
+v 0.02220861 0.00400314 0.07914422
+v 0.02341090 0.00275188 0.07914422
+v 0.02329614 0.00251942 0.07775237
+v 0.02095866 0.00401094 0.07466190
+v 0.00568554 -0.00303949 0.07478822
+v 0.01429752 -0.00544636 0.07466187
+v 0.01553689 -0.00535407 0.07982444
+v 0.01512376 -0.00523728 0.07982444
+v 0.00568554 -0.00084507 0.07521024
+v 0.01214541 -0.00062931 0.07982446
+v 0.01214894 0.00122701 0.07982446
+v 0.02314784 0.00315228 0.07982447
+v 0.02345327 0.00283084 0.07982447
+v 0.02355214 0.00235926 0.07982447
+v 0.02371809 0.00122701 0.07982446
+v 0.02363511 0.00122701 0.07914421
+v 0.02334911 0.00122702 0.07755071
+v 0.02298542 0.00122702 0.07623062
+v 0.02233219 0.00122703 0.07466189
+v 0.02186611 0.00259174 0.07466190
+v 0.02146711 0.00340923 0.07466190
+v 0.01382967 -0.00421959 0.07982444
+v 0.01262209 -0.00296833 0.07982445
+v 0.00568554 -0.00228986 0.07512027
+v 0.01484482 -0.00554535 0.07466187
+v 0.01679920 -0.00567105 0.07982444
+v 0.00568554 -0.00127439 0.07521024
+v 0.01214541 -0.00127440 0.07982446
+v 0.02371986 0.00058191 0.07982446
+v 0.02372162 -0.00127440 0.07982446
+v 0.02363688 -0.00127440 0.07914421
+v 0.02334911 -0.00127439 0.07754616
+v 0.02298895 -0.00127439 0.07622608
+v 0.02233396 0.00038062 0.07466189
+v 0.01250204 -0.00254457 0.07982445
+v 0.01679920 -0.00564879 0.07466187
+v 0.01679920 -0.00571219 0.07650402
+v 0.01746655 -0.00567105 0.07982444
+v 0.02345680 -0.00289159 0.07982445
+v 0.02341443 -0.00281039 0.07914420
+v 0.02329791 -0.00257126 0.07774679
+v 0.02233572 -0.00127438 0.07466189
+v 0.01765722 -0.00553645 0.07466187
+v 0.01939091 -0.00556539 0.07914419
+v 0.01939091 -0.00558763 0.07982444
+v 0.02230042 -0.00414173 0.07982444
+v 0.02225275 -0.00406165 0.07914420
+v 0.02057202 -0.00498368 0.07553468
+v 0.02147770 -0.00347104 0.07466188
+v 0.01902546 -0.00526396 0.07466187
+v 0.01958159 -0.00534516 0.07645045
+v 0.02079447 -0.00507600 0.07729496
+v 0.02095689 -0.00513941 0.07914419
+v 0.01984111 -0.00547196 0.07982444
+v 0.02100456 -0.00515498 0.07982444
+v 0.02031073 -0.00478236 0.07466187
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 13
+f 2 13 23
+f 2 23 22
+f 2 22 21
+f 2 21 36
+f 2 36 35
+f 2 35 53
+f 2 53 60
+f 2 60 48
+f 2 48 47
+f 2 47 33
+f 2 33 32
+f 2 32 51
+f 2 51 63
+f 2 63 70
+f 2 70 79
+f 2 79 80
+f 2 80 71
+f 2 71 64
+f 2 64 55
+f 2 55 54
+f 2 54 40
+f 2 40 39
+f 2 39 38
+f 2 38 37
+f 2 37 24
+f 2 24 16
+f 2 16 8
+f 2 8 3
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 4 7 9
+f 4 9 10
+f 4 10 17
+f 4 17 25
+f 4 25 29
+f 4 29 46
+f 4 46 45
+f 4 45 44
+f 4 44 59
+f 4 59 67
+f 4 67 74
+f 4 74 81
+f 4 81 75
+f 4 75 68
+f 4 68 61
+f 4 61 50
+f 4 50 31
+f 4 31 19
+f 4 19 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 7 14 9
+f 7 8 15
+f 7 15 14
+f 8 16 15
+f 9 17 10
+f 9 14 18
+f 9 18 17
+f 11 19 30
+f 11 30 49
+f 11 49 52
+f 11 52 34
+f 11 34 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 14 15 16
+f 14 16 24
+f 14 24 18
+f 17 18 25
+f 18 24 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 25
+f 19 31 32
+f 19 32 33
+f 19 33 30
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 24 37 26
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 30 47 48
+f 30 48 49
+f 30 33 47
+f 31 50 51
+f 31 51 32
+f 34 52 53
+f 34 53 35
+f 40 54 41
+f 41 54 55
+f 41 55 56
+f 41 56 42
+f 42 57 58
+f 42 58 43
+f 42 56 57
+f 43 58 44
+f 44 58 59
+f 48 60 49
+f 49 60 53
+f 49 53 52
+f 50 61 62
+f 50 62 51
+f 51 62 63
+f 55 64 65
+f 55 65 66
+f 55 66 56
+f 56 66 57
+f 57 66 58
+f 58 66 67
+f 58 67 59
+f 61 68 69
+f 61 69 62
+f 62 70 63
+f 62 69 70
+f 64 71 65
+f 65 71 72
+f 65 72 73
+f 65 73 66
+f 66 74 67
+f 66 73 74
+f 68 75 76
+f 68 76 69
+f 69 76 77
+f 69 77 78
+f 69 78 79
+f 69 79 70
+f 71 80 78
+f 71 78 77
+f 71 77 73
+f 71 73 72
+f 73 77 76
+f 73 76 75
+f 73 75 81
+f 73 81 74
+f 78 80 79
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_25.obj

@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.00965065 -0.00179554 -0.04550270
+v -0.00965065 0.00433803 -0.04679511
+v -0.00567534 0.00892337 -0.04687260
+v -0.00946773 -0.00179554 -0.04496703
+v -0.00965065 -0.00179561 -0.02596799
+v -0.00965065 0.00622773 -0.04697062
+v -0.00911122 0.00873461 -0.04720995
+v -0.00904739 0.00622561 -0.04693643
+v -0.00567534 0.01137934 -0.04703671
+v -0.00567534 0.00775901 -0.04540464
+v -0.00937548 -0.00179555 -0.04444732
+v -0.00952338 -0.00179561 -0.02648315
+v -0.00965065 -0.00127389 -0.02392562
+v -0.00965065 0.00873461 -0.04710282
+v -0.00965065 0.01621494 -0.04696602
+v -0.00911122 0.01623827 -0.04705036
+v -0.00567534 0.01777167 -0.04687484
+v -0.00567534 0.00715667 -0.04393441
+v -0.00912056 -0.00179555 -0.04231150
+v -0.00925989 -0.00179560 -0.02912501
+v -0.00567534 0.00624254 -0.03494208
+v -0.00567534 0.00796679 -0.02912497
+v -0.00965065 -0.00119541 -0.02392562
+v -0.00567534 0.00801769 -0.02902011
+v -0.00567534 0.00905479 -0.02723076
+v -0.00567534 0.00961470 -0.02693214
+v -0.00567534 0.01123505 -0.02642383
+v -0.00567534 0.01204947 -0.02632126
+v -0.00652030 0.01831461 -0.04687256
+v -0.00965065 0.01768259 -0.04646227
+v -0.00911122 0.01780984 -0.04657395
+v -0.00567534 0.01850125 -0.04685204
+v -0.00567534 0.00688308 -0.04256676
+v -0.00567534 0.00624467 -0.03926160
+v -0.00567534 0.00622134 -0.03873733
+v -0.00911394 -0.00179556 -0.04178951
+v -0.00915014 -0.00179559 -0.03179421
+v -0.00911900 -0.00179558 -0.03441556
+v -0.00567534 0.00619800 -0.03659466
+v -0.00965065 0.00135600 -0.02397804
+v -0.00567534 0.01373557 -0.02652184
+v -0.00567534 0.01961471 -0.04496695
+v -0.00965065 0.01810040 -0.04496695
+v -0.00911122 0.01835915 -0.04496695
+v -0.00652030 0.01935808 -0.04496695
+v -0.00567534 0.00618953 -0.03704371
+v -0.00909993 -0.00179556 -0.03965369
+v -0.00910771 -0.00179558 -0.03654910
+v -0.00652030 0.01373557 -0.02663809
+v -0.00911122 0.01123505 -0.02641471
+v -0.00965065 0.01071332 -0.02638280
+v -0.00567534 0.01440576 -0.02679993
+v -0.00567534 0.01984799 -0.04299297
+v -0.00965065 0.01832945 -0.04232510
+v -0.00911122 0.01859456 -0.04232510
+v -0.00627744 0.01966560 -0.04245046
+v -0.00567534 0.01553195 -0.02731279
+v -0.00652030 0.01540682 -0.02740168
+v -0.00898239 0.01373981 -0.02722846
+v -0.00965065 0.01314808 -0.02719883
+v -0.00965065 0.01124354 -0.02655604
+v -0.00567534 0.01986071 -0.04198090
+v -0.00965065 0.01832732 -0.03968552
+v -0.00911122 0.01859455 -0.03968552
+v -0.00655649 0.01959136 -0.03968552
+v -0.00567534 0.01594128 -0.02777323
+v -0.00803274 0.01510353 -0.02767522
+v -0.00965065 0.01345561 -0.02730596
+v -0.00567534 0.01987131 -0.03968552
+v -0.00965065 0.01831034 -0.03883301
+v -0.00965065 0.01827216 -0.03704366
+v -0.00911122 0.01853727 -0.03704366
+v -0.00627393 0.01963377 -0.03720094
+v -0.00567534 0.01986494 -0.03867801
+v -0.00567534 0.01680873 -0.02903832
+v -0.00965065 0.01461149 -0.02833854
+v -0.00645491 0.01670480 -0.02926170
+v -0.00727496 0.01728805 -0.03088693
+v -0.00898239 0.01554469 -0.02920927
+v -0.00965065 0.01821277 -0.03645101
+v -0.00652030 0.01902082 -0.03440636
+v -0.00567534 0.01957861 -0.03559850
+v -0.00567534 0.01980131 -0.03681116
+v -0.00567534 0.01984585 -0.03777536
+v -0.00567534 0.01747256 -0.03009597
+v -0.00965065 0.01539410 -0.02957854
+v -0.00567534 0.01757648 -0.03028061
+v -0.00645491 0.01797734 -0.03176678
+v -0.00822345 0.01769314 -0.03264893
+v -0.00909682 0.01682995 -0.03176679
+v -0.00965065 0.01786919 -0.03479386
+v -0.00567534 0.01924563 -0.03441776
+v -0.00909682 0.01801128 -0.03446335
+v -0.00567534 0.01818306 -0.03176678
+v -0.00965065 0.01624245 -0.03119466
+v -0.00567534 0.01765072 -0.03044700
+v -0.00965065 0.01732411 -0.03345129
+v -0.00965065 0.01709930 -0.03296805
+v -0.00965065 0.01751499 -0.03391629
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 36
+f 1 36 47
+f 1 47 48
+f 1 48 38
+f 1 38 37
+f 1 37 20
+f 1 20 12
+f 1 12 5
+f 1 5 13
+f 1 13 23
+f 1 23 40
+f 1 40 51
+f 1 51 61
+f 1 61 60
+f 1 60 68
+f 1 68 76
+f 1 76 86
+f 1 86 95
+f 1 95 98
+f 1 98 97
+f 1 97 99
+f 1 99 91
+f 1 91 80
+f 1 80 71
+f 1 71 70
+f 1 70 63
+f 1 63 54
+f 1 54 43
+f 1 43 30
+f 1 30 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 9
+f 3 9 17
+f 3 17 32
+f 3 32 42
+f 3 42 53
+f 3 53 62
+f 3 62 69
+f 3 69 74
+f 3 74 84
+f 3 84 83
+f 3 83 82
+f 3 82 92
+f 3 92 94
+f 3 94 96
+f 3 96 87
+f 3 87 85
+f 3 85 75
+f 3 75 66
+f 3 66 57
+f 3 57 52
+f 3 52 41
+f 3 41 28
+f 3 28 27
+f 3 27 26
+f 3 26 25
+f 3 25 24
+f 3 24 22
+f 3 22 21
+f 3 21 39
+f 3 39 46
+f 3 46 35
+f 3 35 34
+f 3 34 33
+f 3 33 18
+f 3 18 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 9
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 23
+f 15 29 16
+f 15 30 31
+f 15 31 29
+f 16 29 32
+f 16 32 17
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 20 37 21
+f 21 37 38
+f 21 38 39
+f 23 28 40
+f 28 41 40
+f 29 31 42
+f 29 42 32
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 42
+f 35 46 36
+f 36 46 47
+f 38 48 46
+f 38 46 39
+f 40 41 49
+f 40 49 50
+f 40 50 51
+f 41 52 49
+f 42 45 53
+f 43 54 55
+f 43 55 44
+f 44 55 45
+f 45 55 56
+f 45 56 53
+f 46 48 47
+f 49 52 57
+f 49 57 58
+f 49 58 59
+f 49 59 50
+f 50 59 60
+f 50 60 61
+f 50 61 51
+f 53 56 62
+f 54 63 64
+f 54 64 55
+f 55 64 65
+f 55 65 56
+f 56 65 62
+f 57 66 58
+f 58 66 67
+f 58 67 59
+f 59 67 68
+f 59 68 60
+f 62 65 69
+f 63 70 64
+f 64 70 71
+f 64 71 72
+f 64 72 65
+f 65 72 73
+f 65 73 74
+f 65 74 69
+f 66 75 67
+f 67 76 68
+f 67 75 77
+f 67 77 78
+f 67 78 79
+f 67 79 76
+f 71 80 72
+f 72 80 81
+f 72 81 82
+f 72 82 83
+f 72 83 73
+f 73 84 74
+f 73 83 84
+f 75 85 77
+f 76 79 86
+f 77 85 87
+f 77 87 78
+f 78 87 88
+f 78 88 89
+f 78 89 90
+f 78 90 79
+f 79 90 86
+f 80 91 81
+f 81 92 82
+f 81 91 93
+f 81 93 89
+f 81 89 88
+f 81 88 94
+f 81 94 92
+f 86 90 95
+f 87 96 88
+f 88 96 94
+f 89 97 90
+f 89 93 97
+f 90 97 98
+f 90 98 95
+f 91 99 93
+f 93 99 97
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_26.obj

@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.00125252 -0.00534146 -0.03744227
+v 0.00109277 -0.00534031 -0.03954234
+v 0.00125488 -0.00532425 -0.04490411
+v 0.00270999 -0.00518786 -0.03857203
+v 0.00270999 -0.00518786 -0.03759716
+v 0.00272572 -0.00517872 -0.03019910
+v 0.00120058 -0.00532887 -0.03167051
+v -0.00133817 -0.00529907 -0.03189373
+v -0.00155537 -0.00527955 -0.03963345
+v 0.00269897 -0.00517179 -0.04398391
+v -0.00135706 -0.00523827 -0.04522755
+v -0.00133738 -0.00513965 -0.05434757
+v 0.00037270 -0.00517748 -0.05439312
+v 0.00124308 -0.00517978 -0.05275316
+v 0.00263522 -0.00507891 -0.05178285
+v 0.00429730 -0.00416306 -0.03689562
+v 0.00272572 -0.00517872 -0.03072753
+v 0.00265254 -0.00509049 -0.01973522
+v 0.00115887 -0.00526128 -0.02104719
+v -0.00046464 -0.00522919 -0.01960311
+v -0.00133187 -0.00522804 -0.02144807
+v -0.00272717 -0.00512827 -0.03285493
+v -0.00263430 -0.00502731 -0.05421090
+v -0.00272717 -0.00512827 -0.03321026
+v 0.00125252 -0.00340412 -0.06081175
+v 0.00302713 -0.00308774 -0.06081175
+v 0.00429730 -0.00319552 -0.05218827
+v 0.00429730 -0.00336530 -0.01874668
+v 0.00429730 -0.00321169 -0.01813169
+v 0.00429730 -0.00265918 -0.01714316
+v 0.00332697 -0.00291595 -0.01681972
+v 0.00143510 -0.00299619 -0.01602251
+v 0.00122105 -0.00304892 -0.01602251
+v 0.00125252 -0.00522576 -0.01956211
+v -0.00219203 -0.00462164 -0.02073286
+v -0.00264375 -0.00503431 -0.02249582
+v -0.00110759 -0.00305351 -0.01602251
+v -0.00374235 -0.00381689 -0.03400290
+v -0.00374235 -0.00382030 -0.03983388
+v -0.00374235 -0.00382030 -0.03985210
+v -0.00374235 -0.00368847 -0.04199772
+v -0.00374235 -0.00367701 -0.04214349
+v -0.00374235 -0.00322305 -0.04740505
+v -0.00374235 -0.00242290 -0.05529054
+v -0.00307815 -0.00355660 -0.05526321
+v -0.00004440 -0.00252833 -0.06213283
+v 0.00125252 -0.00269569 -0.06221027
+v 0.00265018 -0.00274842 -0.06223761
+v 0.00366143 -0.00127313 -0.06081174
+v 0.00428628 0.00122696 -0.05816958
+v 0.00429730 -0.00127774 -0.05331346
+v 0.00429730 -0.00189001 -0.01647806
+v 0.00407537 -0.00150943 -0.01602251
+v 0.00392191 -0.00160801 -0.01602251
+v -0.00333864 -0.00378254 -0.02144806
+v -0.00282711 -0.00127329 -0.01602250
+v -0.00374235 -0.00292624 -0.02368479
+v -0.00374235 -0.00118946 -0.05655695
+v -0.00027498 -0.00127312 -0.06238793
+v 0.00125252 -0.00127312 -0.06255648
+v 0.00271707 -0.00127312 -0.06230138
+v 0.00267142 0.00018498 -0.06225127
+v 0.00339543 0.00110088 -0.06084819
+v 0.00429730 0.00111575 -0.05260737
+v 0.00429730 -0.00112986 -0.05331802
+v 0.00311449 0.00300260 -0.05999175
+v 0.00336002 0.00343934 -0.05816957
+v 0.00429730 0.00636924 -0.04158314
+v 0.00429730 -0.00172379 -0.01633684
+v 0.00418083 -0.00135812 -0.01602250
+v 0.00429730 -0.00130768 -0.01609083
+v -0.00366916 0.00080955 -0.01602250
+v -0.00374235 -0.00235195 -0.02125673
+v -0.00374235 0.00121206 -0.05772314
+v -0.00366523 0.00122696 -0.05790081
+v -0.00035053 0.00044061 -0.06246992
+v 0.00125252 0.00048073 -0.06247448
+v 0.00125252 0.00173021 -0.06158616
+v 0.00125252 0.00332013 -0.06026508
+v 0.00140992 0.00460628 -0.05819233
+v -0.00067004 0.00513702 -0.05732680
+v 0.00427447 0.00636924 -0.04157403
+v 0.00429730 0.00636923 -0.03759257
+v 0.00065049 0.00513702 -0.05732680
+v 0.00429021 -0.00093971 -0.01602250
+v 0.00429730 -0.00091220 -0.01602250
+v -0.00373370 0.00115803 -0.01602250
+v -0.00374235 -0.00132256 -0.02063262
+v -0.00374235 0.00289712 -0.05549096
+v -0.00329850 0.00323415 -0.05762291
+v -0.00074558 0.00307597 -0.06002364
+v -0.00157111 0.00398957 -0.05835634
+v -0.00374235 0.00618009 -0.03863577
+v 0.00385266 0.00636924 -0.04140548
+v 0.00405412 0.00636923 -0.03748779
+v 0.00049704 0.00507726 -0.01602248
+v 0.00169480 0.00482622 -0.01602248
+v 0.00188603 0.00474713 -0.01602248
+v 0.00426188 0.00333946 -0.01602249
+v 0.00429730 0.00331997 -0.01604527
+v 0.00429730 0.00328214 -0.01602249
+v -0.00328434 0.00322024 -0.01602249
+v -0.00374235 0.00614226 -0.03556083
+v -0.00374235 0.00296006 -0.02384421
+v -0.00374235 0.00229290 -0.02292401
+v -0.00374235 0.00146870 -0.02183981
+v -0.00374235 0.00117410 -0.02165305
+v -0.00350233 0.00332928 -0.05552740
+v -0.00374235 0.00623855 -0.03715524
+v 0.00351033 0.00636924 -0.03970174
+v 0.00394237 0.00636923 -0.03744223
+v -0.00054097 0.00507726 -0.01602248
+v -0.00182924 0.00445711 -0.01602248
+v -0.00374235 0.00623512 -0.03703224
+v 0.00387548 0.00636923 -0.03750146
+v 0.00351977 0.00636924 -0.03954230
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 10 4
+f 3 9 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 10
+f 4 10 16
+f 4 16 17
+f 4 17 6
+f 4 6 5
+f 6 17 16
+f 6 16 18
+f 6 18 19
+f 6 19 7
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 23 11
+f 9 22 24
+f 9 24 23
+f 10 15 16
+f 11 23 12
+f 12 23 25
+f 12 25 13
+f 13 25 26
+f 13 26 15
+f 13 15 14
+f 15 26 27
+f 15 27 16
+f 16 28 18
+f 16 27 51
+f 16 51 65
+f 16 65 64
+f 16 64 68
+f 16 68 83
+f 16 83 100
+f 16 100 101
+f 16 101 86
+f 16 86 71
+f 16 71 69
+f 16 69 52
+f 16 52 30
+f 16 30 29
+f 16 29 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 19 34 20
+f 20 35 36
+f 20 36 21
+f 20 34 37
+f 20 37 35
+f 21 36 22
+f 22 38 39
+f 22 39 40
+f 22 40 24
+f 22 36 38
+f 23 40 41
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 46
+f 23 46 25
+f 23 24 40
+f 25 46 47
+f 25 47 48
+f 25 48 26
+f 26 48 49
+f 26 49 27
+f 27 49 50
+f 27 50 51
+f 30 52 53
+f 30 53 31
+f 31 53 54
+f 31 54 32
+f 32 54 53
+f 32 53 70
+f 32 70 85
+f 32 85 86
+f 32 86 101
+f 32 101 99
+f 32 99 98
+f 32 98 97
+f 32 97 96
+f 32 96 112
+f 32 112 113
+f 32 113 102
+f 32 102 87
+f 32 87 72
+f 32 72 56
+f 32 56 37
+f 32 37 33
+f 33 37 34
+f 35 55 36
+f 35 37 56
+f 35 56 55
+f 36 55 38
+f 38 55 57
+f 38 57 73
+f 38 73 88
+f 38 88 107
+f 38 107 106
+f 38 106 105
+f 38 105 104
+f 38 104 103
+f 38 103 114
+f 38 114 109
+f 38 109 93
+f 38 93 89
+f 38 89 74
+f 38 74 58
+f 38 58 44
+f 38 44 43
+f 38 43 42
+f 38 42 41
+f 38 41 40
+f 38 40 39
+f 44 58 46
+f 44 46 45
+f 46 59 60
+f 46 60 47
+f 46 58 59
+f 47 60 48
+f 48 60 61
+f 48 61 49
+f 49 61 62
+f 49 62 63
+f 49 63 50
+f 50 64 65
+f 50 65 51
+f 50 63 66
+f 50 66 67
+f 50 67 68
+f 50 68 64
+f 52 69 53
+f 53 69 71
+f 53 71 70
+f 55 56 72
+f 55 72 73
+f 55 73 57
+f 58 74 75
+f 58 75 59
+f 59 76 60
+f 59 75 76
+f 60 77 62
+f 60 62 61
+f 60 76 77
+f 62 77 78
+f 62 78 66
+f 62 66 63
+f 66 79 80
+f 66 80 67
+f 66 78 79
+f 67 80 68
+f 68 81 82
+f 68 82 94
+f 68 94 110
+f 68 110 116
+f 68 116 115
+f 68 115 111
+f 68 111 95
+f 68 95 83
+f 68 80 84
+f 68 84 81
+f 70 71 85
+f 71 86 85
+f 72 87 73
+f 73 87 88
+f 74 89 90
+f 74 90 75
+f 75 90 76
+f 76 91 79
+f 76 79 78
+f 76 78 77
+f 76 90 91
+f 79 91 81
+f 79 81 80
+f 80 81 84
+f 81 91 92
+f 81 92 90
+f 81 90 93
+f 81 93 94
+f 81 94 82
+f 83 95 96
+f 83 96 97
+f 83 97 98
+f 83 98 99
+f 83 99 100
+f 87 102 103
+f 87 103 104
+f 87 104 105
+f 87 105 106
+f 87 106 107
+f 87 107 88
+f 89 108 90
+f 89 93 108
+f 90 108 93
+f 90 92 91
+f 93 109 94
+f 94 109 110
+f 95 111 96
+f 96 111 112
+f 99 101 100
+f 102 113 103
+f 103 113 112
+f 103 112 114
+f 109 111 115
+f 109 115 116
+f 109 116 110
+f 109 114 111
+f 111 114 112
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_27.obj

@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00429792 -0.00318199 -0.05219662
+v 0.00431789 -0.00318199 -0.05217472
+v 0.00429730 -0.00318199 -0.05212725
+v 0.00429730 -0.00127768 -0.05331381
+v 0.00517874 -0.00258942 -0.05164897
+v 0.00618280 -0.00318203 -0.03995116
+v 0.00429730 -0.00318211 -0.01808167
+v 0.00429730 -0.00113089 -0.05332112
+v 0.00532008 -0.00127380 -0.05186802
+v 0.00748483 0.00387833 -0.04190443
+v 0.00642867 -0.00318204 -0.03755611
+v 0.00432725 -0.00318211 -0.01810358
+v 0.00429730 -0.00265867 -0.01714337
+v 0.00429730 0.00111589 -0.05260917
+v 0.00534130 0.00058157 -0.05188627
+v 0.00748483 0.00475205 -0.04226587
+v 0.00748483 0.00360340 -0.03968462
+v 0.00644832 -0.00318204 -0.03708513
+v 0.00505487 -0.00245830 -0.01739528
+v 0.00458029 -0.00318211 -0.01886299
+v 0.00429730 -0.00188980 -0.01647888
+v 0.00429730 0.00186146 -0.05073620
+v 0.00429730 0.00207347 -0.05014474
+v 0.00708639 0.00475204 -0.04207602
+v 0.00748483 0.00475202 -0.03629283
+v 0.00748483 0.00379211 -0.03696828
+v 0.00557156 -0.00148439 -0.01839201
+v 0.00528981 -0.00272157 -0.01915507
+v 0.00627547 -0.00318205 -0.03521947
+v 0.00548545 -0.00079009 -0.01677826
+v 0.00429730 -0.00139587 -0.01614299
+v 0.00429730 -0.00172438 -0.01633650
+v 0.00429730 0.00362980 -0.04197380
+v 0.00648108 0.00475204 -0.04178394
+v 0.00747735 0.00475202 -0.03600805
+v 0.00748483 0.00474192 -0.03600075
+v 0.00555440 0.00122682 -0.01647887
+v 0.00523958 0.00122682 -0.01602615
+v 0.00429730 -0.00130811 -0.01609187
+v 0.00429730 0.00394900 -0.03984892
+v 0.00429730 0.00396220 -0.03968462
+v 0.00629637 0.00475204 -0.03968461
+v 0.00646361 0.00475203 -0.03701573
+v 0.00429730 0.00331984 -0.01604439
+v 0.00534691 0.00272882 -0.01669062
+v 0.00504083 0.00207568 -0.01602614
+v 0.00429730 -0.00092833 -0.01602615
+v 0.00429730 -0.00114035 -0.01606266
+v 0.00429730 0.00384879 -0.03497848
+v 0.00429730 0.00328256 -0.01602614
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 29
+f 1 29 20
+f 1 20 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 21
+f 3 21 32
+f 3 32 31
+f 3 31 39
+f 3 39 48
+f 3 48 47
+f 3 47 50
+f 3 50 44
+f 3 44 49
+f 3 49 41
+f 3 41 40
+f 3 40 33
+f 3 33 23
+f 3 23 22
+f 3 22 14
+f 3 14 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 16 25
+f 10 25 36
+f 10 36 26
+f 10 26 17
+f 10 17 18
+f 10 18 11
+f 12 19 13
+f 12 20 19
+f 13 19 21
+f 14 22 16
+f 14 16 15
+f 16 23 24
+f 16 24 34
+f 16 34 42
+f 16 42 43
+f 16 43 35
+f 16 35 25
+f 16 22 23
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 19 27 30
+f 19 30 31
+f 19 31 32
+f 19 32 21
+f 19 20 28
+f 19 28 27
+f 20 29 28
+f 23 33 34
+f 23 34 24
+f 25 35 36
+f 26 36 27
+f 27 36 30
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 31
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 35 43 44
+f 35 44 45
+f 35 45 36
+f 36 45 37
+f 37 45 46
+f 37 46 38
+f 38 46 50
+f 38 50 47
+f 38 47 48
+f 38 48 39
+f 41 49 42
+f 42 49 43
+f 43 49 44
+f 44 50 46
+f 44 46 45
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_28.obj

@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.01947489 0.00563649 0.08546628
+v -0.01947489 0.00562982 0.08442574
+v -0.02127345 0.00517209 0.08442574
+v -0.02126997 0.00517542 0.08546628
+v -0.01688469 0.00562982 0.08546628
+v -0.01947489 0.00560428 0.08300412
+v -0.01808084 0.00561539 0.08300412
+v -0.02030473 0.00539208 0.08300412
+v -0.02121789 0.00515321 0.08300412
+v -0.02256854 0.00438105 0.08442574
+v -0.02205467 0.00469546 0.08546628
+v -0.01513649 0.00516875 0.08546628
+v -0.01688469 0.00560206 0.08300412
+v -0.02251299 0.00431884 0.08300412
+v -0.02256507 0.00434216 0.08546628
+v -0.02366052 0.00306784 0.08300411
+v -0.02369351 0.00313005 0.08442573
+v -0.01527190 0.00514988 0.08300412
+v -0.01601320 0.00536208 0.08300412
+v -0.00911237 0.00299784 0.08546627
+v -0.02366920 0.00309116 0.08546627
+v -0.02404940 0.00122690 0.08300410
+v -0.02411711 0.00122689 0.08442572
+v -0.02392614 0.00193793 0.08546627
+v -0.01467643 0.00475769 0.08300412
+v -0.00640586 0.00127244 0.08546626
+v -0.02405634 -0.00127399 0.08300410
+v -0.02412579 -0.00127400 0.08442572
+v -0.02406676 0.00122689 0.08546626
+v -0.01232407 0.00301785 0.08300411
+v -0.00639197 -0.00131955 0.08546626
+v -0.00640412 0.00127022 0.08546602
+v -0.02386191 -0.00224501 0.08300409
+v -0.02407371 -0.00127400 0.08546626
+v -0.02407197 -0.00028853 0.08546626
+v -0.02370219 -0.00320161 0.08442571
+v -0.02367788 -0.00316272 0.08546625
+v -0.01191437 0.00196572 0.08300411
+v -0.00640412 -0.00133288 0.08546626
+v -0.01232060 -0.00307605 0.08300409
+v -0.01169389 -0.00127399 0.08300410
+v -0.01169909 0.00122690 0.08300410
+v -0.02366573 -0.00313494 0.08300409
+v -0.02259979 -0.00445260 0.08442570
+v -0.02326644 -0.00365601 0.08546625
+v -0.02315707 -0.00371266 0.08300409
+v -0.00762283 -0.00245501 0.08546625
+v -0.01302023 -0.00377488 0.08300409
+v -0.02254077 -0.00438593 0.08300408
+v -0.02184287 -0.00485034 0.08300408
+v -0.02124567 -0.00520808 0.08300408
+v -0.02130470 -0.00522809 0.08442570
+v -0.02130296 -0.00523253 0.08546624
+v -0.02259806 -0.00441372 0.08546624
+v -0.01042136 -0.00378266 0.08546625
+v -0.01525454 -0.00520808 0.08300408
+v -0.01947489 -0.00566693 0.08300408
+v -0.01947489 -0.00569472 0.08442570
+v -0.01947489 -0.00570360 0.08546624
+v -0.02058423 -0.00542030 0.08546624
+v -0.01512260 -0.00522476 0.08546624
+v -0.01610694 -0.00550695 0.08546624
+v -0.01688469 -0.00566582 0.08300408
+v -0.01845409 -0.00571138 0.08546624
+v -0.01688469 -0.00569472 0.08546624
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 15
+f 1 15 21
+f 1 21 24
+f 1 24 29
+f 1 29 35
+f 1 35 34
+f 1 34 37
+f 1 37 45
+f 1 45 54
+f 1 54 53
+f 1 53 60
+f 1 60 59
+f 1 59 64
+f 1 64 65
+f 1 65 62
+f 1 62 61
+f 1 61 55
+f 1 55 47
+f 1 47 39
+f 1 39 31
+f 1 31 26
+f 1 26 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 5 13 7
+f 6 7 13
+f 6 13 19
+f 6 19 18
+f 6 18 25
+f 6 25 30
+f 6 30 38
+f 6 38 42
+f 6 42 41
+f 6 41 40
+f 6 40 48
+f 6 48 56
+f 6 56 63
+f 6 63 57
+f 6 57 51
+f 6 51 50
+f 6 50 49
+f 6 49 46
+f 6 46 43
+f 6 43 33
+f 6 33 27
+f 6 27 22
+f 6 22 16
+f 6 16 14
+f 6 14 9
+f 6 9 8
+f 9 14 10
+f 10 15 11
+f 10 14 16
+f 10 16 17
+f 10 17 15
+f 12 18 19
+f 12 19 13
+f 12 20 18
+f 15 17 21
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 17 24 21
+f 18 20 26
+f 18 26 25
+f 22 27 28
+f 22 28 23
+f 23 28 29
+f 23 29 24
+f 25 26 30
+f 26 31 32
+f 26 32 30
+f 27 33 28
+f 28 34 35
+f 28 35 29
+f 28 33 36
+f 28 36 37
+f 28 37 34
+f 30 32 38
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 32 42 38
+f 33 43 36
+f 36 44 45
+f 36 45 37
+f 36 43 46
+f 36 46 44
+f 39 47 48
+f 39 48 40
+f 44 46 49
+f 44 49 50
+f 44 50 51
+f 44 51 52
+f 44 52 53
+f 44 53 54
+f 44 54 45
+f 47 55 56
+f 47 56 48
+f 51 57 52
+f 52 57 58
+f 52 58 59
+f 52 59 60
+f 52 60 53
+f 55 61 56
+f 56 61 62
+f 56 62 63
+f 57 63 58
+f 58 63 64
+f 58 64 59
+f 62 65 63
+f 63 65 64
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_29.obj

@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.00374254 -0.02030639 -0.03968335
+v -0.00392934 -0.02028102 -0.03968335
+v -0.00416587 -0.02022484 -0.04219838
+v -0.00374254 -0.02027920 -0.04221713
+v -0.00374254 -0.02025567 -0.03725584
+v -0.00409127 -0.02021218 -0.03728710
+v -0.00522940 -0.02003823 -0.03832895
+v -0.00523460 -0.02004003 -0.03968335
+v -0.00523345 -0.02004003 -0.04123154
+v -0.00518660 -0.02002915 -0.04299227
+v -0.00374254 -0.02016686 -0.04467590
+v -0.00374254 -0.02020310 -0.04394244
+v -0.00374254 -0.02019226 -0.03639736
+v -0.00506227 -0.02000563 -0.03657239
+v -0.00567586 -0.01988059 -0.03787887
+v -0.00653004 -0.01963235 -0.03968544
+v -0.00567586 -0.01990233 -0.03968544
+v -0.00626690 -0.01970664 -0.04219630
+v -0.00567586 -0.01988420 -0.04263179
+v -0.00652079 -0.01940221 -0.04496554
+v -0.00567586 -0.01965407 -0.04496554
+v -0.00478988 -0.01991680 -0.04496554
+v -0.00374254 -0.02013967 -0.04496554
+v -0.00374254 -0.01991322 -0.03486375
+v -0.00567528 -0.01983530 -0.03693495
+v -0.00652079 -0.01904892 -0.03440742
+v -0.00911108 -0.01856512 -0.03704330
+v -0.00626401 -0.01967041 -0.03728710
+v -0.00911108 -0.01862491 -0.03968544
+v -0.00911108 -0.01862671 -0.04232549
+v -0.00911108 -0.01840383 -0.04496554
+v -0.00965007 -0.01805231 -0.04551355
+v -0.00965007 -0.01773160 -0.04646580
+v -0.00374254 -0.02001646 -0.04576359
+v -0.00409127 -0.01969760 -0.03444493
+v -0.00374254 -0.01869379 -0.03176737
+v -0.00392934 -0.01867023 -0.03176737
+v -0.00908737 -0.01804329 -0.03447410
+v -0.00965007 -0.01790196 -0.03481583
+v -0.00567586 -0.01892572 -0.03354477
+v -0.00567586 -0.01769904 -0.03051715
+v -0.00643577 -0.01800706 -0.03178404
+v -0.00820774 -0.01772984 -0.03267587
+v -0.00965007 -0.01829695 -0.03704330
+v -0.00965007 -0.01835674 -0.03968544
+v -0.00965007 -0.01836036 -0.04051683
+v -0.00965007 -0.01836216 -0.04232549
+v -0.00965007 -0.01828606 -0.04326107
+v -0.00965007 -0.01814291 -0.04496554
+v -0.00965007 -0.01747430 -0.04660123
+v -0.00911108 -0.01786024 -0.04657832
+v -0.00652079 -0.01836215 -0.04687629
+v -0.00374254 -0.01909780 -0.04674710
+v -0.00374254 -0.01862131 -0.03160484
+v -0.00374254 -0.01783312 -0.02986287
+v -0.00392934 -0.01781863 -0.02988996
+v -0.00551567 -0.01763381 -0.03025043
+v -0.00965007 -0.01754139 -0.03391983
+v -0.00724253 -0.01732216 -0.03091304
+v -0.00908737 -0.01685829 -0.03178403
+v -0.00965007 -0.01714276 -0.03301758
+v -0.00965007 -0.01625849 -0.04697005
+v -0.00911108 -0.01628385 -0.04705756
+v -0.00374254 -0.01893654 -0.04681586
+v -0.00567586 -0.01854697 -0.04685545
+v -0.00386399 -0.01894560 -0.04680753
+v -0.00374254 -0.01900177 -0.04678877
+v -0.00374254 -0.01778058 -0.02976910
+v -0.00392934 -0.01707937 -0.02856888
+v -0.00567528 -0.01683837 -0.02905855
+v -0.00643577 -0.01673327 -0.02927317
+v -0.00801054 -0.01513877 -0.02768748
+v -0.00896881 -0.01557001 -0.02922108
+v -0.00965007 -0.01541962 -0.02960448
+v -0.00965007 -0.01652308 -0.03177987
+v -0.00965007 -0.01565330 -0.04702422
+v -0.00965007 -0.00826056 -0.04719297
+v -0.00911108 -0.00878240 -0.04722214
+v -0.00392934 -0.01128107 -0.04722840
+v -0.00374254 -0.01128107 -0.04722215
+v -0.00374254 -0.01709205 -0.02854179
+v -0.00392934 -0.01582731 -0.02713529
+v -0.00652079 -0.01544137 -0.02741451
+v -0.00965007 -0.01451546 -0.02827298
+v -0.00965007 -0.01471659 -0.02849803
+v -0.00896881 -0.01377800 -0.02724156
+v -0.00965007 -0.01348628 -0.02732073
+v -0.00965007 -0.00569666 -0.04700960
+v -0.00965007 -0.00436126 -0.04679706
+v -0.00374254 -0.00961408 -0.04678041
+v -0.00374254 -0.01584181 -0.02712904
+v -0.00392934 -0.01378163 -0.02628930
+v -0.00652079 -0.01378163 -0.02664979
+v -0.00567586 -0.01556639 -0.02732283
+v -0.00911108 -0.01128114 -0.02641431
+v -0.00965007 -0.01128839 -0.02655601
+v -0.00965007 -0.00229383 -0.04591147
+v -0.00374254 -0.00950537 -0.04673664
+v -0.00374254 -0.01378163 -0.02627888
+v -0.00965007 -0.00578008 -0.02594963
+v -0.00965007 -0.00179554 -0.04550098
+v -0.00374254 -0.00866825 -0.04508010
+v -0.00965007 -0.00179561 -0.02596837
+v -0.00965007 -0.00379056 -0.02594337
+v -0.00374254 -0.01126665 -0.02661226
+v -0.00946732 -0.00179554 -0.04496548
+v -0.00374254 -0.00863020 -0.04496550
+v -0.00374254 -0.00968482 -0.02745408
+v -0.00374254 -0.00889118 -0.02910853
+v -0.00952284 -0.00179561 -0.02648513
+v -0.00937537 -0.00179555 -0.04444663
+v -0.00374254 -0.00822977 -0.04266926
+v -0.00374254 -0.00826786 -0.03192153
+v -0.00925971 -0.00179560 -0.02912518
+v -0.00912033 -0.00179555 -0.04230876
+v -0.00374254 -0.00818266 -0.04228169
+v -0.00374254 -0.00817544 -0.03444906
+v -0.00914983 -0.00179559 -0.03179648
+v -0.00911339 -0.00179556 -0.04178783
+v -0.00374254 -0.00815368 -0.03988335
+v -0.00374254 -0.00817182 -0.03484704
+v -0.00911860 -0.00179558 -0.03441570
+v -0.00909951 -0.00179556 -0.03965204
+v -0.00374254 -0.00815005 -0.03949578
+v -0.00910761 -0.00179558 -0.03655358
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 23
+f 1 23 34
+f 1 34 53
+f 1 53 67
+f 1 67 64
+f 1 64 80
+f 1 80 90
+f 1 90 98
+f 1 98 102
+f 1 102 107
+f 1 107 112
+f 1 112 116
+f 1 116 120
+f 1 120 124
+f 1 124 121
+f 1 121 117
+f 1 117 113
+f 1 113 109
+f 1 109 108
+f 1 108 105
+f 1 105 99
+f 1 99 91
+f 1 91 81
+f 1 81 68
+f 1 68 55
+f 1 55 54
+f 1 54 36
+f 1 36 24
+f 1 24 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 9 10
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 14 15
+f 8 17 9
+f 9 17 16
+f 9 16 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 13 24 14
+f 14 25 15
+f 14 24 26
+f 14 26 27
+f 14 27 25
+f 15 25 28
+f 15 28 16
+f 16 28 27
+f 16 27 29
+f 16 29 30
+f 16 30 18
+f 18 30 20
+f 18 20 19
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 21 34 22
+f 22 34 23
+f 24 35 26
+f 24 36 37
+f 24 37 35
+f 25 27 28
+f 26 38 39
+f 26 39 27
+f 26 35 40
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 38
+f 27 44 45
+f 27 45 29
+f 27 39 44
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 47 48
+f 30 48 49
+f 30 49 31
+f 31 49 32
+f 32 49 48
+f 32 48 47
+f 32 47 46
+f 32 46 45
+f 32 45 44
+f 32 44 39
+f 32 39 58
+f 32 58 61
+f 32 61 75
+f 32 75 74
+f 32 74 85
+f 32 85 84
+f 32 84 87
+f 32 87 96
+f 32 96 100
+f 32 100 104
+f 32 104 103
+f 32 103 101
+f 32 101 97
+f 32 97 89
+f 32 89 88
+f 32 88 77
+f 32 77 76
+f 32 76 62
+f 32 62 50
+f 32 50 33
+f 33 50 51
+f 33 51 34
+f 34 51 52
+f 34 52 53
+f 35 37 40
+f 36 54 37
+f 37 54 55
+f 37 55 56
+f 37 56 57
+f 37 57 40
+f 38 43 58
+f 38 58 39
+f 40 57 41
+f 41 57 59
+f 41 59 42
+f 42 59 43
+f 43 59 60
+f 43 60 61
+f 43 61 58
+f 50 62 63
+f 50 63 51
+f 51 63 52
+f 52 63 64
+f 52 64 65
+f 52 65 53
+f 53 65 66
+f 53 66 67
+f 55 68 69
+f 55 69 56
+f 56 69 57
+f 57 69 70
+f 57 70 71
+f 57 71 59
+f 59 71 72
+f 59 72 73
+f 59 73 60
+f 60 73 74
+f 60 74 75
+f 60 75 61
+f 62 76 63
+f 63 76 77
+f 63 77 78
+f 63 78 79
+f 63 79 64
+f 64 67 66
+f 64 66 65
+f 64 79 80
+f 68 81 69
+f 69 81 82
+f 69 82 83
+f 69 83 72
+f 69 72 70
+f 70 72 71
+f 72 84 85
+f 72 85 73
+f 72 83 86
+f 72 86 87
+f 72 87 84
+f 73 85 74
+f 77 88 78
+f 78 88 80
+f 78 80 79
+f 80 88 89
+f 80 89 90
+f 81 91 82
+f 82 91 92
+f 82 92 93
+f 82 93 94
+f 82 94 83
+f 83 94 93
+f 83 93 86
+f 86 93 95
+f 86 95 96
+f 86 96 87
+f 89 97 98
+f 89 98 90
+f 91 99 92
+f 92 99 100
+f 92 100 95
+f 92 95 93
+f 95 100 96
+f 97 101 98
+f 98 101 102
+f 99 103 104
+f 99 104 100
+f 99 105 103
+f 101 106 102
+f 101 103 110
+f 101 110 114
+f 101 114 118
+f 101 118 122
+f 101 122 125
+f 101 125 123
+f 101 123 119
+f 101 119 115
+f 101 115 111
+f 101 111 106
+f 102 106 107
+f 103 105 108
+f 103 108 109
+f 103 109 110
+f 106 111 107
+f 107 111 112
+f 109 113 110
+f 110 113 114
+f 111 115 112
+f 112 115 116
+f 113 117 118
+f 113 118 114
+f 115 119 116
+f 116 119 120
+f 117 121 122
+f 117 122 118
+f 119 123 124
+f 119 124 120
+f 121 125 122
+f 121 124 125
+f 123 125 124
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_3.obj

@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01164476 0.00551386 -0.02376209
+v -0.01181924 0.00551386 -0.02376209
+v -0.01208671 0.00540525 -0.01602248
+v -0.01079071 0.00451056 -0.01602248
+v -0.01058639 0.00477118 -0.02376209
+v -0.01394288 0.00540525 -0.01602248
+v -0.01438367 0.00549432 -0.02376209
+v -0.01076431 0.00446278 -0.01602248
+v -0.01010541 0.00325972 -0.01602249
+v -0.01013985 0.00373750 -0.02376210
+v -0.02138248 0.00209792 -0.01602249
+v -0.01473264 0.00525001 -0.02376209
+v -0.00966576 0.00122711 -0.01602250
+v -0.01009967 0.00354857 -0.02376210
+v -0.01571066 0.00411318 -0.02376209
+v -0.02138248 0.00151050 -0.01653544
+v -0.02138248 -0.00239293 -0.01602251
+v -0.00966462 -0.00117684 -0.01602250
+v -0.00965658 -0.00127345 -0.02376211
+v -0.00965888 0.00122714 -0.02376211
+v -0.01587481 0.00377876 -0.02376210
+v -0.02138248 0.00132918 -0.01668925
+v -0.02138248 -0.00127348 -0.01673623
+v -0.01546156 -0.00487503 -0.02376213
+v -0.01450191 -0.00548850 -0.02376213
+v -0.01439745 -0.00555365 -0.02376213
+v -0.01396583 -0.00546030 -0.01602252
+v -0.00966462 -0.00127348 -0.01602250
+v -0.01013526 -0.00378815 -0.02376212
+v -0.01645221 0.00122714 -0.02376211
+v -0.02138248 0.00122711 -0.01673244
+v -0.01645680 -0.00119853 -0.02376211
+v -0.01645680 -0.00127345 -0.02376211
+v -0.01592072 -0.00366871 -0.02376212
+v -0.01588055 -0.00384027 -0.02376212
+v -0.01164132 -0.00557862 -0.02376213
+v -0.01207523 -0.00546030 -0.01602252
+v -0.01008590 -0.00323551 -0.01602251
+v -0.01010312 -0.00331477 -0.01602251
+v -0.01030974 -0.00412257 -0.02376213
+v -0.01129120 -0.00530175 -0.02376213
+v -0.01078038 -0.00456561 -0.01602252
+v -0.01066330 -0.00470999 -0.02324767
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 14
+f 1 14 20
+f 1 20 19
+f 1 19 29
+f 1 29 40
+f 1 40 41
+f 1 41 36
+f 1 36 26
+f 1 26 25
+f 1 25 24
+f 1 24 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 30
+f 1 30 21
+f 1 21 15
+f 1 15 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 6 11
+f 3 11 17
+f 3 17 27
+f 3 27 37
+f 3 37 42
+f 3 42 39
+f 3 39 38
+f 3 38 28
+f 3 28 18
+f 3 18 13
+f 3 13 9
+f 3 9 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 6 7 11
+f 7 12 11
+f 9 13 10
+f 10 13 14
+f 11 12 15
+f 11 15 16
+f 11 16 22
+f 11 22 31
+f 11 31 23
+f 11 23 17
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 15 21 22
+f 15 22 16
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 18 28 19
+f 19 28 29
+f 21 30 31
+f 21 31 22
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 26 36 27
+f 27 36 37
+f 28 38 29
+f 29 38 39
+f 29 39 40
+f 30 32 31
+f 36 41 42
+f 36 42 37
+f 39 42 40
+f 40 42 43
+f 40 43 41
+f 41 43 42
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_30.obj

@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.01688576 0.00566031 0.07650430
+v -0.01688576 0.00562022 0.07546442
+v -0.01947573 0.00548992 0.07914497
+v -0.01947573 0.00558122 0.08178489
+v -0.01947573 0.00560349 0.08300338
+v -0.01808071 0.00561574 0.08300338
+v -0.01688576 0.00560127 0.08300338
+v -0.01577791 0.00556677 0.07546442
+v -0.01853120 0.00539417 0.07546442
+v -0.01963905 0.00528170 0.07654268
+v -0.02084625 0.00501445 0.07744824
+v -0.02099051 0.00507123 0.07914497
+v -0.02117016 0.00513581 0.08178489
+v -0.02030593 0.00539304 0.08300338
+v -0.01601473 0.00536186 0.08300338
+v -0.01459385 0.00535965 0.07546442
+v -0.01930424 0.00523605 0.07546442
+v -0.02061216 0.00491869 0.07568804
+v -0.02246583 0.00426502 0.08178489
+v -0.02121780 0.00515251 0.08300338
+v -0.02251346 0.00431847 0.08300338
+v -0.01527435 0.00515028 0.08300338
+v -0.01336079 0.00471379 0.07546442
+v -0.02054955 0.00487080 0.07546442
+v -0.02171320 0.00351339 0.07546441
+v -0.02336680 0.00248781 0.07780691
+v -0.02347296 0.00270607 0.07914496
+v -0.02228618 0.00395657 0.07914496
+v -0.02363083 0.00301451 0.08178488
+v -0.02365942 0.00306796 0.08300337
+v -0.01467551 0.00475832 0.08300338
+v -0.01294977 0.00443652 0.07546442
+v -0.02271489 0.00122618 0.07546440
+v -0.02305786 0.00122618 0.07630944
+v -0.02341171 0.00122617 0.07762977
+v -0.02367302 0.00122617 0.07914495
+v -0.02399150 0.00122616 0.08178487
+v -0.02405002 0.00122616 0.08300336
+v -0.01232372 0.00301785 0.08300337
+v -0.01260408 0.00420268 0.07546442
+v -0.02271353 -0.00127373 0.07546440
+v -0.02305650 -0.00127373 0.07630796
+v -0.02341308 -0.00127374 0.07762830
+v -0.02367439 -0.00127374 0.07914495
+v -0.02399694 -0.00127375 0.08178487
+v -0.02405546 -0.00127375 0.08300336
+v -0.01191406 0.00196555 0.08300337
+v -0.01015294 0.00113932 0.07546440
+v -0.01197122 0.00356462 0.07546441
+v -0.02247399 -0.00198305 0.07546439
+v -0.02336680 -0.00253649 0.07780468
+v -0.02386220 -0.00224587 0.08300335
+v -0.02347432 -0.00276032 0.07914494
+v -0.02363628 -0.00307768 0.08178486
+v -0.01169902 0.00122616 0.08300336
+v -0.01032442 -0.00043523 0.07546440
+v -0.01169630 -0.00016577 0.08300336
+v -0.01169494 -0.00127375 0.08300336
+v -0.02228209 -0.00238838 0.07546439
+v -0.02172136 -0.00356874 0.07546439
+v -0.02077547 -0.00473016 0.07546438
+v -0.02069381 -0.00483038 0.07546438
+v -0.02062849 -0.00497292 0.07561715
+v -0.02366622 -0.00313448 0.08300335
+v -0.02230931 -0.00401082 0.07914494
+v -0.02249032 -0.00432931 0.08178485
+v -0.02315857 -0.00371240 0.08300335
+v -0.01084432 -0.00168240 0.07546439
+v -0.01231963 -0.00307657 0.08300335
+v -0.02058494 -0.00493951 0.07546438
+v -0.02047197 -0.00499407 0.07546438
+v -0.01964857 -0.00533593 0.07649983
+v -0.02086258 -0.00506868 0.07737735
+v -0.02254068 -0.00438610 0.08300334
+v -0.02101365 -0.00512882 0.07914493
+v -0.01117912 -0.00239618 0.07546439
+v -0.01301918 -0.00377588 0.08300335
+v -0.01196578 -0.00361773 0.07546439
+v -0.01932602 -0.00528916 0.07546438
+v -0.01947573 -0.00555308 0.07914493
+v -0.01688576 -0.00567445 0.07546438
+v -0.02184385 -0.00485045 0.08300334
+v -0.02119466 -0.00519119 0.08178485
+v -0.01335399 -0.00476691 0.07546438
+v -0.01525393 -0.00520789 0.08300334
+v -0.01947573 -0.00564217 0.08178485
+v -0.01688576 -0.00571565 0.07650426
+v -0.01458705 -0.00541054 0.07546438
+v -0.02124502 -0.00520789 0.08300334
+v -0.01380039 -0.00504195 0.07546438
+v -0.01688576 -0.00566556 0.08300334
+v -0.01947573 -0.00566667 0.08300334
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 16
+f 2 16 23
+f 2 23 32
+f 2 32 40
+f 2 40 49
+f 2 49 48
+f 2 48 56
+f 2 56 68
+f 2 68 76
+f 2 76 78
+f 2 78 84
+f 2 84 90
+f 2 90 88
+f 2 88 81
+f 2 81 79
+f 2 79 71
+f 2 71 70
+f 2 70 62
+f 2 62 61
+f 2 61 60
+f 2 60 59
+f 2 59 50
+f 2 50 41
+f 2 41 33
+f 2 33 25
+f 2 25 24
+f 2 24 17
+f 2 17 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
+f 5 14 20
+f 5 20 21
+f 5 21 30
+f 5 30 38
+f 5 38 46
+f 5 46 52
+f 5 52 64
+f 5 64 67
+f 5 67 74
+f 5 74 82
+f 5 82 89
+f 5 89 92
+f 5 92 91
+f 5 91 85
+f 5 85 77
+f 5 77 69
+f 5 69 58
+f 5 58 57
+f 5 57 55
+f 5 55 47
+f 5 47 39
+f 5 39 31
+f 5 31 22
+f 5 22 15
+f 5 15 7
+f 5 7 6
+f 7 15 16
+f 7 16 8
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 12 19 13
+f 13 20 14
+f 13 19 21
+f 13 21 20
+f 15 22 16
+f 16 22 23
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 27
+f 19 27 29
+f 19 29 21
+f 21 29 30
+f 22 31 23
+f 23 31 32
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 27
+f 27 37 29
+f 29 37 38
+f 29 38 30
+f 31 39 40
+f 31 40 32
+f 33 41 42
+f 33 42 34
+f 34 43 35
+f 34 42 43
+f 35 43 36
+f 36 44 45
+f 36 45 37
+f 36 43 44
+f 37 45 46
+f 37 46 38
+f 39 47 48
+f 39 48 49
+f 39 49 40
+f 41 50 51
+f 41 51 42
+f 42 51 43
+f 43 51 44
+f 44 51 45
+f 45 52 46
+f 45 51 53
+f 45 53 54
+f 45 54 52
+f 47 55 48
+f 48 55 57
+f 48 57 58
+f 48 58 56
+f 50 59 51
+f 51 59 60
+f 51 60 61
+f 51 61 62
+f 51 62 63
+f 51 63 53
+f 52 54 64
+f 53 65 66
+f 53 66 54
+f 53 63 65
+f 54 66 67
+f 54 67 64
+f 56 58 69
+f 56 69 68
+f 62 70 63
+f 63 70 71
+f 63 71 72
+f 63 72 73
+f 63 73 66
+f 63 66 65
+f 66 74 67
+f 66 73 75
+f 66 75 74
+f 68 69 76
+f 69 77 78
+f 69 78 76
+f 71 79 72
+f 72 80 73
+f 72 79 81
+f 72 81 80
+f 73 80 75
+f 74 75 82
+f 75 80 83
+f 75 83 82
+f 77 84 78
+f 77 85 84
+f 80 86 83
+f 80 81 87
+f 80 87 86
+f 81 88 87
+f 82 83 89
+f 83 86 89
+f 84 85 90
+f 85 91 88
+f 85 88 90
+f 86 92 89
+f 86 87 92
+f 87 88 91
+f 87 91 92
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_4.obj

@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.00133778 0.00813975 0.06373974
+v 0.00125238 0.00813806 0.06373974
+v -0.00133778 0.00825314 0.06329969
+v -0.00194102 0.00810929 0.06373974
+v 0.00125238 0.00824975 0.06329969
+v 0.00384425 0.00785882 0.06373974
+v 0.00125238 0.00862716 0.06065937
+v -0.00133778 0.00862886 0.06065937
+v -0.00431136 0.00780804 0.06373974
+v 0.00384425 0.00792651 0.06329969
+v 0.00521943 0.00754742 0.06373974
+v 0.00125238 0.00839704 0.05009807
+v 0.00397206 0.00791806 0.06078357
+v 0.00338245 0.00785210 0.05009807
+v -0.00133778 0.00838519 0.05009807
+v -0.00343377 0.00784025 0.05009807
+v -0.00405405 0.00791298 0.06080841
+v -0.00392795 0.00791805 0.06329969
+v -0.00529119 0.00753896 0.06373974
+v 0.00522454 0.00755419 0.06329969
+v 0.00542391 0.00733080 0.06373974
+v 0.00125238 0.00805518 0.04791377
+v -0.00133778 0.00804841 0.04791909
+v 0.00325635 0.00780302 0.04827752
+v 0.00518875 0.00752711 0.06174530
+v 0.00467754 0.00716669 0.05009807
+v -0.00331449 0.00779456 0.04828462
+v -0.00473056 0.00714299 0.05009807
+v -0.00526393 0.00751865 0.06178789
+v -0.00529631 0.00754234 0.06329969
+v -0.00628295 0.00623752 0.06373973
+v 0.00738187 0.00448089 0.05009806
+v 0.00653666 0.00583474 0.06373973
+v 0.00125238 0.00717685 0.04561413
+v -0.00120657 0.00717346 0.04561413
+v -0.00133778 0.00717177 0.04561413
+v 0.00412031 0.00642882 0.04561412
+v 0.00133588 0.00715654 0.04561413
+v 0.00608679 0.00591433 0.05009806
+v 0.00585504 0.00568924 0.04804507
+v -0.00419208 0.00642036 0.04561412
+v -0.00592169 0.00566724 0.04805394
+v -0.00614493 0.00589233 0.05009806
+v -0.00744171 0.00443689 0.05009806
+v -0.00789499 0.00378358 0.06373972
+v 0.00803453 0.00316586 0.06373972
+v 0.00807713 0.00323022 0.05009805
+v 0.00803623 0.00312868 0.04830235
+v 0.00662527 0.00397995 0.04561411
+v -0.00669363 0.00396134 0.04561411
+v -0.00810118 0.00309822 0.04832364
+v -0.00813526 0.00318622 0.05009805
+v -0.00872316 0.00122640 0.06373971
+v 0.00868207 0.00122640 0.06373971
+v 0.00860027 0.00122645 0.05009804
+v 0.00828332 0.00122645 0.04795278
+v 0.00737165 0.00122646 0.04561410
+v -0.00741615 0.00122646 0.04561410
+v -0.00833634 0.00122645 0.04798472
+v -0.00863114 0.00122645 0.05009804
+v -0.00872657 -0.00127323 0.06373971
+v 0.00867866 -0.00127323 0.06373971
+v 0.00860198 -0.00127318 0.05009804
+v 0.00828332 -0.00127318 0.04795278
+v 0.00736824 -0.00127317 0.04561410
+v -0.00741615 0.00121292 0.04561410
+v -0.00833805 -0.00127318 0.04798472
+v -0.00863285 -0.00127318 0.05009804
+v -0.00813697 -0.00323126 0.05009803
+v -0.00808073 -0.00322454 0.06373970
+v 0.00784197 -0.00384564 0.06373970
+v 0.00807713 -0.00327526 0.05009803
+v 0.00803623 -0.00317541 0.04830233
+v 0.00662527 -0.00402328 0.04561409
+v -0.00741104 -0.00127825 0.04561410
+v -0.00810289 -0.00314495 0.04832184
+v -0.00743830 -0.00448193 0.05009802
+v -0.00657776 -0.00588326 0.06373969
+v 0.00737676 -0.00452593 0.05009802
+v 0.00622141 -0.00628435 0.06373969
+v 0.00585504 -0.00572413 0.04805567
+v 0.00410838 -0.00646707 0.04561408
+v -0.00696287 -0.00298247 0.04561409
+v -0.00669022 -0.00399790 0.04561409
+v -0.00591829 -0.00571059 0.04806100
+v -0.00614152 -0.00593060 0.05009802
+v -0.00525711 -0.00755871 0.06181977
+v -0.00548375 -0.00735393 0.06373968
+v 0.00521602 -0.00759425 0.06329963
+v 0.00518875 -0.00757394 0.06175057
+v 0.00608168 -0.00594752 0.05009802
+v 0.00520920 -0.00758748 0.06373968
+v 0.00465198 -0.00719819 0.05009801
+v 0.00323590 -0.00783790 0.04828989
+v 0.00125238 -0.00719987 0.04561407
+v -0.00418015 -0.00646030 0.04561408
+v -0.00471522 -0.00718126 0.05009801
+v -0.00342014 -0.00787852 0.05009801
+v -0.00404894 -0.00795302 0.06082610
+v -0.00527927 -0.00757563 0.06329963
+v -0.00527586 -0.00757225 0.06373968
+v 0.00422937 -0.00784641 0.06373968
+v 0.00384425 -0.00795642 0.06329963
+v 0.00397206 -0.00796149 0.06078529
+v 0.00335519 -0.00788360 0.05009801
+v 0.00125238 -0.00841500 0.05009801
+v 0.00125238 -0.00808668 0.04793323
+v 0.00114503 -0.00719987 0.04561407
+v -0.00133778 -0.00719818 0.04561407
+v -0.00330426 -0.00783283 0.04829343
+v -0.00133778 -0.00840993 0.05009801
+v -0.00133778 -0.00866044 0.06065931
+v -0.00392795 -0.00794457 0.06329963
+v -0.00392795 -0.00787688 0.06373968
+v 0.00186755 -0.00813412 0.06373968
+v 0.00125238 -0.00827966 0.06329963
+v 0.00125238 -0.00865874 0.06065931
+v -0.00133778 -0.00808330 0.04793500
+v -0.00133778 -0.00828643 0.06329963
+v -0.00133778 -0.00817304 0.06373968
+v 0.00125238 -0.00816627 0.06373968
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 31
+f 1 31 45
+f 1 45 53
+f 1 53 61
+f 1 61 70
+f 1 70 78
+f 1 78 88
+f 1 88 101
+f 1 101 114
+f 1 114 120
+f 1 120 121
+f 1 121 115
+f 1 115 102
+f 1 102 92
+f 1 92 80
+f 1 80 71
+f 1 71 62
+f 1 62 54
+f 1 54 46
+f 1 46 33
+f 1 33 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 6 10
+f 5 10 7
+f 6 11 10
+f 7 12 8
+f 7 10 13
+f 7 13 14
+f 7 14 12
+f 8 12 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 17
+f 9 17 19
+f 10 11 20
+f 10 20 13
+f 11 21 20
+f 12 22 23
+f 12 23 15
+f 12 14 24
+f 12 24 22
+f 13 20 14
+f 14 20 25
+f 14 25 26
+f 14 26 24
+f 15 23 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 17 29 30
+f 17 30 19
+f 19 30 31
+f 20 21 32
+f 20 32 25
+f 21 33 32
+f 22 24 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 27
+f 24 26 37
+f 24 37 38
+f 24 38 34
+f 25 32 39
+f 25 39 26
+f 26 39 40
+f 26 40 37
+f 27 36 41
+f 27 41 28
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 29 43 44
+f 29 44 30
+f 30 44 31
+f 31 44 45
+f 32 46 47
+f 32 47 48
+f 32 48 40
+f 32 40 39
+f 32 33 46
+f 34 38 37
+f 34 37 49
+f 34 49 57
+f 34 57 65
+f 34 65 74
+f 34 74 82
+f 34 82 95
+f 34 95 108
+f 34 108 109
+f 34 109 96
+f 34 96 84
+f 34 84 83
+f 34 83 75
+f 34 75 66
+f 34 66 58
+f 34 58 50
+f 34 50 41
+f 34 41 36
+f 34 36 35
+f 37 40 49
+f 40 48 49
+f 41 50 42
+f 42 50 51
+f 42 51 44
+f 42 44 43
+f 44 51 52
+f 44 52 45
+f 45 52 53
+f 46 54 47
+f 47 54 55
+f 47 55 48
+f 48 55 56
+f 48 56 57
+f 48 57 49
+f 50 58 51
+f 51 58 59
+f 51 59 60
+f 51 60 52
+f 52 60 53
+f 53 60 61
+f 54 62 63
+f 54 63 55
+f 55 63 56
+f 56 63 64
+f 56 64 57
+f 57 64 65
+f 58 66 67
+f 58 67 59
+f 59 67 68
+f 59 68 60
+f 60 68 61
+f 61 68 69
+f 61 69 70
+f 62 71 72
+f 62 72 63
+f 63 72 73
+f 63 73 64
+f 64 73 65
+f 65 73 74
+f 66 75 67
+f 67 75 76
+f 67 76 68
+f 68 76 69
+f 69 77 70
+f 69 76 77
+f 70 77 78
+f 71 79 72
+f 71 80 79
+f 72 79 73
+f 73 79 81
+f 73 81 74
+f 74 81 82
+f 75 83 76
+f 76 83 84
+f 76 84 85
+f 76 85 77
+f 77 85 86
+f 77 86 87
+f 77 87 88
+f 77 88 78
+f 79 80 89
+f 79 89 90
+f 79 90 91
+f 79 91 81
+f 80 92 89
+f 81 91 93
+f 81 93 82
+f 82 93 94
+f 82 94 95
+f 84 96 85
+f 85 96 97
+f 85 97 86
+f 86 97 87
+f 87 98 99
+f 87 99 100
+f 87 100 88
+f 87 97 98
+f 88 100 101
+f 89 92 102
+f 89 102 103
+f 89 103 104
+f 89 104 90
+f 90 104 105
+f 90 105 93
+f 90 93 91
+f 93 105 94
+f 94 105 106
+f 94 106 107
+f 94 107 95
+f 95 107 108
+f 96 109 110
+f 96 110 97
+f 97 110 98
+f 98 110 111
+f 98 111 112
+f 98 112 99
+f 99 112 113
+f 99 113 101
+f 99 101 100
+f 101 113 114
+f 102 115 116
+f 102 116 117
+f 102 117 103
+f 103 117 104
+f 104 117 105
+f 105 117 106
+f 106 117 112
+f 106 112 111
+f 106 111 118
+f 106 118 107
+f 107 118 109
+f 107 109 108
+f 109 118 110
+f 110 118 111
+f 112 117 119
+f 112 119 113
+f 113 119 114
+f 114 119 120
+f 115 121 116
+f 116 121 120
+f 116 120 119
+f 116 119 117
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_5.obj

@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
+v -0.02240985 0.00351479 -0.01602675
+v -0.02773032 0.00552655 -0.02120561
+v -0.02465959 0.00453706 -0.01602674
+v -0.02240985 -0.00358209 -0.01602677
+v -0.02240985 0.00323527 -0.01652463
+v -0.03559054 0.00382201 -0.05543218
+v -0.03621749 0.00505950 -0.05449171
+v -0.02984145 0.00634149 -0.02120561
+v -0.02724839 0.00488482 -0.01602674
+v -0.02240985 -0.00349810 -0.01622677
+v -0.02476834 -0.00463848 -0.01602678
+v -0.02773032 -0.00557282 -0.02120565
+v -0.03621109 -0.00511077 -0.05450452
+v -0.02240985 0.00234029 -0.01728210
+v -0.03440064 0.00122760 -0.05553006
+v -0.03588909 0.00305039 -0.05728755
+v -0.03686362 0.00471831 -0.05624921
+v -0.03768248 0.00529440 -0.05543217
+v -0.03761211 0.00549123 -0.05288741
+v -0.03243238 0.00645174 -0.02648662
+v -0.03243238 0.00659608 -0.02384399
+v -0.03243238 0.00630999 -0.02120561
+v -0.02963460 0.00556329 -0.01831191
+v -0.03134270 0.00506067 -0.01706932
+v -0.02877735 0.00474834 -0.01602674
+v -0.02240985 -0.00346004 -0.01628209
+v -0.03558201 -0.00387065 -0.05544070
+v -0.02724839 -0.00493637 -0.01602678
+v -0.02984145 -0.00638119 -0.02120565
+v -0.02984145 -0.00609379 -0.02384403
+v -0.03768035 -0.00534436 -0.05544071
+v -0.03685936 -0.00476694 -0.05626627
+v -0.03588482 -0.00309901 -0.05729183
+v -0.02240985 0.00122747 -0.01775021
+v -0.03439637 -0.00127363 -0.05553006
+v -0.03554363 -0.00127362 -0.05764501
+v -0.03554576 0.00122761 -0.05764076
+v -0.03786161 0.00099404 -0.05898122
+v -0.03768248 0.00382202 -0.05763224
+v -0.03859091 0.00507657 -0.05697689
+v -0.04015826 0.00531539 -0.05550451
+v -0.03761211 0.00649508 -0.03704864
+v -0.03502118 0.00669452 -0.02912500
+v -0.03502118 0.00660265 -0.02648662
+v -0.03399547 0.00517879 -0.01949067
+v -0.03229804 0.00545699 -0.01859277
+v -0.03502118 0.00611709 -0.02384399
+v -0.03217649 0.00362502 -0.01602675
+v -0.02964100 0.00464861 -0.01602674
+v -0.03306999 0.00451870 -0.01772891
+v -0.02240985 -0.00328289 -0.01652891
+v -0.02735501 -0.00494818 -0.01602678
+v -0.02963034 -0.00560301 -0.01830769
+v -0.03243238 -0.00635100 -0.02120565
+v -0.03243238 -0.00663839 -0.02384403
+v -0.03243238 -0.00647959 -0.02648666
+v -0.04016466 -0.00536273 -0.05550880
+v -0.03858664 -0.00512388 -0.05697693
+v -0.03502118 -0.00670923 -0.02912504
+v -0.03761211 -0.00652679 -0.03704868
+v -0.03768035 -0.00387064 -0.05763652
+v -0.03786161 -0.00104002 -0.05898548
+v -0.02240985 -0.00127376 -0.01775447
+v -0.03889158 0.00000325 -0.05949614
+v -0.03995781 0.00099404 -0.05904081
+v -0.04015826 0.00385351 -0.05765777
+v -0.03926476 0.00507657 -0.05697689
+v -0.04099205 0.00476949 -0.05636836
+v -0.04164671 0.00509230 -0.05460661
+v -0.04020518 0.00585734 -0.04496377
+v -0.04020518 0.00598200 -0.04232539
+v -0.03761211 0.00660924 -0.03440601
+v -0.03761211 0.00655412 -0.03176763
+v -0.03761211 0.00624309 -0.02912500
+v -0.03453072 0.00370246 -0.01859278
+v -0.03394003 0.00285077 -0.01701401
+v -0.03492522 0.00541238 -0.02143115
+v -0.03635610 0.00501345 -0.02246522
+v -0.03768035 0.00562631 -0.02658024
+v -0.03675486 0.00529560 -0.02384399
+v -0.03336000 0.00122746 -0.01602676
+v -0.02958342 -0.00472772 -0.01602678
+v -0.03134483 -0.00510697 -0.01706510
+v -0.03229804 -0.00550065 -0.01858855
+v -0.03400187 -0.00522769 -0.01948645
+v -0.03502118 -0.00616727 -0.02384403
+v -0.03502118 -0.00663444 -0.02648666
+v -0.04165098 -0.00513964 -0.05461516
+v -0.04100058 -0.00482337 -0.05637692
+v -0.03927329 -0.00512388 -0.05697693
+v -0.04020518 -0.00588768 -0.04496381
+v -0.04016466 -0.00390345 -0.05766630
+v -0.03761211 -0.00658193 -0.03176767
+v -0.03761211 -0.00663835 -0.03440605
+v -0.04020518 -0.00601629 -0.04232543
+v -0.03995781 -0.00104002 -0.05904506
+v -0.03889158 -0.00005055 -0.05949614
+v -0.03892997 0.00000325 -0.05949614
+v -0.04237175 -0.00127362 -0.05771736
+v -0.04236535 0.00122761 -0.05771311
+v -0.04198791 0.00310157 -0.05733436
+v -0.04233549 0.00385350 -0.05550452
+v -0.04287501 0.00372880 -0.04760641
+v -0.04302215 0.00372880 -0.04496378
+v -0.04182797 0.00523794 -0.04496377
+v -0.04185783 0.00527730 -0.04232539
+v -0.04020518 0.00601742 -0.03968276
+v -0.03977868 0.00562895 -0.03176763
+v -0.04020518 0.00594261 -0.03704864
+v -0.04037364 0.00563552 -0.03451239
+v -0.03933513 0.00534286 -0.02912500
+v -0.03586776 0.00372871 -0.02050773
+v -0.03631132 0.00244266 -0.01989069
+v -0.03414048 0.00122746 -0.01682678
+v -0.03560760 0.00145581 -0.01871619
+v -0.03678898 0.00372871 -0.02182692
+v -0.03903446 0.00509877 -0.02752495
+v -0.03859091 0.00454759 -0.02576745
+v -0.03805779 0.00371954 -0.02386527
+v -0.03336640 -0.00127377 -0.01602676
+v -0.03213384 -0.00373169 -0.01602677
+v -0.03307212 -0.00457023 -0.01772470
+v -0.03394216 -0.00290232 -0.01701403
+v -0.03453498 -0.00375268 -0.01858854
+v -0.03636463 -0.00506627 -0.02245250
+v -0.03492735 -0.00546389 -0.02142694
+v -0.03676766 -0.00534709 -0.02384403
+v -0.03768675 -0.00567253 -0.02657177
+v -0.03761211 -0.00627880 -0.02912504
+v -0.04234616 -0.00390346 -0.05550879
+v -0.04182371 -0.00527877 -0.04496381
+v -0.04302428 -0.00377488 -0.04496380
+v -0.04199431 -0.00315544 -0.05734289
+v -0.03978082 -0.00567120 -0.03176767
+v -0.04037577 -0.00567775 -0.03451243
+v -0.04020518 -0.00598350 -0.03704868
+v -0.04020518 -0.00605961 -0.03968280
+v -0.04185783 -0.00531946 -0.04232543
+v -0.03892997 -0.00005055 -0.05949614
+v -0.04369387 -0.00117520 -0.05536835
+v -0.04368534 0.00112262 -0.05536835
+v -0.04395190 0.00165932 -0.04760641
+v -0.04399028 0.00187847 -0.04496378
+v -0.04302001 0.00372879 -0.04232540
+v -0.04180451 0.00524842 -0.03968276
+v -0.04155289 0.00503449 -0.03546561
+v -0.04166804 0.00513949 -0.03704864
+v -0.04135030 0.00476153 -0.03370386
+v -0.03912616 0.00287967 -0.02475892
+v -0.03860797 0.00122748 -0.02304824
+v -0.03719628 0.00145582 -0.02094604
+v -0.03645419 0.00077473 -0.01969920
+v -0.03414048 -0.00127377 -0.01682252
+v -0.04107308 0.00427729 -0.03176763
+v -0.04064872 0.00354896 -0.02929948
+v -0.03947588 0.00371955 -0.02658025
+v -0.03323632 -0.00183674 -0.01602677
+v -0.03218075 -0.00368051 -0.01602677
+v -0.03560760 -0.00149947 -0.01871621
+v -0.03630918 -0.00248500 -0.01989497
+v -0.03586990 -0.00377497 -0.02049924
+v -0.03679751 -0.00377497 -0.02181843
+v -0.03807059 -0.00377365 -0.02386104
+v -0.03859944 -0.00460565 -0.02574622
+v -0.03904299 -0.00515155 -0.02750797
+v -0.03934366 -0.00539169 -0.02912504
+v -0.04287287 -0.00377488 -0.04760643
+v -0.04399454 -0.00194161 -0.04496380
+v -0.04395403 -0.00171196 -0.04760643
+v -0.04302641 -0.00377489 -0.04232542
+v -0.04155289 -0.00508066 -0.03546140
+v -0.04167017 -0.00518694 -0.03704868
+v -0.04180878 -0.00529716 -0.03968280
+v -0.04413102 -0.00027497 -0.05438109
+v -0.04413102 0.00021976 -0.05438109
+v -0.04419073 0.00062786 -0.04496379
+v -0.04395829 0.00160944 -0.04232540
+v -0.04286008 0.00372878 -0.03968277
+v -0.04201563 0.00384818 -0.03451240
+v -0.04253595 0.00372877 -0.03704865
+v -0.04176613 0.00302668 -0.03176764
+v -0.04155289 0.00259361 -0.03029100
+v -0.04033099 0.00122750 -0.02648664
+v -0.03933513 0.00122749 -0.02436743
+v -0.03933940 -0.00127374 -0.02435892
+v -0.03861010 -0.00127375 -0.02303973
+v -0.03645419 -0.00081708 -0.01969920
+v -0.03719842 -0.00149946 -0.02094606
+v -0.03913042 -0.00293772 -0.02475043
+v -0.03948867 -0.00377364 -0.02657176
+v -0.04065939 -0.00360303 -0.02928674
+v -0.04107735 -0.00433791 -0.03176767
+v -0.04135244 -0.00481165 -0.03369964
+v -0.04396469 -0.00166867 -0.04232542
+v -0.04419073 -0.00068969 -0.04496379
+v -0.04286861 -0.00377490 -0.03968279
+v -0.04201776 -0.00389697 -0.03451242
+v -0.04254235 -0.00377491 -0.03704867
+v -0.04414808 0.00035883 -0.04232541
+v -0.04410330 0.00006224 -0.04090409
+v -0.04384314 0.00102940 -0.03988704
+v -0.04340386 0.00122754 -0.03704866
+v -0.04286648 0.00122753 -0.03440603
+v -0.04219262 0.00122752 -0.03176765
+v -0.04166164 0.00122751 -0.02997185
+v -0.04120103 0.00122751 -0.02864841
+v -0.04033952 -0.00127373 -0.02648664
+v -0.04120529 -0.00127372 -0.02863564
+v -0.04155928 -0.00265556 -0.03027400
+v -0.04177253 -0.00308729 -0.03176766
+v -0.04340599 -0.00127369 -0.03704866
+v -0.04384741 -0.00107683 -0.03988704
+v -0.04410330 -0.00011230 -0.04090409
+v -0.04414808 -0.00041674 -0.04232541
+v -0.04287074 -0.00127370 -0.03440603
+v -0.04219902 -0.00127371 -0.03176765
+v -0.04166590 -0.00127372 -0.02995483
+f 1 2 3
+f 1 3 9
+f 1 9 25
+f 1 25 49
+f 1 49 48
+f 1 48 81
+f 1 81 120
+f 1 120 157
+f 1 157 158
+f 1 158 121
+f 1 121 82
+f 1 82 52
+f 1 52 28
+f 1 28 11
+f 1 11 4
+f 1 4 10
+f 1 10 26
+f 1 26 51
+f 1 51 63
+f 1 63 34
+f 1 34 14
+f 1 14 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 8 9
+f 4 11 12
+f 4 12 13
+f 4 13 10
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 8 19 20
+f 9 24 25
+f 9 23 24
+f 10 13 27
+f 10 27 26
+f 11 28 29
+f 11 29 12
+f 12 29 30
+f 12 30 13
+f 13 31 32
+f 13 32 33
+f 13 33 27
+f 13 30 29
+f 13 29 31
+f 14 34 15
+f 15 35 36
+f 15 36 37
+f 15 37 16
+f 15 34 35
+f 16 37 38
+f 16 38 39
+f 16 39 40
+f 16 40 17
+f 17 40 18
+f 18 40 41
+f 18 41 19
+f 19 41 42
+f 19 42 43
+f 19 43 20
+f 20 43 21
+f 21 43 44
+f 21 44 22
+f 22 45 46
+f 22 46 24
+f 22 24 23
+f 22 44 47
+f 22 47 45
+f 24 48 49
+f 24 49 25
+f 24 46 45
+f 24 45 50
+f 24 50 48
+f 26 27 35
+f 26 35 51
+f 27 33 35
+f 28 52 29
+f 29 53 54
+f 29 54 55
+f 29 55 56
+f 29 56 31
+f 29 52 53
+f 31 57 58
+f 31 58 32
+f 31 56 59
+f 31 59 60
+f 31 60 57
+f 32 58 33
+f 33 58 61
+f 33 61 62
+f 33 62 36
+f 33 36 35
+f 34 63 35
+f 35 63 51
+f 36 62 38
+f 36 38 37
+f 38 62 64
+f 38 64 39
+f 39 64 65
+f 39 65 66
+f 39 66 40
+f 40 66 67
+f 40 67 41
+f 41 67 68
+f 41 68 69
+f 41 69 70
+f 41 70 42
+f 42 70 71
+f 42 71 72
+f 42 72 43
+f 43 73 44
+f 43 72 73
+f 44 73 74
+f 44 74 47
+f 45 75 76
+f 45 76 50
+f 45 47 77
+f 45 77 78
+f 45 78 75
+f 47 74 79
+f 47 79 80
+f 47 80 77
+f 48 76 81
+f 48 50 76
+f 52 82 83
+f 52 83 53
+f 53 83 54
+f 54 83 84
+f 54 84 85
+f 54 85 86
+f 54 86 87
+f 54 87 55
+f 55 87 59
+f 55 59 56
+f 57 88 89
+f 57 89 90
+f 57 90 58
+f 57 60 91
+f 57 91 88
+f 58 90 92
+f 58 92 61
+f 59 87 93
+f 59 93 94
+f 59 94 60
+f 60 94 95
+f 60 95 91
+f 61 92 96
+f 61 96 97
+f 61 97 62
+f 62 97 64
+f 64 97 139
+f 64 139 98
+f 64 98 65
+f 65 98 96
+f 65 96 99
+f 65 99 100
+f 65 100 101
+f 65 101 66
+f 66 101 68
+f 66 68 67
+f 68 101 102
+f 68 102 69
+f 69 102 103
+f 69 103 104
+f 69 104 105
+f 69 105 71
+f 69 71 70
+f 71 105 106
+f 71 106 107
+f 71 107 72
+f 72 107 73
+f 73 108 74
+f 73 107 109
+f 73 109 110
+f 73 110 108
+f 74 108 111
+f 74 111 79
+f 75 78 112
+f 75 112 113
+f 75 113 76
+f 76 114 81
+f 76 113 115
+f 76 115 114
+f 77 80 78
+f 78 116 112
+f 78 80 117
+f 78 117 118
+f 78 118 119
+f 78 119 116
+f 79 111 117
+f 79 117 80
+f 81 114 120
+f 82 121 83
+f 83 121 122
+f 83 122 85
+f 83 85 84
+f 85 122 123
+f 85 123 124
+f 85 124 125
+f 85 125 126
+f 85 126 86
+f 86 126 127
+f 86 127 128
+f 86 128 129
+f 86 129 87
+f 87 129 93
+f 88 130 89
+f 88 91 95
+f 88 95 131
+f 88 131 132
+f 88 132 130
+f 89 133 92
+f 89 92 90
+f 89 130 133
+f 92 133 96
+f 93 129 134
+f 93 134 135
+f 93 135 136
+f 93 136 137
+f 93 137 94
+f 94 137 95
+f 95 137 138
+f 95 138 131
+f 96 98 139
+f 96 139 97
+f 96 133 99
+f 99 140 100
+f 99 133 140
+f 100 140 141
+f 100 141 101
+f 101 141 102
+f 102 141 142
+f 102 142 103
+f 103 142 143
+f 103 143 104
+f 104 143 144
+f 104 144 106
+f 104 106 105
+f 106 144 145
+f 106 145 107
+f 107 145 109
+f 108 110 146
+f 108 146 111
+f 109 145 147
+f 109 147 110
+f 110 147 146
+f 111 146 148
+f 111 148 117
+f 112 116 113
+f 113 116 149
+f 113 149 150
+f 113 150 151
+f 113 151 152
+f 113 152 115
+f 114 153 120
+f 114 115 152
+f 114 152 153
+f 116 119 149
+f 117 148 154
+f 117 154 155
+f 117 155 156
+f 117 156 118
+f 118 156 149
+f 118 149 119
+f 120 153 157
+f 121 158 123
+f 121 123 122
+f 123 158 157
+f 123 157 153
+f 123 153 159
+f 123 159 160
+f 123 160 124
+f 124 160 161
+f 124 161 125
+f 125 161 162
+f 125 162 163
+f 125 163 164
+f 125 164 165
+f 125 165 127
+f 125 127 126
+f 127 165 128
+f 128 165 166
+f 128 166 129
+f 129 166 134
+f 130 140 133
+f 130 132 167
+f 130 167 168
+f 130 168 169
+f 130 169 140
+f 131 138 132
+f 132 138 170
+f 132 170 168
+f 132 168 167
+f 134 166 171
+f 134 171 135
+f 135 171 172
+f 135 172 136
+f 136 172 173
+f 136 173 137
+f 137 173 138
+f 138 173 170
+f 140 174 175
+f 140 175 141
+f 140 169 174
+f 141 175 142
+f 142 175 143
+f 143 176 177
+f 143 177 144
+f 143 175 176
+f 144 177 178
+f 144 178 145
+f 145 178 147
+f 146 179 148
+f 146 147 178
+f 146 178 180
+f 146 180 179
+f 148 179 181
+f 148 181 154
+f 149 156 182
+f 149 182 183
+f 149 183 184
+f 149 184 150
+f 150 184 185
+f 150 185 186
+f 150 186 152
+f 150 152 151
+f 152 187 153
+f 152 186 187
+f 153 187 159
+f 154 181 182
+f 154 182 155
+f 155 182 156
+f 159 187 160
+f 160 187 188
+f 160 188 186
+f 160 186 189
+f 160 189 162
+f 160 162 161
+f 162 189 163
+f 163 189 164
+f 164 189 190
+f 164 190 165
+f 165 191 192
+f 165 192 193
+f 165 193 166
+f 165 190 191
+f 166 193 171
+f 168 170 194
+f 168 194 195
+f 168 195 174
+f 168 174 169
+f 170 173 196
+f 170 196 194
+f 171 193 197
+f 171 197 198
+f 171 198 196
+f 171 196 172
+f 172 196 173
+f 174 195 176
+f 174 176 175
+f 176 195 214
+f 176 214 199
+f 176 199 177
+f 177 199 200
+f 177 200 201
+f 177 201 180
+f 177 180 178
+f 179 180 202
+f 179 202 181
+f 180 201 202
+f 181 202 203
+f 181 203 182
+f 182 203 204
+f 182 204 205
+f 182 205 206
+f 182 206 183
+f 183 207 184
+f 183 206 208
+f 183 208 207
+f 184 207 185
+f 185 207 189
+f 185 189 186
+f 186 188 187
+f 189 207 209
+f 189 209 190
+f 190 209 191
+f 191 209 192
+f 192 209 210
+f 192 210 193
+f 193 210 197
+f 194 196 198
+f 194 198 211
+f 194 211 212
+f 194 212 213
+f 194 213 214
+f 194 214 195
+f 197 211 198
+f 197 210 211
+f 199 214 213
+f 199 213 200
+f 200 211 202
+f 200 202 201
+f 200 213 211
+f 202 211 215
+f 202 215 203
+f 203 215 216
+f 203 216 204
+f 204 216 217
+f 204 217 205
+f 205 217 206
+f 206 217 208
+f 207 208 209
+f 208 217 209
+f 209 216 215
+f 209 215 210
+f 209 217 216
+f 210 215 211
+f 211 213 212
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_6.obj

@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.03337241 0.00122642 0.02368822
+v 0.03318908 0.00122641 0.02632957
+v 0.03318667 -0.00127341 0.02632957
+v 0.03336759 -0.00127340 0.02368822
+v 0.03300093 0.00122643 0.02105022
+v 0.03204326 0.00347225 0.02105023
+v 0.03221211 0.00356871 0.02368823
+v 0.03201431 0.00360411 0.02897094
+v 0.03299369 0.00122640 0.02897093
+v 0.03298645 -0.00127342 0.02897093
+v 0.03200708 -0.00365601 0.02897092
+v 0.03220729 -0.00361814 0.02368821
+v 0.03203843 -0.00352043 0.02105021
+v 0.03299610 -0.00127339 0.02105022
+v 0.02749615 -0.00127333 0.00520545
+v 0.02749373 0.00122649 0.00520545
+v 0.02666392 0.00352726 0.00520546
+v 0.02457248 0.00471184 0.00520547
+v 0.02975402 0.00466049 0.02105024
+v 0.02975402 0.00475818 0.02368824
+v 0.02975402 0.00473129 0.02897095
+v 0.02716325 0.00436491 0.03425030
+v 0.03161146 0.00320599 0.03082557
+v 0.03188887 0.00122640 0.03109003
+v 0.03188405 -0.00127342 0.03109003
+v 0.03160423 -0.00325912 0.03082221
+v 0.02716325 -0.00442906 0.03425026
+v 0.02975402 -0.00479052 0.02897091
+v 0.02975402 -0.00481615 0.02368820
+v 0.02975402 -0.00471600 0.02105020
+v 0.02457248 -0.00480142 0.00520543
+v 0.02666633 -0.00359853 0.00520544
+v 0.01415392 0.00545068 0.00520547
+v 0.01939336 0.00594399 0.02105024
+v 0.02198171 0.00569607 0.02368824
+v 0.01939336 0.00595740 0.02632959
+v 0.02457248 0.00469463 0.03425030
+v 0.02198171 0.00441252 0.03689165
+v 0.02198171 0.00333663 0.03880654
+v 0.02716325 0.00328169 0.03615515
+v 0.02867333 0.00281763 0.03579024
+v 0.02877947 0.00122638 0.03589736
+v 0.02877947 -0.00127344 0.03589736
+v 0.02867333 -0.00286957 0.03578688
+v 0.02716325 -0.00333730 0.03615178
+v 0.02198171 -0.00338493 0.03880318
+v 0.02198171 -0.00446571 0.03689161
+v 0.02457248 -0.00475635 0.03425026
+v 0.01939336 -0.00599707 0.02632955
+v 0.02198171 -0.00574671 0.02368820
+v 0.01939336 -0.00599339 0.02105020
+v 0.01161864 -0.00592130 0.01048813
+v 0.01442169 -0.00541203 0.00520543
+v 0.01181403 0.00545068 0.00520547
+v 0.00872875 0.00599654 0.01048817
+v 0.00872875 0.00620169 0.01312953
+v 0.00872875 0.00621512 0.01577088
+v 0.01939336 0.00595619 0.02368824
+v 0.01680018 0.00602213 0.02368824
+v 0.00872875 0.00621752 0.02632959
+v 0.00872875 0.00621385 0.02666771
+v 0.00872875 0.00616988 0.02897095
+v 0.00872875 0.00616133 0.02930572
+v 0.01680018 0.00587557 0.02897095
+v 0.00872875 0.00580961 0.03228854
+v 0.01420941 0.00450167 0.03689165
+v 0.00872875 0.00547012 0.03367450
+v 0.00872875 0.00532844 0.03425030
+v 0.01420941 0.00338060 0.03877976
+v 0.02198171 0.00122637 0.03940577
+v 0.02359310 0.00287013 0.03844164
+v 0.02375231 0.00122637 0.03855880
+v 0.02374990 -0.00127345 0.03855545
+v 0.02359069 -0.00291599 0.03843827
+v 0.02198171 -0.00127345 0.03939908
+v 0.01420941 -0.00343867 0.03878309
+v 0.01420941 -0.00456829 0.03689161
+v 0.00872875 -0.00505432 0.03547888
+v 0.00872875 -0.00542924 0.03412640
+v 0.00872875 -0.00550861 0.03370458
+v 0.00872875 -0.00586887 0.03177630
+v 0.01680018 -0.00591404 0.02897091
+v 0.00872875 -0.00620591 0.02897091
+v 0.00872875 -0.00625719 0.02632955
+v 0.01680018 -0.00606545 0.02368820
+v 0.01939336 -0.00600073 0.02368820
+v 0.00872875 -0.00625715 0.01577084
+v 0.00872875 -0.00625593 0.01543607
+v 0.00872875 -0.00624615 0.01312949
+v 0.00872875 -0.00622783 0.01280141
+v 0.01181403 -0.00549752 0.00520543
+v 0.00872875 -0.00604952 0.01048813
+v 0.01051864 0.00483274 0.00520547
+v 0.00872875 0.00541525 0.00833224
+v 0.00872875 0.00550928 0.00862349
+v 0.00872875 0.00621634 0.01610565
+v 0.00872875 0.00385076 0.03719964
+v 0.00872875 0.00411334 0.03668744
+v 0.00872875 0.00122637 0.03925178
+v 0.01420941 0.00122637 0.03935556
+v 0.00872875 0.00363339 0.03746745
+v 0.01420941 -0.00127345 0.03935556
+v 0.00872875 -0.00127345 0.03925513
+v 0.00872875 -0.00236400 0.03855879
+v 0.00872875 -0.00368047 0.03747413
+v 0.00872875 -0.00625840 0.02368820
+v 0.01051623 -0.00488080 0.00520543
+v 0.00872875 -0.00546822 0.00831881
+v 0.00908335 0.00349795 0.00520546
+v 0.00872875 0.00340758 0.00542306
+v 0.00872875 -0.00095716 0.03925513
+v 0.00872875 -0.00347030 0.00540295
+v 0.00900133 -0.00346419 0.00520544
+v 0.00890484 0.00330989 0.00520546
+v 0.00872875 0.00312060 0.00520546
+v 0.00872875 -0.00318087 0.00521213
+v 0.00873116 -0.00318087 0.00520544
+v 0.00872875 -0.00313569 0.00520544
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 12 13
+f 4 13 14
+f 4 11 12
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 10 25 26
+f 10 26 11
+f 11 26 27
+f 11 27 28
+f 11 28 12
+f 12 29 30
+f 12 30 13
+f 12 28 29
+f 13 30 31
+f 13 31 32
+f 13 32 14
+f 14 32 15
+f 15 32 31
+f 15 31 53
+f 15 53 91
+f 15 91 107
+f 15 107 113
+f 15 113 117
+f 15 117 118
+f 15 118 115
+f 15 115 114
+f 15 114 109
+f 15 109 93
+f 15 93 54
+f 15 54 33
+f 15 33 18
+f 15 18 17
+f 15 17 16
+f 18 33 34
+f 18 34 19
+f 19 34 20
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 23
+f 23 41 24
+f 24 41 42
+f 24 42 43
+f 24 43 25
+f 25 43 44
+f 25 44 26
+f 26 44 27
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 28
+f 28 49 50
+f 28 50 29
+f 28 48 49
+f 29 50 51
+f 29 51 31
+f 29 31 30
+f 31 52 53
+f 31 51 52
+f 33 54 55
+f 33 55 56
+f 33 56 34
+f 34 56 57
+f 34 57 58
+f 34 58 35
+f 35 58 36
+f 36 58 59
+f 36 59 60
+f 36 60 61
+f 36 61 62
+f 36 62 63
+f 36 63 64
+f 36 64 37
+f 37 65 38
+f 37 64 65
+f 38 66 39
+f 38 65 67
+f 38 67 68
+f 38 68 66
+f 39 66 69
+f 39 69 70
+f 39 70 71
+f 39 71 40
+f 40 71 41
+f 41 71 72
+f 41 72 42
+f 42 72 43
+f 43 72 73
+f 43 73 44
+f 44 73 74
+f 44 74 45
+f 45 74 46
+f 46 74 75
+f 46 75 76
+f 46 76 77
+f 46 77 47
+f 47 77 78
+f 47 78 79
+f 47 79 80
+f 47 80 81
+f 47 81 48
+f 48 81 82
+f 48 82 49
+f 49 82 83
+f 49 83 84
+f 49 84 85
+f 49 85 86
+f 49 86 50
+f 50 86 51
+f 51 87 88
+f 51 88 89
+f 51 89 52
+f 51 86 87
+f 52 89 90
+f 52 90 53
+f 53 90 92
+f 53 92 91
+f 54 93 94
+f 54 94 95
+f 54 95 55
+f 55 95 94
+f 55 94 110
+f 55 110 115
+f 55 115 118
+f 55 118 116
+f 55 116 112
+f 55 112 108
+f 55 108 92
+f 55 92 90
+f 55 90 89
+f 55 89 88
+f 55 88 87
+f 55 87 106
+f 55 106 84
+f 55 84 83
+f 55 83 81
+f 55 81 80
+f 55 80 79
+f 55 79 78
+f 55 78 105
+f 55 105 104
+f 55 104 103
+f 55 103 111
+f 55 111 99
+f 55 99 101
+f 55 101 97
+f 55 97 98
+f 55 98 68
+f 55 68 67
+f 55 67 65
+f 55 65 63
+f 55 63 62
+f 55 62 61
+f 55 61 60
+f 55 60 96
+f 55 96 57
+f 55 57 56
+f 57 96 58
+f 58 96 59
+f 59 96 60
+f 63 65 64
+f 66 97 69
+f 66 68 98
+f 66 98 97
+f 69 99 100
+f 69 100 70
+f 69 97 101
+f 69 101 99
+f 70 100 102
+f 70 102 75
+f 70 75 73
+f 70 73 72
+f 70 72 71
+f 73 75 74
+f 75 102 76
+f 76 102 103
+f 76 103 104
+f 76 104 105
+f 76 105 78
+f 76 78 77
+f 81 83 82
+f 84 106 85
+f 85 106 87
+f 85 87 86
+f 91 92 108
+f 91 108 107
+f 93 109 110
+f 93 110 94
+f 99 111 100
+f 100 111 103
+f 100 103 102
+f 107 112 113
+f 107 108 112
+f 109 114 110
+f 110 114 115
+f 112 116 117
+f 112 117 113
+f 116 118 117
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_7.obj

@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
+v 0.00125075 0.00663325 0.09234705
+v 0.00125075 0.00600968 0.09498837
+v 0.00384129 0.00658378 0.09234705
+v 0.00902238 0.00625444 0.08970813
+v -0.00133508 0.00663325 0.09234705
+v 0.00125075 0.00511796 0.09643364
+v 0.00323369 0.00505548 0.09637521
+v 0.00399672 0.00570637 0.09523879
+v 0.00643183 0.00574282 0.09483335
+v 0.00902238 0.00639632 0.09234705
+v 0.00643183 0.00649266 0.09234705
+v -0.00133508 0.00600838 0.09498837
+v 0.01938925 0.00563221 0.08546652
+v 0.01836717 0.00563741 0.08546652
+v -0.00911142 0.00625444 0.08970813
+v -0.00392563 0.00658248 0.09234705
+v -0.00133508 0.00511666 0.09643245
+v -0.00133508 0.00372895 0.09707160
+v 0.00125075 0.00372895 0.09707160
+v 0.00399672 0.00395676 0.09678660
+v 0.00496229 0.00494222 0.09628577
+v 0.00902238 0.00561134 0.09456981
+v 0.01853673 0.00511147 0.09120229
+v 0.01939396 0.00532627 0.08972601
+v 0.01938925 0.00564522 0.08706681
+v -0.00651617 0.00573631 0.09482858
+v -0.00408106 0.00570377 0.09523879
+v -0.00332274 0.00505287 0.09637521
+v -0.00911142 0.00639242 0.09234705
+v 0.02048670 0.00535883 0.08546652
+v -0.01947359 0.00563741 0.08546652
+v -0.00408106 0.00395676 0.09678660
+v -0.00392563 0.00122693 0.09746034
+v -0.00133508 0.00122693 0.09764755
+v 0.00125075 0.00122693 0.09764516
+v 0.00384129 0.00122693 0.09746391
+v 0.00643183 0.00345428 0.09669716
+v 0.00643183 0.00470530 0.09615341
+v 0.00902238 0.00417678 0.09589107
+v 0.01161763 0.00528329 0.09408210
+v 0.01297884 0.00501383 0.09371362
+v 0.01939396 0.00383572 0.09174485
+v 0.02026533 0.00474047 0.09061917
+v 0.02100010 0.00511278 0.08885790
+v 0.02119321 0.00518178 0.08706681
+v -0.00504662 0.00494352 0.09628697
+v -0.00911142 0.00560483 0.09456146
+v -0.01947359 0.00564782 0.08706681
+v -0.01947830 0.00532887 0.08972124
+v -0.01862106 0.00511407 0.09120348
+v 0.02119793 0.00517528 0.08546652
+v -0.02126813 0.00517528 0.08546652
+v -0.00651617 0.00344777 0.09669239
+v -0.00392563 -0.00127380 0.09746034
+v -0.00911142 0.00291014 0.09647417
+v -0.00651617 0.00122693 0.09713121
+v -0.00651617 -0.00127380 0.09713241
+v -0.00133508 -0.00127380 0.09764755
+v 0.00125075 -0.00127380 0.09764755
+v 0.00384129 -0.00127380 0.09746868
+v 0.00643183 -0.00127380 0.09715029
+v 0.00643183 0.00122693 0.09714433
+v 0.00902238 0.00292576 0.09648013
+v 0.01043069 0.00256907 0.09634181
+v 0.01142451 0.00353369 0.09541288
+v 0.02112727 0.00307287 0.09135849
+v 0.02192799 0.00376934 0.08965565
+v 0.02342579 0.00279821 0.08869333
+v 0.02248848 0.00432781 0.08706681
+v 0.02249319 0.00438510 0.08546652
+v -0.00651617 0.00469879 0.09614864
+v -0.01170196 0.00526507 0.09405586
+v -0.00911142 0.00415985 0.09588153
+v -0.02126342 0.00517918 0.08706681
+v -0.02107501 0.00511017 0.08884955
+v -0.02034495 0.00473266 0.09061082
+v -0.01947830 0.00383051 0.09173531
+v -0.01149943 0.00352588 0.09538306
+v -0.02205471 0.00469623 0.08546652
+v -0.00406222 -0.00399973 0.09678658
+v -0.00133508 -0.00377582 0.09707039
+v -0.00911142 -0.00296871 0.09647773
+v -0.00651617 -0.00349464 0.09669357
+v -0.01050089 0.00255736 0.09633823
+v -0.00911142 0.00122693 0.09669238
+v -0.00911142 -0.00127380 0.09669596
+v -0.01051031 -0.00261592 0.09634179
+v 0.00125075 -0.00377582 0.09707277
+v 0.00401085 -0.00400754 0.09679135
+v 0.00643183 -0.00351416 0.09670311
+v 0.00902238 -0.00298563 0.09648488
+v 0.01044011 -0.00262504 0.09634418
+v 0.00902238 -0.00127380 0.09671385
+v 0.00902238 0.00122693 0.09670908
+v 0.01057199 0.00122694 0.09638592
+v 0.01186726 0.00122694 0.09592563
+v 0.01938925 0.00122695 0.09265112
+v 0.02140046 0.00122695 0.09156359
+v 0.02269573 0.00122696 0.09023756
+v 0.02353883 0.00122696 0.08891631
+v 0.02395803 0.00122697 0.08706679
+v 0.02357651 0.00307680 0.08706680
+v 0.02318557 0.00362746 0.08546651
+v -0.02255869 0.00428225 0.08706681
+v -0.02349599 0.00276827 0.08866351
+v -0.02200290 0.00374981 0.08963657
+v -0.02120219 0.00306376 0.09135014
+v -0.02256340 0.00434214 0.08546652
+v -0.00501836 -0.00498387 0.09628215
+v -0.00328977 -0.00509972 0.09637397
+v -0.00133508 -0.00516221 0.09643002
+v 0.00125075 -0.00516351 0.09643241
+v -0.00911142 -0.00421972 0.09588506
+v -0.00651617 -0.00474564 0.09614741
+v -0.01947359 0.00122695 0.09262965
+v -0.01192334 0.00122694 0.09590417
+v -0.01062806 0.00122694 0.09637757
+v -0.01063277 -0.00127379 0.09638115
+v -0.01193276 -0.00127379 0.09590774
+v -0.01947359 -0.00127378 0.09263323
+v -0.02120690 -0.00312101 0.09135370
+v -0.01948772 -0.00388385 0.09174006
+v -0.01150414 -0.00358055 0.09538782
+v 0.00325724 -0.00510233 0.09637636
+v 0.00498584 -0.00499688 0.09628931
+v 0.00643183 -0.00476517 0.09615933
+v 0.00902238 -0.00423664 0.09589818
+v 0.01142922 -0.00358575 0.09541763
+v 0.01940809 -0.00388776 0.09174722
+v 0.02112727 -0.00312882 0.09135966
+v 0.01938925 -0.00127378 0.09264992
+v 0.01187197 -0.00127379 0.09592682
+v 0.01057670 -0.00127379 0.09638831
+v 0.02139575 -0.00127378 0.09156359
+v 0.02269102 -0.00127377 0.09023756
+v 0.02354354 -0.00127377 0.08891750
+v 0.02395803 -0.00127376 0.08706679
+v 0.02404281 -0.00127375 0.08546650
+v 0.02403810 0.00122698 0.08546650
+v 0.02361419 0.00313409 0.08546651
+v -0.02367027 0.00309113 0.08546651
+v -0.02363258 0.00303124 0.08706680
+v -0.02276593 0.00122696 0.09020059
+v -0.02398584 0.00122697 0.08706679
+v -0.02359961 0.00122696 0.08888053
+v -0.02147066 0.00122695 0.09155404
+v -0.00911142 -0.00565168 0.09456500
+v -0.00651617 -0.00578056 0.09482734
+v -0.00133508 -0.00604352 0.09498833
+v -0.00406222 -0.00574281 0.09523636
+v 0.00125075 -0.00604612 0.09498833
+v -0.01170196 -0.00531322 0.09405940
+v -0.02147066 -0.00127378 0.09155643
+v -0.02276593 -0.00127377 0.09020656
+v -0.02350071 -0.00283070 0.08867303
+v -0.02201232 -0.00380964 0.08965324
+v -0.02035908 -0.00478858 0.09063344
+v -0.01863049 -0.00516220 0.09120463
+v 0.00401085 -0.00574671 0.09524113
+v 0.00643183 -0.00578576 0.09483927
+v 0.00902238 -0.00565819 0.09457693
+v 0.01161763 -0.00533274 0.09408682
+v 0.01297884 -0.00506066 0.09371358
+v 0.01855557 -0.00516350 0.09120582
+v 0.02027946 -0.00479639 0.09064537
+v 0.02193741 -0.00382656 0.08966994
+v 0.02342579 -0.00285804 0.08869569
+v 0.02357651 -0.00314312 0.08706678
+v 0.02389209 -0.00201056 0.08546649
+v -0.02392461 0.00193775 0.08546651
+v -0.02406591 0.00122698 0.08546650
+v -0.02360433 -0.00127377 0.08888650
+v -0.02399526 -0.00127376 0.08706679
+v -0.00911142 -0.00643795 0.09234701
+v -0.00651617 -0.00652647 0.09234701
+v -0.00392563 -0.00661369 0.09234701
+v -0.00133508 -0.00666185 0.09234701
+v 0.00125075 -0.00666316 0.09234701
+v 0.00384129 -0.00661759 0.09234701
+v 0.00643183 -0.00653037 0.09234701
+v 0.00902238 -0.00644055 0.09234701
+v -0.02259166 -0.00435377 0.08706677
+v -0.02109386 -0.00516610 0.08887336
+v -0.02363730 -0.00310276 0.08706678
+v -0.01948772 -0.00538480 0.08973551
+v 0.01940809 -0.00538480 0.08974267
+v 0.02102365 -0.00517000 0.08888528
+v 0.02253087 -0.00439413 0.08706677
+v 0.02361890 -0.00320299 0.08546649
+v -0.02407533 -0.00127375 0.08546650
+v -0.00911142 -0.00629344 0.08970809
+v -0.01947359 -0.00571544 0.08706677
+v -0.01947359 -0.00570241 0.08546648
+v -0.01845150 -0.00571152 0.08546648
+v 0.01938925 -0.00570632 0.08546648
+v 0.00902238 -0.00628563 0.08970809
+v 0.01938925 -0.00571804 0.08706677
+v -0.02326520 -0.00365601 0.08546649
+v -0.02259637 -0.00441365 0.08546648
+v -0.02129639 -0.00523899 0.08706677
+v -0.02367498 -0.00316263 0.08546649
+v 0.02123560 -0.00524549 0.08706677
+v 0.02254029 -0.00445400 0.08546648
+v -0.02130110 -0.00523247 0.08546648
+v -0.02058045 -0.00541992 0.08546648
+v 0.02124502 -0.00524028 0.08546648
+v 0.02202690 -0.00478986 0.08546648
+f 1 2 3
+f 1 3 4
+f 1 4 15
+f 1 15 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 11 3
+f 2 5 12
+f 2 12 6
+f 3 11 4
+f 4 11 10
+f 4 10 13
+f 4 13 14
+f 4 14 31
+f 4 31 15
+f 5 15 16
+f 5 16 12
+f 6 12 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 20
+f 7 20 21
+f 7 21 9
+f 7 9 8
+f 9 22 10
+f 9 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 13
+f 12 26 27
+f 12 27 28
+f 12 28 17
+f 12 16 29
+f 12 29 26
+f 13 25 30
+f 13 30 51
+f 13 51 70
+f 13 70 103
+f 13 103 140
+f 13 140 139
+f 13 139 138
+f 13 138 169
+f 13 169 189
+f 13 189 203
+f 13 203 207
+f 13 207 206
+f 13 206 195
+f 13 195 194
+f 13 194 193
+f 13 193 205
+f 13 205 204
+f 13 204 199
+f 13 199 198
+f 13 198 201
+f 13 201 190
+f 13 190 171
+f 13 171 170
+f 13 170 141
+f 13 141 108
+f 13 108 79
+f 13 79 52
+f 13 52 31
+f 13 31 14
+f 15 31 29
+f 15 29 16
+f 17 28 18
+f 18 28 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 19 35 36
+f 19 36 20
+f 19 34 35
+f 20 36 37
+f 20 37 21
+f 21 37 38
+f 21 38 22
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 41 42
+f 23 42 43
+f 23 43 44
+f 23 44 24
+f 23 40 41
+f 24 44 25
+f 25 44 45
+f 25 45 30
+f 26 46 28
+f 26 28 27
+f 26 29 47
+f 26 47 46
+f 28 46 32
+f 29 31 48
+f 29 48 49
+f 29 49 50
+f 29 50 47
+f 30 45 51
+f 31 52 48
+f 32 46 53
+f 32 53 33
+f 33 54 58
+f 33 58 34
+f 33 53 55
+f 33 55 56
+f 33 56 57
+f 33 57 54
+f 34 58 59
+f 34 59 35
+f 35 59 60
+f 35 60 36
+f 36 60 61
+f 36 61 62
+f 36 62 37
+f 37 62 63
+f 37 63 38
+f 38 63 39
+f 39 63 64
+f 39 64 65
+f 39 65 40
+f 40 65 41
+f 41 65 42
+f 42 66 43
+f 42 65 64
+f 42 64 66
+f 43 66 67
+f 43 67 44
+f 44 67 68
+f 44 68 69
+f 44 69 45
+f 45 69 70
+f 45 70 51
+f 46 47 71
+f 46 71 53
+f 47 50 72
+f 47 72 73
+f 47 73 71
+f 48 52 74
+f 48 74 75
+f 48 75 49
+f 49 75 50
+f 50 75 76
+f 50 76 77
+f 50 77 78
+f 50 78 72
+f 52 79 74
+f 53 71 55
+f 54 80 81
+f 54 81 58
+f 54 57 82
+f 54 82 83
+f 54 83 80
+f 55 71 73
+f 55 73 84
+f 55 84 56
+f 56 84 85
+f 56 85 86
+f 56 86 57
+f 57 86 87
+f 57 87 82
+f 58 81 88
+f 58 88 59
+f 59 88 60
+f 60 88 89
+f 60 89 90
+f 60 90 61
+f 61 90 91
+f 61 91 92
+f 61 92 93
+f 61 93 94
+f 61 94 62
+f 62 94 64
+f 62 64 63
+f 64 94 95
+f 64 95 96
+f 64 96 97
+f 64 97 66
+f 66 97 98
+f 66 98 99
+f 66 99 68
+f 66 68 67
+f 68 99 100
+f 68 100 101
+f 68 101 102
+f 68 102 69
+f 69 102 103
+f 69 103 70
+f 72 78 73
+f 73 78 84
+f 74 79 104
+f 74 104 75
+f 75 104 105
+f 75 105 106
+f 75 106 76
+f 76 106 107
+f 76 107 77
+f 77 107 84
+f 77 84 78
+f 79 108 104
+f 80 83 109
+f 80 109 110
+f 80 110 81
+f 81 110 111
+f 81 111 112
+f 81 112 88
+f 82 87 113
+f 82 113 114
+f 82 114 83
+f 83 114 109
+f 84 107 115
+f 84 115 116
+f 84 116 117
+f 84 117 85
+f 85 117 118
+f 85 118 86
+f 86 118 87
+f 87 118 119
+f 87 119 120
+f 87 120 121
+f 87 121 122
+f 87 122 123
+f 87 123 113
+f 88 112 124
+f 88 124 89
+f 89 125 90
+f 89 124 125
+f 90 125 126
+f 90 126 91
+f 91 126 127
+f 91 127 92
+f 92 128 129
+f 92 129 130
+f 92 130 131
+f 92 131 132
+f 92 132 133
+f 92 133 93
+f 92 127 128
+f 93 133 95
+f 93 95 94
+f 95 133 96
+f 96 132 97
+f 96 133 132
+f 97 131 98
+f 97 132 131
+f 98 131 134
+f 98 134 135
+f 98 135 99
+f 99 135 136
+f 99 136 100
+f 100 136 101
+f 101 137 138
+f 101 138 139
+f 101 139 102
+f 101 136 137
+f 102 139 140
+f 102 140 103
+f 104 108 141
+f 104 141 142
+f 104 142 105
+f 105 143 107
+f 105 107 106
+f 105 142 144
+f 105 144 145
+f 105 145 143
+f 107 143 146
+f 107 146 115
+f 109 114 147
+f 109 147 148
+f 109 148 110
+f 110 149 111
+f 110 148 150
+f 110 150 149
+f 111 149 112
+f 112 149 151
+f 112 151 124
+f 113 123 152
+f 113 152 147
+f 113 147 114
+f 115 146 120
+f 115 120 119
+f 115 119 116
+f 116 119 117
+f 117 119 118
+f 120 146 153
+f 120 153 121
+f 121 153 154
+f 121 154 155
+f 121 155 156
+f 121 156 157
+f 121 157 122
+f 122 157 158
+f 122 158 123
+f 123 158 152
+f 124 151 159
+f 124 159 160
+f 124 160 125
+f 125 160 161
+f 125 161 126
+f 126 161 127
+f 127 161 162
+f 127 162 128
+f 128 162 163
+f 128 163 129
+f 129 163 164
+f 129 164 165
+f 129 165 130
+f 130 165 166
+f 130 166 167
+f 130 167 135
+f 130 135 134
+f 130 134 131
+f 135 167 136
+f 136 167 137
+f 137 167 168
+f 137 168 138
+f 138 168 169
+f 141 170 142
+f 142 170 171
+f 142 171 144
+f 143 145 172
+f 143 172 154
+f 143 154 146
+f 144 171 190
+f 144 190 173
+f 144 173 145
+f 145 173 172
+f 146 154 153
+f 147 174 148
+f 147 152 158
+f 147 158 174
+f 148 174 149
+f 148 149 150
+f 149 174 175
+f 149 175 176
+f 149 176 177
+f 149 177 151
+f 151 177 178
+f 151 178 179
+f 151 179 180
+f 151 180 181
+f 151 181 160
+f 151 160 159
+f 154 172 155
+f 155 182 183
+f 155 183 156
+f 155 172 173
+f 155 173 184
+f 155 184 182
+f 156 183 157
+f 157 183 158
+f 158 183 185
+f 158 185 174
+f 160 181 161
+f 161 181 164
+f 161 164 162
+f 162 164 163
+f 164 186 187
+f 164 187 165
+f 164 181 186
+f 165 187 166
+f 166 187 167
+f 167 187 188
+f 167 188 168
+f 168 189 169
+f 168 188 189
+f 173 190 184
+f 174 191 175
+f 174 185 192
+f 174 192 193
+f 174 193 191
+f 175 191 176
+f 176 191 177
+f 177 191 194
+f 177 194 178
+f 178 195 196
+f 178 196 179
+f 178 194 195
+f 179 196 195
+f 179 195 180
+f 180 195 181
+f 181 197 186
+f 181 195 197
+f 182 184 198
+f 182 198 199
+f 182 199 200
+f 182 200 183
+f 183 200 192
+f 183 192 185
+f 184 190 201
+f 184 201 198
+f 186 197 187
+f 187 197 202
+f 187 202 188
+f 188 203 189
+f 188 202 203
+f 191 193 194
+f 192 200 204
+f 192 204 205
+f 192 205 193
+f 195 206 197
+f 197 206 202
+f 199 204 200
+f 202 206 207
+f 202 207 203
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_8.obj

@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
+v 0.00125140 -0.00921915 0.03424726
+v -0.00133650 -0.00921195 0.03424726
+v -0.00133650 -0.00917226 0.01313057
+v 0.00125140 -0.00918489 0.01840371
+v 0.00384280 -0.00842339 0.02104631
+v 0.00384280 -0.00842880 0.02368891
+v 0.00384280 -0.00844504 0.03424726
+v 0.00326830 -0.00784919 0.04398507
+v 0.00125140 -0.00847027 0.04216904
+v -0.00133650 -0.00846307 0.04216904
+v -0.00332895 -0.00784379 0.04398507
+v -0.00392790 -0.00841984 0.03424726
+v -0.00392790 -0.00840901 0.02632548
+v -0.00392790 -0.00840540 0.02368891
+v -0.00392790 -0.00838736 0.01313057
+v -0.00392790 -0.00834594 0.01048797
+v -0.00133650 -0.00912905 0.01048797
+v 0.00125140 -0.00913085 0.01048797
+v 0.00125140 -0.00917226 0.01313057
+v 0.00384280 -0.00840356 0.01313057
+v 0.00872875 -0.00625587 0.01542928
+v 0.00872875 -0.00625770 0.02335106
+v 0.00872875 -0.00625771 0.02632549
+v 0.00872875 -0.00620551 0.02896810
+v 0.00538996 -0.00769974 0.03424726
+v 0.00530789 -0.00764393 0.03597883
+v 0.00468972 -0.00727670 0.04216904
+v 0.00591383 -0.00578070 0.04426261
+v 0.00410823 -0.00646661 0.04561408
+v 0.00125140 -0.00719931 0.04561407
+v 0.00125140 -0.00810123 0.04434707
+v -0.00133650 -0.00809762 0.04434104
+v -0.00133650 -0.00719751 0.04561407
+v -0.00139937 -0.00718131 0.04561407
+v -0.00417936 -0.00645941 0.04561408
+v -0.00597623 -0.00576450 0.04425658
+v -0.00474514 -0.00725510 0.04216904
+v -0.00537378 -0.00763133 0.03593660
+v -0.00544887 -0.00768174 0.03424726
+v -0.00911070 -0.00609929 0.02896810
+v -0.00911070 -0.00615689 0.02632549
+v -0.00911070 -0.00615868 0.02368892
+v -0.00911070 -0.00615506 0.01840372
+v -0.00911070 -0.00615325 0.01576715
+v -0.00911070 -0.00614064 0.01313058
+v -0.00532139 -0.00759342 0.00905203
+v -0.00062928 -0.00522601 -0.01232408
+v 0.00384280 -0.00836034 0.01048797
+v 0.00052672 -0.00522601 -0.01232408
+v 0.00872875 -0.00624506 0.01313058
+v 0.00872875 -0.00586887 0.03177360
+v 0.00616354 -0.00602553 0.04216905
+v 0.00872875 -0.00550882 0.03370427
+v 0.00872875 -0.00542962 0.03412660
+v 0.00804772 -0.00320634 0.04397906
+v 0.00662454 -0.00402366 0.04561409
+v 0.00872875 -0.00505337 0.03547807
+v 0.00745924 -0.00456552 0.04216905
+v 0.00114488 -0.00719931 0.04561407
+v -0.00669043 -0.00399846 0.04561409
+v -0.00621895 -0.00600392 0.04216905
+v -0.00811186 -0.00316674 0.04395492
+v -0.00911070 -0.00517219 0.03424727
+v -0.00911070 -0.00571045 0.03200890
+v -0.00911070 -0.00593720 0.01048798
+v -0.00346690 -0.00336635 -0.01327734
+v -0.00304781 -0.00293609 -0.01491238
+v -0.00110775 -0.00305310 -0.01602251
+v 0.00524677 -0.00760063 0.00903996
+v 0.00872875 -0.00622705 0.01279874
+v 0.00121997 -0.00304950 -0.01602251
+v 0.00143476 -0.00299549 -0.01602251
+v 0.00392138 -0.00160750 -0.01602251
+v 0.00407505 -0.00150848 -0.01602251
+v 0.00872875 -0.00546733 0.00832201
+v 0.00872875 -0.00604882 0.01048798
+v 0.00865715 -0.00127286 0.04216907
+v 0.00829917 -0.00127287 0.04432900
+v 0.00736844 -0.00127288 0.04561410
+v 0.00872875 -0.00367979 0.03746908
+v -0.00696285 -0.00298312 0.04561409
+v -0.00741163 -0.00127828 0.04561410
+v -0.00835284 -0.00127287 0.04429280
+v -0.00868637 -0.00127286 0.04216907
+v -0.00911070 -0.00379860 0.03684162
+v -0.00911070 -0.00538632 0.00835217
+v -0.00911070 -0.00187938 -0.00271296
+v -0.00911070 -0.00127270 -0.00381705
+v -0.00357342 -0.00127265 -0.01541917
+v -0.00282603 -0.00127265 -0.01602250
+v -0.00483943 -0.00124746 -0.01347643
+v 0.00417983 -0.00135726 -0.01602250
+v 0.00872875 -0.00238707 -0.00094519
+v 0.00872875 -0.00236380 0.03855508
+v 0.00872875 -0.00127285 0.03925496
+v 0.00865715 0.00122589 0.04216907
+v 0.00829917 0.00122588 0.04432900
+v 0.00737018 0.00122587 0.04561410
+v -0.00741512 0.00121327 0.04561410
+v -0.00835633 0.00122588 0.04429883
+v -0.00911070 -0.00127285 0.03850079
+v -0.00868986 0.00122589 0.04216907
+v -0.00911070 0.00122605 -0.00382309
+v -0.00536330 -0.00039594 -0.01272830
+v -0.00366946 0.00080844 -0.01602250
+v -0.00373407 0.00115769 -0.01602250
+v 0.00523804 0.00122610 -0.01602250
+v 0.00872875 -0.00139512 -0.00288793
+v 0.00872875 -0.00095601 0.03925496
+v 0.00804772 0.00315575 0.04397908
+v 0.00872875 0.00122590 0.03924893
+v 0.00872875 0.00363284 0.03746307
+v 0.00872875 0.00385067 0.03719760
+v 0.00735971 0.00126908 0.04561410
+v -0.00741512 0.00122587 0.04561410
+v -0.00811710 0.00313415 0.04396098
+v -0.00911070 0.00005934 0.03850683
+v -0.00911070 0.00375165 0.03684767
+v -0.00911070 0.00190459 0.03809657
+v -0.00911070 0.00122590 0.03850683
+v -0.00911070 0.00170492 -0.00331628
+v -0.00331847 0.00325678 -0.01591992
+v -0.00496342 0.00119368 -0.01347643
+v -0.00536330 0.00033677 -0.01272830
+v -0.00328355 0.00322078 -0.01602249
+v 0.00504072 0.00207582 -0.01602249
+v 0.00872875 0.00107663 -0.00312322
+v 0.00872875 0.00052395 -0.00312925
+v 0.00872875 -0.00112508 -0.00314132
+v 0.00746273 0.00451855 0.04216909
+v 0.00591208 0.00573371 0.04426869
+v 0.00662629 0.00398025 0.04561411
+v 0.00872875 0.00411351 0.03668478
+v 0.00872875 0.00532868 0.03424731
+v -0.00669393 0.00396045 0.04561411
+v -0.00598671 0.00572471 0.04426265
+v -0.00911070 0.00488942 0.03514628
+v -0.00911070 0.00241962 -0.00164504
+v -0.00187260 0.00450796 -0.01591991
+v -0.00182894 0.00445575 -0.01602248
+v 0.00426190 0.00333959 -0.01602249
+v 0.00872875 0.00243401 -0.00007034
+v 0.00872875 0.00141508 -0.00253194
+v 0.00872875 0.00580936 0.03228647
+v 0.00616703 0.00598215 0.04216909
+v 0.00470020 0.00723153 0.04216910
+v 0.00327179 0.00780760 0.04399720
+v 0.00412045 0.00642860 0.04561412
+v -0.00419158 0.00642140 0.04561412
+v -0.00334117 0.00780040 0.04399116
+v -0.00476435 0.00721893 0.04216910
+v -0.00623467 0.00596775 0.04216909
+v -0.00911070 0.00528369 0.03385514
+v -0.00911070 0.00533238 0.00835825
+v -0.00057690 0.00508404 -0.01591991
+v -0.00054022 0.00507684 -0.01602248
+v -0.00911070 0.00588325 0.01048802
+v -0.00531965 0.00754669 0.00905209
+v 0.00188528 0.00474739 -0.01602248
+v 0.00181369 0.00481220 -0.01591991
+v 0.00872875 0.00599667 0.01048802
+v 0.00872875 0.00550881 0.00862371
+v 0.00872875 0.00541520 0.00833411
+v 0.00531313 0.00760060 0.03599699
+v 0.00872875 0.00616222 0.02930600
+v 0.00125140 0.00844310 0.04216910
+v 0.00125140 0.00806324 0.04435920
+v 0.00125140 0.00717750 0.04561413
+v 0.00133522 0.00715590 0.04561413
+v 0.00384280 0.00840531 0.03424732
+v 0.00125140 0.00917222 0.03424732
+v -0.00133650 0.00717210 0.04561413
+v -0.00133650 0.00805783 0.04435920
+v -0.00133650 0.00843590 0.04216910
+v -0.00133650 0.00916862 0.03424732
+v -0.00392790 0.00839091 0.03424732
+v -0.00538950 0.00759340 0.03597889
+v -0.00911070 0.00605961 0.02896814
+v -0.00911070 0.00567614 0.03179777
+v -0.00911070 0.00553572 0.03253987
+v -0.00392790 0.00829739 0.01048803
+v -0.00133650 0.00907690 0.01048803
+v 0.00049703 0.00507684 -0.01602248
+v 0.00125140 0.00907870 0.01048803
+v -0.00911070 0.00609387 0.01313062
+v 0.00169320 0.00482660 -0.01602248
+v 0.00384280 0.00830459 0.01048803
+v 0.00523979 0.00754849 0.00904606
+v 0.00872875 0.00620189 0.01313062
+v 0.00539869 0.00765821 0.03424732
+v 0.00872875 0.00616942 0.02896814
+v 0.00125140 0.00916683 0.03161075
+v 0.00872875 0.00621444 0.02666340
+v 0.00872875 0.00621624 0.02632553
+v 0.00872875 0.00621628 0.01609902
+v 0.00384280 0.00836038 0.01576720
+v 0.00125140 0.00912369 0.01313063
+v -0.00133650 0.00912369 0.01313063
+v -0.00911070 0.00610826 0.01576719
+v -0.00911070 0.00611362 0.02632553
+v -0.00546633 0.00764741 0.03424732
+v -0.00392790 0.00834238 0.01313063
+v 0.00384280 0.00835139 0.01313063
+v 0.00872875 0.00620369 0.01346245
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 3
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 4
+f 4 19 5
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 7
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 8
+f 7 21 22
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 31
+f 8 31 9
+f 8 26 27
+f 9 31 32
+f 9 32 10
+f 10 32 11
+f 11 32 33
+f 11 33 34
+f 11 34 35
+f 11 35 36
+f 11 36 37
+f 11 37 38
+f 11 38 12
+f 12 38 39
+f 12 39 40
+f 12 40 41
+f 12 41 42
+f 12 42 43
+f 12 43 44
+f 12 44 13
+f 13 44 14
+f 14 44 15
+f 15 45 16
+f 15 44 45
+f 16 45 46
+f 16 46 47
+f 16 47 17
+f 17 47 18
+f 18 48 20
+f 18 20 19
+f 18 47 49
+f 18 49 48
+f 20 48 50
+f 20 50 21
+f 21 50 70
+f 21 70 76
+f 21 76 75
+f 21 75 93
+f 21 93 108
+f 21 108 129
+f 21 129 128
+f 21 128 127
+f 21 127 143
+f 21 143 142
+f 21 142 163
+f 21 163 162
+f 21 162 161
+f 21 161 189
+f 21 189 204
+f 21 204 195
+f 21 195 194
+f 21 194 193
+f 21 193 191
+f 21 191 165
+f 21 165 144
+f 21 144 134
+f 21 134 133
+f 21 133 113
+f 21 113 112
+f 21 112 111
+f 21 111 109
+f 21 109 95
+f 21 95 94
+f 21 94 80
+f 21 80 57
+f 21 57 54
+f 21 54 53
+f 21 53 51
+f 21 51 24
+f 21 24 23
+f 21 23 22
+f 24 51 26
+f 24 26 25
+f 26 51 27
+f 27 52 28
+f 27 51 53
+f 27 53 54
+f 27 54 52
+f 28 55 56
+f 28 56 29
+f 28 52 54
+f 28 54 57
+f 28 57 58
+f 28 58 55
+f 29 56 79
+f 29 79 98
+f 29 98 114
+f 29 114 132
+f 29 132 148
+f 29 148 169
+f 29 169 168
+f 29 168 172
+f 29 172 149
+f 29 149 135
+f 29 135 115
+f 29 115 99
+f 29 99 82
+f 29 82 81
+f 29 81 60
+f 29 60 35
+f 29 35 34
+f 29 34 33
+f 29 33 59
+f 29 59 30
+f 30 59 31
+f 31 59 33
+f 31 33 32
+f 35 60 36
+f 36 61 37
+f 36 60 62
+f 36 62 63
+f 36 63 64
+f 36 64 61
+f 37 61 64
+f 37 64 40
+f 37 40 38
+f 38 40 39
+f 40 64 63
+f 40 63 85
+f 40 85 101
+f 40 101 117
+f 40 117 120
+f 40 120 119
+f 40 119 118
+f 40 118 137
+f 40 137 153
+f 40 153 180
+f 40 180 179
+f 40 179 178
+f 40 178 200
+f 40 200 199
+f 40 199 185
+f 40 185 157
+f 40 157 154
+f 40 154 138
+f 40 138 121
+f 40 121 103
+f 40 103 88
+f 40 88 87
+f 40 87 86
+f 40 86 65
+f 40 65 45
+f 40 45 44
+f 40 44 43
+f 40 43 42
+f 40 42 41
+f 45 65 46
+f 46 65 47
+f 47 66 67
+f 47 67 68
+f 47 68 49
+f 47 65 66
+f 48 69 70
+f 48 70 50
+f 48 49 69
+f 49 68 71
+f 49 71 72
+f 49 72 73
+f 49 73 74
+f 49 74 75
+f 49 75 76
+f 49 76 69
+f 55 77 78
+f 55 78 79
+f 55 79 56
+f 55 58 57
+f 55 57 77
+f 57 80 77
+f 60 81 62
+f 62 81 82
+f 62 82 83
+f 62 83 84
+f 62 84 85
+f 62 85 63
+f 65 86 66
+f 66 87 88
+f 66 88 67
+f 66 86 87
+f 67 89 90
+f 67 90 68
+f 67 88 91
+f 67 91 89
+f 68 90 105
+f 68 105 106
+f 68 106 125
+f 68 125 140
+f 68 140 156
+f 68 156 183
+f 68 183 186
+f 68 186 159
+f 68 159 141
+f 68 141 126
+f 68 126 107
+f 68 107 92
+f 68 92 74
+f 68 74 73
+f 68 73 72
+f 68 72 71
+f 69 76 70
+f 74 92 93
+f 74 93 75
+f 77 80 94
+f 77 94 95
+f 77 95 109
+f 77 109 96
+f 77 96 97
+f 77 97 78
+f 78 97 98
+f 78 98 79
+f 82 99 100
+f 82 100 83
+f 83 100 84
+f 84 101 85
+f 84 100 102
+f 84 102 101
+f 88 103 104
+f 88 104 91
+f 89 105 90
+f 89 91 105
+f 91 104 106
+f 91 106 105
+f 92 107 108
+f 92 108 93
+f 96 110 97
+f 96 109 111
+f 96 111 112
+f 96 112 113
+f 96 113 110
+f 97 110 114
+f 97 114 98
+f 99 115 100
+f 100 116 102
+f 100 115 116
+f 101 102 117
+f 102 116 118
+f 102 118 119
+f 102 119 120
+f 102 120 117
+f 103 121 122
+f 103 122 123
+f 103 123 124
+f 103 124 104
+f 104 124 106
+f 106 124 123
+f 106 123 125
+f 107 126 127
+f 107 127 128
+f 107 128 129
+f 107 129 108
+f 110 130 131
+f 110 131 132
+f 110 132 114
+f 110 113 133
+f 110 133 134
+f 110 134 130
+f 115 135 116
+f 116 135 136
+f 116 136 137
+f 116 137 118
+f 121 138 122
+f 122 139 125
+f 122 125 123
+f 122 138 139
+f 125 139 140
+f 126 141 142
+f 126 142 143
+f 126 143 127
+f 130 134 131
+f 131 134 144
+f 131 144 145
+f 131 145 146
+f 131 146 147
+f 131 147 148
+f 131 148 132
+f 135 149 136
+f 136 149 150
+f 136 150 151
+f 136 151 152
+f 136 152 153
+f 136 153 137
+f 138 154 139
+f 139 155 156
+f 139 156 140
+f 139 154 157
+f 139 157 158
+f 139 158 155
+f 141 159 160
+f 141 160 161
+f 141 161 162
+f 141 162 163
+f 141 163 142
+f 144 164 146
+f 144 146 145
+f 144 165 164
+f 146 164 147
+f 147 166 167
+f 147 167 168
+f 147 168 169
+f 147 169 148
+f 147 164 170
+f 147 170 171
+f 147 171 166
+f 149 172 150
+f 150 172 173
+f 150 173 174
+f 150 174 175
+f 150 175 176
+f 150 176 177
+f 150 177 151
+f 151 177 178
+f 151 178 179
+f 151 179 180
+f 151 180 153
+f 151 153 152
+f 155 158 181
+f 155 181 182
+f 155 182 156
+f 156 182 184
+f 156 184 183
+f 157 185 158
+f 158 185 181
+f 159 186 160
+f 160 186 184
+f 160 184 187
+f 160 187 188
+f 160 188 161
+f 161 188 189
+f 164 165 190
+f 164 190 170
+f 165 191 190
+f 166 171 175
+f 166 175 174
+f 166 174 173
+f 166 173 167
+f 167 173 172
+f 167 172 168
+f 170 192 171
+f 170 190 191
+f 170 191 193
+f 170 193 194
+f 170 194 195
+f 170 195 196
+f 170 196 197
+f 170 197 192
+f 171 192 175
+f 175 192 198
+f 175 198 176
+f 176 199 200
+f 176 200 178
+f 176 178 201
+f 176 201 177
+f 176 198 202
+f 176 202 199
+f 177 201 178
+f 181 185 202
+f 181 202 198
+f 181 198 182
+f 182 198 184
+f 183 184 186
+f 184 198 197
+f 184 197 203
+f 184 203 187
+f 185 199 202
+f 187 203 189
+f 187 189 188
+f 189 203 204
+f 192 197 198
+f 195 204 203
+f 195 203 196
+f 196 203 197
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/mjcf/mesh/bottle_opener_002_collision_9.obj

@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.02240762 0.00351495 -0.01602266
+v -0.02214910 0.00339892 -0.01602266
+v -0.02240762 0.00323564 -0.01652428
+v -0.02240762 -0.00358307 -0.01602268
+v -0.02194779 0.00306264 -0.01602266
+v -0.02138248 0.00151116 -0.01653544
+v -0.02240762 0.00298274 -0.01673744
+v -0.02240762 -0.00349831 -0.01622603
+v -0.02220550 -0.00349205 -0.01602268
+v -0.02138248 0.00209757 -0.01602266
+v -0.02138248 0.00132913 -0.01668873
+v -0.02240762 0.00234075 -0.01727848
+v -0.02240762 -0.00328292 -0.01652886
+v -0.02214659 -0.00344828 -0.01602268
+v -0.02138248 -0.00239289 -0.01602268
+v -0.02138248 0.00122699 -0.01673187
+v -0.02240762 0.00122700 -0.01774931
+v -0.02240762 0.00230531 -0.01729353
+v -0.02240762 -0.00127426 -0.01775084
+v -0.02138248 -0.00127427 -0.01673559
+v -0.02138248 -0.00107000 -0.01673542
+v -0.02240762 0.00087683 -0.01774999
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 18
+f 1 18 17
+f 1 17 22
+f 1 22 19
+f 1 19 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 11 12
+f 6 12 7
+f 6 10 15
+f 6 15 20
+f 6 20 21
+f 6 21 16
+f 6 16 11
+f 8 13 14
+f 8 14 9
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 20
+f 13 20 15
+f 13 15 14
+f 16 21 22
+f 16 22 17
+f 19 22 20
+f 20 22 21
+

dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/video.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:093c6081a3403101c863ca828084a07ffe231e680e0f35a6355b47383461d795
+size 205091