ur5-robotic-grasping/objects/ycb_objects/YcbPowerDrill/collision_vhacd.obj

# Blender v2.82 (sub 6) OBJ File: ''
# www.blender.org
mtllib collision_vhacd.mtl
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f 77/79/148 81/81/150 85/85/155
f 80/78/147 83/83/153 86/86/156
f 75/75/151 77/79/148 73/73/157
f 81/81/150 76/80/149 87/87/158
f 78/76/145 80/78/147 88/88/159
f 87/87/160 78/76/160 88/88/160
f 83/83/153 79/77/146 74/74/161
f 76/80/162 84/84/162 89/89/162
f 82/82/152 78/76/145 89/89/163
f 87/87/158 88/88/164 81/81/150
f 75/75/151 79/77/165 84/84/154
f 84/84/166 79/77/146 82/82/152
f 81/81/150 80/78/167 85/85/155
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f 85/85/174 86/86/174 77/79/174
f 77/79/175 83/83/175 73/73/175
f 83/83/176 74/74/176 73/73/176
f 74/74/177 79/77/165 75/75/151
o textured_simple_reoriented.004_hull_5_textured_simple_reoriente
v -0.005844 -0.008743 0.120905
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v -0.054881 -0.013445 0.132324
vt 0.532791 0.284359
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vt 0.137325 0.009288
vt 0.999195 0.851131
vt 0.333620 0.638416
vt 0.939906 0.747235
vt 0.550240 0.908969
vt 0.846705 1.000000
vt 0.875265 0.998669
vt 0.141349 0.166163
vt 0.934223 0.892132
vt 0.036518 0.098090
vt 0.030415 0.302985
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vn 0.4515 -0.8413 -0.2973
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vn 0.0809 -0.3559 -0.9310
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vn -0.4329 -0.8108 -0.3941
vn 0.1548 -0.2086 0.9657
vn 0.8267 -0.5574 -0.0762
vn 0.4460 -0.8886 0.1072
usemtl None.004
s 1
f 90/90/178 91/91/178 92/92/178
f 95/93/179 96/94/180 94/95/181
f 97/96/182 98/97/183 90/90/184
f 100/98/185 95/93/185 99/99/185
f 94/95/186 93/100/186 99/99/186
f 95/93/179 94/95/181 99/99/187
f 99/99/188 93/100/188 100/98/188
f 97/96/182 90/90/184 101/101/189
f 98/97/183 97/96/182 102/102/190
f 93/100/191 94/95/191 102/102/191
f 91/91/192 90/90/192 98/97/192
f 102/102/193 94/95/193 98/97/193
f 104/103/194 103/104/194 105/105/194
f 103/104/195 101/101/195 105/105/195
f 103/104/196 95/93/196 100/98/196
f 97/96/197 103/104/197 100/98/197
f 96/94/180 95/93/179 106/106/198
f 95/93/199 103/104/199 106/106/199
f 103/104/200 104/103/200 106/106/200
f 101/101/189 103/104/201 97/96/182
f 100/98/202 93/100/202 97/96/202
f 93/100/203 102/102/190 97/96/182
f 104/103/204 105/105/204 96/94/204
f 106/106/198 104/103/205 96/94/180
f 101/101/206 90/90/206 92/92/206
f 105/105/207 101/101/207 92/92/207
f 96/94/208 105/105/208 92/92/208
f 96/94/180 91/91/209 94/95/181
f 91/91/210 98/97/210 94/95/210
f 91/91/211 96/94/211 92/92/211
o textured_simple_reoriented.004_hull_6_textured_simple_reoriente
v -0.068317 -0.014796 0.152487
v -0.065538 -0.013496 0.141982
v 0.004363 -0.013075 0.147921
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v -0.064953 -0.012780 0.170610
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v -0.023481 -0.013152 0.178421
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v -0.041580 -0.041862 0.152928
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v -0.060251 -0.030917 0.146434
v -0.051520 -0.038979 0.147778
v -0.040244 -0.039044 0.145238
vt 0.996916 0.356414
vt 0.185262 0.000000
vt 0.046371 0.814124
vt 0.740854 0.000085
vt 0.416798 0.000000
vt 0.619665 0.963367
vt 0.969927 0.740489
vt 0.193517 0.115983
vt 0.139001 0.914260
vt 0.194539 0.971335
vt 0.400334 0.802018
vt 0.314890 0.971335
vt 0.204525 0.706903
vt 0.366913 0.444733
vt 0.048290 0.209942
vt 0.000000 0.428742
vt 0.027817 0.685685
vt 0.111185 0.300026
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vt 0.386748 0.276641
vn 0.0040 1.0000 0.0089
vn -0.0179 0.9998 -0.0030
vn -0.0049 1.0000 -0.0039
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vn 0.0124 0.9998 -0.0180
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vn -0.0137 -0.0081 0.9999
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vn -0.0258 -0.9635 0.2663
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vn -0.8998 -0.4341 -0.0429
vn -0.8227 -0.5653 0.0606
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vn -0.4851 -0.8743 -0.0138
vn -0.6737 -0.7375 -0.0473
vn -0.5126 -0.8584 -0.0182
vn -0.2873 -0.9576 0.0185
vn -0.0856 -0.9306 -0.3558
vn 0.3513 -0.4975 0.7932
vn 0.2933 -0.4720 0.8314
vn 0.5307 -0.8476 -0.0039
vn 0.4509 -0.7200 -0.5275
vn 0.5007 -0.8373 -0.2198
vn -0.0724 -0.7586 -0.6475
vn -0.5957 -0.7083 -0.3788
vn -0.1355 -0.8028 -0.5806
vn -0.8965 -0.3436 -0.2797
vn -0.6499 -0.2148 -0.7290
vn -0.7871 -0.3658 -0.4967
usemtl None.004
s 1
f 109/107/212 110/108/213 111/109/214
f 110/108/213 109/107/212 113/110/215
f 112/111/216 110/108/217 113/110/218
f 109/107/212 111/109/214 114/112/219
f 115/113/220 109/107/220 114/112/220
f 110/108/217 112/111/216 116/114/221
f 112/111/222 113/110/222 109/107/222
f 111/109/223 117/115/223 118/116/223
f 114/112/219 111/109/214 118/116/224
f 117/115/225 119/117/225 120/118/225
f 114/112/226 118/116/226 120/118/226
f 118/116/227 117/115/227 120/118/227
f 119/117/228 117/115/228 121/119/228
f 122/120/229 119/117/229 121/119/229
f 122/120/230 115/113/230 119/117/230
f 111/109/214 110/108/213 108/121/231
f 107/122/232 111/109/232 108/121/232
f 117/115/233 111/109/233 123/123/233
f 111/109/234 107/122/234 123/123/234
f 107/122/235 124/124/235 123/123/235
f 124/124/236 121/119/236 123/123/236
f 121/119/237 117/115/237 123/123/237
f 121/119/238 124/124/239 125/125/240
f 122/120/241 121/119/238 125/125/240
f 126/126/242 122/120/242 125/125/242
f 115/113/243 114/112/243 119/117/243
f 114/112/244 120/118/244 119/117/244
f 115/113/245 122/120/245 109/107/245
f 112/111/246 109/107/246 126/126/246
f 109/107/247 122/120/247 126/126/247
f 112/111/248 126/126/248 116/114/248
f 125/125/249 124/124/249 116/114/249
f 126/126/250 125/125/250 116/114/250
f 124/124/251 107/122/251 108/121/251
f 110/108/252 116/114/252 108/121/252
f 116/114/253 124/124/253 108/121/253
o textured_simple_reoriented.004_hull_7_textured_simple_reoriente
v 0.025734 0.001328 0.176662
v 0.006123 -0.012541 0.175594
v 0.047207 0.012862 0.160867
v -0.032709 0.013420 0.171957
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v -0.025991 0.013420 0.132330
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v 0.044147 0.013018 0.145025
v -0.063808 -0.001644 0.150724
v -0.068303 -0.012778 0.161208
v -0.063608 -0.003373 0.165242
v -0.058144 -0.012159 0.176653
vt 0.828440 0.891920
vt 0.657632 0.859078
vt 0.990617 0.625171
vt 0.313573 0.797260
vt 0.775167 0.000000
vt 0.121518 0.000000
vt 0.372757 0.000000
vt 0.562009 0.990708
vt 0.869810 0.918840
vt 0.041362 0.175720
vt 0.485231 0.000000
vt 0.218549 0.508621
vt 0.226497 0.945960
vt 0.828440 0.081060
vt 0.656931 0.130198
vt 0.978169 0.279744
vt 0.041881 0.372372
vt 0.000000 0.580999
vt 0.041362 0.662160
vt 0.095650 0.889614
vn 0.5622 -0.8085 0.1740
vn -0.1764 0.8772 0.4465
vn 0.0092 0.9999 0.0051
vn 0.0070 0.9999 0.0081
vn -0.0005 -0.0002 -1.0000
vn -0.4020 0.4965 -0.7693
vn -0.0973 0.1186 -0.9882
vn -0.0108 0.9999 -0.0018
vn -0.0544 0.9892 0.1364
vn 0.0279 0.9990 0.0341
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vn -0.0426 -0.9685 -0.2453
vn 0.0061 -0.9999 -0.0160
vn -0.0010 0.0012 -1.0000
vn -0.0519 0.9986 -0.0088
vn -0.1428 -0.6954 0.7043
vn 0.0103 -0.9999 0.0009
vn 0.1883 -0.2366 -0.9532
vn 0.2776 -0.5096 -0.8144
vn 0.5787 -0.8017 -0.1495
vn 0.5491 -0.8279 -0.1142
vn 0.5567 -0.8215 -0.1238
vn 0.5786 -0.8014 -0.1518
vn 0.6699 -0.3521 0.6536
vn -0.9586 0.1766 -0.2234
vn -0.9035 0.4240 0.0629
vn -0.8248 0.1822 0.5352
vn -0.0105 -0.9999 0.0119
vn -0.0980 -0.9556 0.2780
vn -0.6083 0.7871 0.1021
vn -0.5047 0.7848 0.3597
vn -0.4618 0.5821 0.6693
vn -0.3098 0.4608 0.8317
vn -0.4816 0.8148 -0.3227
vn -0.7227 0.4455 -0.5284
vn -0.5258 0.6498 -0.5489
vn 0.0126 0.9999 0.0074
vn 0.4586 -0.0697 -0.8859
vn -0.1905 0.1757 0.9658
vn 0.1321 -0.1688 0.9768
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vn 0.1067 -0.2255 0.9684
vn 0.0226 -0.9997 -0.0046
vn 0.5261 -0.8504 0.0010
usemtl None.004
s 1
f 127/127/254 128/128/254 129/129/254
f 130/130/255 129/129/256 131/131/257
f 131/131/258 132/132/259 133/133/260
f 130/130/255 131/131/257 133/133/261
f 129/129/256 130/130/255 134/134/262
f 129/129/263 134/134/263 135/135/263
f 136/136/264 132/132/265 137/137/266
f 132/132/259 131/131/258 137/137/267
f 130/130/255 133/133/261 138/138/268
f 136/136/264 137/137/266 139/139/269
f 137/137/266 128/128/270 139/139/269
f 137/137/271 131/131/271 140/140/271
f 141/141/272 137/137/272 140/140/272
f 140/140/273 142/142/274 129/129/275
f 141/141/276 140/140/273 129/129/275
f 129/129/277 135/135/277 127/127/277
f 143/143/278 136/136/278 144/144/278
f 145/145/279 143/143/279 144/144/279
f 146/146/280 145/145/280 144/144/280
f 136/136/264 139/139/269 144/144/281
f 139/139/269 146/146/282 144/144/281
f 143/143/283 145/145/283 138/138/283
f 145/145/284 130/130/284 138/138/284
f 130/130/285 145/145/285 146/146/285
f 134/134/262 130/130/255 146/146/286
f 138/138/287 133/133/287 143/143/287
f 132/132/288 136/136/288 143/143/288
f 133/133/260 132/132/259 143/143/289
f 131/131/257 129/129/256 142/142/290
f 140/140/291 131/131/291 142/142/291
f 134/134/292 146/146/282 139/139/269
f 127/127/293 135/135/293 134/134/293
f 139/139/294 128/128/294 134/134/294
f 128/128/295 127/127/295 134/134/295
f 128/128/270 137/137/266 141/141/296
f 129/129/297 128/128/297 141/141/297
o textured_simple_reoriented.004_hull_8_textured_simple_reoriente
v 0.030825 0.042770 0.132100
v -0.000094 0.042833 0.138273
v 0.071162 0.042918 0.173862
v 0.068050 0.042980 0.139049
v 0.030427 0.042980 0.182034
v 0.080809 0.042306 0.152481
v 0.046554 0.013420 0.150466
v 0.056636 0.021487 0.165235
v -0.025312 0.013423 0.132325
v 0.022410 0.013514 0.132311
v 0.019602 0.027338 0.184448
v 0.033601 0.013124 0.177626
v 0.048566 0.036932 0.181360
v -0.037404 0.013423 0.146435
v -0.019277 0.029543 0.137707
v -0.037404 0.018125 0.159194
v -0.014055 0.013397 0.180816
v -0.019277 0.027529 0.178004
v -0.001961 0.041110 0.176642
v -0.037404 0.013423 0.167255
v 0.040306 0.014656 0.139341
v 0.047899 0.035587 0.133003
v 0.080809 0.042306 0.161883
vt 0.316719 0.117332
vt 0.915468 0.794203
vt 0.892068 0.129998
vt 0.573803 0.961043
vt 0.577926 0.000097
vt 1.000000 0.389684
vt 0.710226 0.350727
vt 0.795513 0.636262
vt 0.102290 0.000000
vt 0.501463 0.000097
vt 0.490969 0.994791
vt 0.596989 0.860094
vt 0.727247 0.948013
vt 0.000000 0.272794
vt 0.153342 0.104052
vt 0.000000 0.519469
vt 0.200472 0.919741
vt 0.296632 0.846589
vt 0.153342 0.883130
vt 0.000000 0.675315
vt 0.653585 0.123861
vt 0.721604 0.013108
vt 1.000000 0.571456
vn -0.0009 1.0000 -0.0045
vn -0.0010 1.0000 -0.0003
vn -0.0022 1.0000 -0.0001
vn 0.0007 1.0000 -0.0039
vn -0.0019 0.9998 -0.0198
vn 0.0561 0.9984 -0.0032
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vn 0.1892 -0.2671 0.9449
vn 0.0714 0.1037 0.9920
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vn -0.7074 0.6632 -0.2444
vn -0.5681 0.8218 -0.0426
vn 0.1654 -0.9836 0.0714
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vn -1.0000 0.0000 0.0000
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vn 0.1342 -0.9738 -0.1835
vn -0.1732 0.2662 0.9482
vn -0.1550 0.2923 0.9437
vn -0.1614 0.1349 0.9776
vn 0.3938 -0.3943 -0.8303
vn 0.3674 -0.3889 -0.8448
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vn 0.1738 0.2948 -0.9396
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vn 0.0444 -0.0200 -0.9988
vn 0.0633 0.9980 0.0000
vn 0.6526 -0.7577 0.0000
vn 0.5996 -0.6134 0.5141
vn -0.2424 0.3877 -0.8894
vn -0.1832 0.3434 -0.9212
usemtl None.004
s 1
f 148/147/298 149/148/299 150/149/300
f 149/148/299 148/147/298 151/150/301
f 148/147/298 150/149/300 147/151/302
f 150/149/303 149/148/303 152/152/303
f 153/153/304 152/152/304 154/154/304
f 155/155/305 147/151/306 156/156/307
f 157/157/308 158/158/308 159/159/308
f 151/150/309 157/157/309 159/159/309
f 155/155/310 160/160/310 161/161/310
f 160/160/311 162/162/311 161/161/311
f 162/162/312 148/147/312 161/161/312
f 153/153/313 158/158/314 163/163/315
f 158/158/316 157/157/316 163/163/316
f 151/150/317 148/147/317 165/164/317
f 148/147/318 162/162/318 165/164/318
f 162/162/319 164/165/319 165/164/319
f 162/162/320 160/160/320 166/166/320
f 164/165/321 162/162/321 166/166/321
f 163/163/315 164/165/322 166/166/323
f 160/160/324 163/163/315 166/166/323
f 153/153/313 154/154/325 158/158/314
f 159/159/326 158/158/326 149/148/326
f 151/150/327 159/159/327 149/148/327
f 158/158/328 154/154/328 149/148/328
f 150/149/329 152/152/329 167/167/329
f 152/152/330 153/153/330 167/167/330
f 160/160/324 155/155/305 156/156/307
f 167/167/331 153/153/331 156/156/331
f 163/163/315 160/160/324 156/156/307
f 153/153/313 163/163/315 156/156/307
f 151/150/332 165/164/332 157/157/332
f 165/164/333 164/165/333 157/157/333
f 164/165/334 163/163/334 157/157/334
f 150/149/335 167/167/336 168/168/337
f 147/151/338 150/149/338 168/168/338
f 167/167/336 156/156/339 168/168/337
f 156/156/340 147/151/340 168/168/340
f 152/152/341 149/148/341 169/169/341
f 154/154/342 152/152/342 169/169/342
f 149/148/343 154/154/343 169/169/343
f 155/155/344 161/161/344 148/147/344
f 147/151/306 155/155/305 148/147/345
o textured_simple_reoriented.004_hull_9_textured_simple_reoriente
v 0.077979 0.066228 0.137201
v 0.070978 0.076742 0.141843
v 0.090900 0.075895 0.164566
v 0.068729 0.078584 0.169942
v 0.080195 0.063130 0.178169
v 0.077160 0.042827 0.171471
v 0.030380 0.043443 0.132251
v 0.068729 0.042980 0.139044
v 0.029111 0.043464 0.182228
v 0.008272 0.043655 0.139721
v 0.010293 0.042984 0.175986
v 0.084854 0.057092 0.140392
v 0.088208 0.077242 0.148450
v 0.096624 0.064204 0.158119
v 0.088878 0.048358 0.151812
v 0.088208 0.051714 0.169271
v 0.082162 0.081944 0.159865
v 0.067138 0.082270 0.158781
v 0.005403 0.047473 0.167861
v 0.005308 0.047969 0.147596
vt 0.947742 0.648595
vt 0.701439 0.756744
vt 0.827469 0.895173
vt 0.772252 0.743699
vt 0.312919 -0.001638
vt 0.701439 0.135167
vt 0.052258 0.878332
vt 0.029806 0.148786
vt 0.880575 0.162284
vt 0.803779 0.104276
vt 0.917836 0.324388
vt 0.994811 0.520361
vt 0.925279 0.392022
vt 0.917836 0.743246
vt 0.284743 1.003790
vt 0.850669 0.554024
vt 0.726529 0.205704
vt 0.684038 0.533178
vt 0.012482 0.753222
vt 0.002949 0.297982
vn 0.2568 0.5957 0.7611
vn -0.0061 -1.0000 0.0003
vn -0.0056 -0.9999 -0.0090
vn -0.0118 -0.9999 -0.0016
vn -0.0155 -0.9997 -0.0176
vn 0.6190 0.2006 -0.7593
vn 0.8111 0.0957 -0.5770
vn 0.3064 -0.9482 -0.0841
vn 0.5444 -0.5626 -0.6221
vn 0.6380 -0.7513 0.1689
vn 0.8508 -0.2274 -0.4737
vn 0.8709 -0.4754 0.1248
vn -0.0017 -1.0000 0.0097
vn 0.0024 -0.9976 0.0696
vn 0.2017 -0.3339 0.9208
vn 0.2343 0.7846 0.5740
vn 0.0424 0.9526 -0.3013
vn 0.1005 0.9376 -0.3330
vn 0.5793 0.8146 -0.0287
vn -0.2707 0.5753 0.7718
vn -0.0883 0.4162 0.9050
vn -0.3658 0.7038 0.6090
vn -0.6989 -0.7147 0.0257
vn -0.8322 -0.5544 -0.0096
vn -0.2628 0.5490 -0.7934
vn -0.4003 0.8405 -0.3651
vn -0.3751 0.7462 -0.5500
vn 0.8691 0.4833 -0.1048
vn 0.4391 -0.3400 0.8316
vn 0.7724 0.0283 0.6345
vn 0.7714 0.0468 0.6346
vn -0.4239 0.8403 0.3379
vn -0.0020 0.9495 0.3139
vn -0.4882 0.8724 0.0236
vn 0.1709 -0.1452 -0.9745
vn 0.2253 -0.1657 -0.9601
vn 0.2875 0.5405 -0.7907
vn -0.0757 0.3601 -0.9298
usemtl None.004
s 1
f 172/170/346 173/171/346 174/172/346
f 175/173/347 176/174/348 177/175/349
f 176/174/350 180/176/350 179/177/350
f 181/178/351 170/179/351 182/180/351
f 183/181/352 181/178/352 182/180/352
f 175/173/353 177/175/353 184/182/353
f 177/175/354 181/178/354 184/182/354
f 185/183/355 175/173/355 184/182/355
f 181/178/356 183/181/356 184/182/356
f 183/181/357 185/183/357 184/182/357
f 180/176/358 176/174/348 175/173/347
f 178/184/359 180/176/358 175/173/347
f 174/172/360 178/184/360 175/173/360
f 173/171/361 172/170/361 186/185/361
f 171/186/362 187/187/362 186/185/362
f 182/180/363 171/186/363 186/185/363
f 172/170/364 182/180/364 186/185/364
f 173/171/365 180/176/365 178/184/365
f 174/172/366 173/171/366 178/184/366
f 180/176/367 173/171/367 188/188/367
f 179/177/368 180/176/368 188/188/368
f 189/189/369 179/177/369 188/188/369
f 179/177/370 171/186/370 176/174/370
f 187/187/371 171/186/371 189/189/371
f 171/186/372 179/177/372 189/189/372
f 182/180/373 172/170/373 183/181/373
f 175/173/374 185/183/374 174/172/374
f 183/181/375 172/170/375 174/172/375
f 185/183/376 183/181/376 174/172/376
f 188/188/377 173/171/377 187/187/377
f 173/171/378 186/185/378 187/187/378
f 189/189/379 188/188/379 187/187/379
f 177/175/380 176/174/380 170/179/380
f 181/178/381 177/175/381 170/179/381
f 182/180/382 170/179/382 171/186/382
f 170/179/383 176/174/383 171/186/383