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@@ -154,3 +154,4 @@ new_bottle_of_shampoo/new_bottle_of_shampoo_3/visual/stjjjm__base_link__ior.exr
 new_bottle_of_shampoo/new_bottle_of_shampoo_2/visual/lvvkhx__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_bottle_of_cologne/new_bottle_of_cologne_0/visual/lyipur__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_gingerbread/new_gingerbread_0/visual/hxkcxs__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
+coffee_cup/coffee_cup_13/visual/model_normalized_1.obj filter=lfs diff=lfs merge=lfs -text

coffee_cup/coffee_cup_1/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="coffee_cup_32">
+  <asset>
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+    <texture type="2d" name="image0" file="visual/image0.png"/>
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+  <worldbody>
+    <body>
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coffee_cup/coffee_cup_10/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="coffee_cup_13">
+  <asset>
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coffee_cup/coffee_cup_11/model.xml

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coffee_cup/coffee_cup_12/model.xml

@@ -0,0 +1,89 @@
+<mujoco model="coffee_cup_7">
+  <asset>
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+    <material name="lambert2SG.002" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="lambert3SG.001" texture="image6" specular="0.5" shininess="0.25"/>
+    <material name="lambert4SG" texture="image3" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
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coffee_cup/coffee_cup_13/model.xml

@@ -0,0 +1,85 @@
+<mujoco model="coffee_cup_30">
+  <asset>
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+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.1 0.1 0.1" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image1" file="visual/image1.png"/>
+    <material name="Cover" texture="image0" specular="0.5" shininess="0.422500008"/>
+    <material name="Paper_cup" texture="image1" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Paper_cup"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Cover"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00027201199999999927 0.00027573449999999944 -0.04999891" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00027201199999999927 0.00027573449999999944 0.049993140000000005" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.036073680000000004 0.03661846800000001 -2.8849999999996937e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

coffee_cup/coffee_cup_13/visual/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 422.50000800
+map_Kd material_0.png

coffee_cup/coffee_cup_13/visual/model_normalized_1.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:54ee81acf9d7cbf196ea61d2aef948d2f9d8ff540eaaf8104729523aa31ab352
+size 17632640

coffee_cup/coffee_cup_14/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_1.obj

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+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_10.obj

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coffee_cup/coffee_cup_14/collision/model_normalized_collision_11.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_12.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_13.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_14.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_15.obj

@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.16333325 0.22808185 0.49999995
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_16.obj

@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_17.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_18.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_19.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_2.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_20.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_21.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_22.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
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+f 11 3 7
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+f 16 6 1
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+f 37 29 5
+f 37 5 11
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+f 38 33 18
+f 38 18 34
+f 38 34 25
+f 38 25 33

coffee_cup/coffee_cup_14/collision/model_normalized_collision_23.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.29200142 0.06012208 0.39515512
+v 0.26598993 0.04720279 0.00808997
+v 0.30367046 0.09396487 0.40003605
+v 0.21663038 0.18951617 0.26417649
+v 0.19477866 0.18401748 0.08333273
+v 0.27615884 0.10996315 0.39615990
+v 0.28467282 0.04755060 0.26526566
+v 0.20391859 0.19151841 0.18806412
+v 0.22360741 0.15522158 0.02514995
+v 0.29006219 0.06412998 0.39615990
+v 0.25071297 0.15931470 0.33957272
+v 0.26967887 0.04607384 0.03969076
+v 0.25511268 0.05216513 0.00596147
+v 0.27294695 0.04938028 0.17154966
+v 0.25225730 0.10271269 0.02487894
+v 0.21527153 0.17596652 0.08476258
+v 0.21609303 0.16148919 0.00888527
+v 0.23648181 0.15837395 0.13122664
+v 0.26778944 0.05737362 0.03998565
+v 0.21076571 0.15168311 0.00541084
+v 0.25480024 0.08833258 0.00942802
+v 0.23686705 0.12866375 0.00994096
+v 0.19606632 0.16992271 0.00740083
+v 0.25254850 0.11379549 0.07047931
+v 0.25227527 0.12880097 0.13112029
+f 7 3 1
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+f 23 20 13
+f 23 13 5
+f 24 22 18
+f 24 3 15
+f 24 15 22
+f 25 24 18
+f 25 18 3
+f 25 3 24

coffee_cup/coffee_cup_14/collision/model_normalized_collision_24.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.21000586 -0.20638776 0.31123299
+v -0.17597842 -0.21528608 0.06960895
+v -0.18652524 -0.21298589 0.21925195
+v -0.28777327 -0.07286397 0.34117942
+v -0.24082973 -0.15434663 0.13120782
+v -0.24308810 -0.09284505 0.00603480
+v -0.18375324 -0.22475971 0.17838055
+v -0.25099780 -0.15978156 0.34202743
+v -0.18266180 -0.19316875 0.05326415
+v -0.27588009 -0.08440774 0.16076220
+v -0.22698054 -0.15130138 0.01006464
+v -0.20186064 -0.20989932 0.17838055
+v -0.24704016 -0.16645741 0.34055713
+v -0.27972541 -0.07042268 0.26636725
+v -0.27536171 -0.11434734 0.34264636
+v -0.25684712 -0.08782647 0.00792007
+v -0.19431229 -0.19079139 0.00828313
+v -0.21242884 -0.19594175 0.16157453
+v -0.26073214 -0.14173451 0.34271793
+v -0.27172398 -0.09829850 0.16125152
+v -0.25991096 -0.08415972 0.02449481
+v -0.19709583 -0.19579280 0.05554039
+v -0.21503311 -0.14719043 0.00535328
+v -0.25678441 -0.12447290 0.13110520
+v -0.18224604 -0.20777167 0.05334427
+v -0.25705767 -0.10946743 0.07046423
+v -0.25575486 -0.09805049 0.02498415
+v -0.24137623 -0.12433570 0.00992587
+f 1 3 4
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+f 12 7 1
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+f 13 12 1
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+f 27 20 10
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+f 28 16 11
+f 28 26 27
+f 28 11 5
+f 28 5 26

coffee_cup/coffee_cup_14/collision/model_normalized_collision_25.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.17190282 -0.27124059 0.40479662
+v 0.16753751 -0.19851057 0.00706679
+v 0.17454946 -0.27619207 0.37165262
+v 0.18503385 -0.23167078 0.39615997
+v 0.05780176 -0.28367655 0.26538726
+v 0.17977140 -0.22525848 0.26512516
+v 0.10182549 -0.27895978 0.39616004
+v 0.06215950 -0.25258757 0.00619502
+v 0.17254267 -0.20460937 0.08199360
+v 0.09847759 -0.25277176 0.00966685
+v 0.15841694 -0.20585929 0.00606576
+v 0.05411722 -0.27153026 0.05469671
+v 0.15183056 -0.22482618 0.00982079
+v 0.05680528 -0.26524010 0.00819881
+f 1 3 4
+f 6 4 3
+f 7 1 4
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+f 7 5 3
+f 7 3 1
+f 8 5 4
+f 8 4 2
+f 9 6 3
+f 9 3 2
+f 9 2 4
+f 9 4 6
+f 11 10 8
+f 11 8 2
+f 12 3 5
+f 12 5 8
+f 13 11 2
+f 13 2 3
+f 13 3 10
+f 13 10 11
+f 14 10 3
+f 14 3 12
+f 14 12 8
+f 14 8 10

coffee_cup/coffee_cup_14/collision/model_normalized_collision_26.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.09376090 0.20860827 -0.28146231
+v 0.07389982 0.18512742 -0.50000000
+v 0.01123317 0.21197683 -0.42991521
+v -0.03217890 0.22622216 -0.27994987
+v -0.06280165 0.18401375 -0.41430088
+v 0.07824740 0.21461093 -0.28205058
+v 0.07356199 0.18401375 -0.41430088
+v -0.05732885 0.19627551 -0.50000000
+v 0.05274283 0.21078463 -0.38424972
+v 0.08381674 0.21332585 -0.27847663
+v 0.08993916 0.20145830 -0.35634211
+v 0.05331374 0.19751519 -0.50000000
+v -0.06404017 0.18809661 -0.50000000
+v -0.00057433 0.21300737 -0.43002733
+v 0.08480617 0.20437910 -0.35489906
+v 0.07139738 0.19202955 -0.50000000
+v -0.06555321 0.20823590 -0.37223839
+v -0.04240206 0.21216778 -0.39955773
+v -0.03363973 0.22590273 -0.28156351
+v -0.03074853 0.21169936 -0.41473351
+v -0.04334343 0.21527104 -0.36960581
+f 5 1 4
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+f 20 14 8
+f 20 8 18
+f 20 19 14
+f 20 18 19
+f 21 19 18
+f 21 18 17
+f 21 17 19

coffee_cup/coffee_cup_14/collision/model_normalized_collision_27.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.27114506 0.12138843 0.34139064
+v -0.09240430 0.27261402 0.26542275
+v -0.26372809 0.11742400 0.26657848
+v -0.09068925 0.28211179 0.34184449
+v -0.20039056 0.21249913 0.29792230
+v -0.08873621 0.27567349 0.28199476
+v -0.17065716 0.24349627 0.34327591
+v -0.15907879 0.24146778 0.26748461
+v -0.24155301 0.15912435 0.26747373
+v -0.24352142 0.17067780 0.34327224
+v -0.16959011 0.24219607 0.32831347
+v -0.11512252 0.27457385 0.34288489
+v -0.25670025 0.12986476 0.26361169
+v -0.21252435 0.20041128 0.29791863
+v -0.25870428 0.14504172 0.34297641
+v -0.14341044 0.25565232 0.31306241
+v -0.10262691 0.27151714 0.28248302
+v -0.09656065 0.27116412 0.26381318
+v -0.24222122 0.16961075 0.32830980
+v -0.09900196 0.27921198 0.33862535
+v -0.12920513 0.25742254 0.26738222
+v -0.11432963 0.27309046 0.32792246
+f 1 3 4
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+f 21 18 8
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+f 22 17 21
+f 22 20 17
+f 22 12 20
+f 22 21 16
+f 22 16 12

coffee_cup/coffee_cup_14/collision/model_normalized_collision_28.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08803604 -0.20865819 -0.31045046
+v 0.17743978 -0.10269830 -0.49999990
+v 0.18339396 -0.12103238 -0.37167511
+v 0.13416805 -0.10386504 -0.41430081
+v 0.08466082 -0.18719210 -0.49999985
+v 0.18676000 -0.10768004 -0.40239138
+v 0.14246129 -0.17457641 -0.31202143
+v 0.08871350 -0.13416808 -0.41430081
+v 0.12777308 -0.18698185 -0.30951465
+v 0.12211964 -0.16494161 -0.49999985
+v 0.08192128 -0.19721829 -0.43025815
+v 0.09448771 -0.17527391 -0.49999985
+v 0.11168331 -0.19620614 -0.30892177
+v 0.14860872 -0.14884723 -0.45969902
+v 0.10873720 -0.17554286 -0.49006322
+v 0.16303665 -0.11512235 -0.49999989
+v 0.16491601 -0.12209868 -0.49999988
+v 0.16839615 -0.14010629 -0.36963972
+v 0.12057263 -0.17820811 -0.41434638
+v 0.09644544 -0.18089309 -0.49999985
+v 0.17688166 -0.12920165 -0.37295037
+f 6 3 2
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+f 21 17 3
+f 21 3 18
+f 21 18 14
+f 21 14 17

coffee_cup/coffee_cup_14/collision/model_normalized_collision_29.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.18036950 -0.11001577 0.49999995
+v -0.15371201 -0.10426883 0.46844268
+v -0.15370722 0.04855623 0.47818509
+v -0.27492286 0.04765011 0.49999995
+v -0.27656910 -0.05890988 0.49286644
+v -0.20539619 0.04954025 0.49999995
+v -0.22946832 -0.10386504 0.49999995
+v -0.20547405 0.04395818 0.47788154
+v -0.27828803 0.04798155 0.49329340
+v -0.18647452 -0.09749779 0.46886923
+v -0.27481440 -0.05837759 0.49999995
+v -0.19863267 -0.06933890 0.47066326
+f 1 2 3
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+f 6 4 1
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+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 10 7 5
+f 10 2 7
+f 10 8 2
+f 11 7 4
+f 11 5 7
+f 11 9 5
+f 11 4 9
+f 12 9 8
+f 12 8 10
+f 12 10 5
+f 12 5 9

coffee_cup/coffee_cup_14/collision/model_normalized_collision_3.obj

@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.07571227 -0.27829598 0.26601933
+v -0.04650645 -0.20615545 -0.44654313
+v -0.18401377 -0.05841049 -0.41430084
+v -0.25684712 -0.08782647 0.00792007
+v -0.17632304 -0.23085752 0.17838055
+v -0.04708124 -0.27990722 0.22034943
+v -0.10396846 -0.27154847 0.17838062
+v -0.19172862 -0.20417472 0.18802688
+v -0.15311247 -0.13639411 -0.49999986
+v -0.24308810 -0.09284505 0.00603480
+v -0.04765013 -0.17962262 -0.41430076
+v -0.12836736 -0.20600954 -0.24756399
+v -0.09375931 -0.27268974 0.26489802
+v -0.05813528 -0.28545182 0.17838062
+v -0.24759627 -0.11250886 0.00913122
+v -0.19231438 -0.07148381 -0.49999993
+v -0.04328771 -0.21069621 -0.41503958
+v -0.16196182 -0.24247040 0.17838055
+v -0.05731609 -0.23729678 -0.23271929
+v -0.09984492 -0.17903777 -0.49999985
+v -0.17033343 -0.17810458 -0.21726727
+v -0.08960296 -0.27413964 0.26650759
+v -0.04625895 -0.28670995 0.17838062
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+v -0.12471476 -0.16275312 -0.49999985
+v -0.08806031 -0.18533679 -0.49999985
+v -0.21407192 -0.16698712 0.00981990
+v -0.13959202 -0.20776314 -0.18687599
+v -0.04606603 -0.28475120 0.16091180
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+v -0.22958585 -0.08415304 -0.23307835
+v -0.19957988 -0.13722533 -0.25717833
+v -0.11377351 -0.25250739 0.05533305
+v -0.09928831 -0.22345095 -0.23270503
+v -0.04895825 -0.19908643 -0.44745107
+v -0.18240656 -0.08080155 -0.49999992
+v -0.18495961 -0.19261600 -0.03535577
+v -0.15864777 -0.23628203 0.11607670
+v -0.24555499 -0.08440105 -0.09681098
+v -0.18172675 -0.09454395 -0.49999991
+v -0.18210283 -0.16561987 -0.21720999
+v -0.22569479 -0.13920397 -0.05061248
+v -0.12877896 -0.25223413 0.11597402
+v -0.09788720 -0.17341857 -0.49999985
+v -0.16746842 -0.12058966 -0.49010691
+v -0.21028659 -0.13906677 -0.17179181
+v -0.21228724 -0.15037101 -0.09598058
+v -0.21055983 -0.12406130 -0.23243279
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+f 42 31 12
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+f 52 36 50
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+f 52 46 25

coffee_cup/coffee_cup_14/collision/model_normalized_collision_30.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.08967600 -0.19657483 -0.40173621
+v 0.20212750 -0.07579262 -0.40234712
+v -0.17373575 0.12740726 -0.40219774
+v -0.06280165 0.18401375 -0.41430088
+v 0.08891166 -0.19514484 -0.41671218
+v 0.12477068 0.17587365 -0.40249719
+v 0.18676000 -0.10768004 -0.40239138
+v -0.17613020 -0.12498118 -0.40253312
+v -0.14385504 0.16016368 -0.40241897
+v 0.16338293 0.13766618 -0.41651426
+v 0.16463633 0.13869482 -0.40153829
+v 0.19490158 -0.07360067 -0.41668089
+v -0.04765013 -0.19477413 -0.41430076
+v -0.13890538 -0.16489290 -0.40157423
+v -0.17029353 -0.12019117 -0.41686445
+v -0.13906481 0.15432678 -0.41675180
+v 0.11998059 0.17003693 -0.41682900
+v 0.19477412 0.03249860 -0.41430084
+v 0.18010063 -0.10412055 -0.41672456
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+v -0.18401377 -0.07356201 -0.41430084
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_31.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
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+v 0.18226275 -0.10527873 0.47728432
+v -0.09068008 -0.19023802 0.47719211
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+v 0.17962265 -0.10426750 0.46843790
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+f 13 6 5

coffee_cup/coffee_cup_14/collision/model_normalized_collision_4.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
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+v 0.09448771 -0.17527391 -0.49999985
+v 0.13153654 -0.20500243 -0.23421951
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_5.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
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+v 0.31978920 -0.07011950 0.37200609
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_6.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
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+v 0.13951233 -0.21992407 0.00637333
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_7.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.27266927 -0.09262608 0.26363637
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_8.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.09961014 -0.30195985 0.41138017
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+v 0.16711013 -0.22498224 0.49999995
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coffee_cup/coffee_cup_14/collision/model_normalized_collision_9.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.07693511 0.28604247 0.33960285
+v 0.06019773 0.22020855 -0.28096963
+v -0.00095226 0.28865236 0.16096734
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coffee_cup/coffee_cup_14/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="coffee_cup_18">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10500000000000002 0.10500000000000002 0.10500000000000002" refquat="1.0000000000000009 2.0816681711721695e-16 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10500000000000002 0.10500000000000002 0.10500000000000002" refquat="1.0000000000000009 2.0816681711721695e-16 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10500000000000002 0.10500000000000002 0.10500000000000002" refquat="1.0000000000000009 2.0816681711721695e-16 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10500000000000002 0.10500000000000002 0.10500000000000002" refquat="1.0000000000000009 2.0816681711721695e-16 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10500000000000002 0.10500000000000002 0.10500000000000002" refquat="1.0000000000000009 2.0816681711721695e-16 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10500000000000002 0.10500000000000002 0.10500000000000002" refquat="1.0000000000000009 2.0816681711721695e-16 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10500000000000002 0.10500000000000002 0.10500000000000002" refquat="1.0000000000000009 2.0816681711721695e-16 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10500000000000002 0.10500000000000002 0.10500000000000002" refquat="1.0000000000000009 2.0816681711721695e-16 0.0 0.0"/>
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+      <site rgba="0 0 0 0" size="0.005" pos="-1.9430774999998904e-05 0.00019587329999999853 -0.05250000000000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.9430774999998904e-05 0.00019587329999999853 0.05249999790000001" name="top_site"/>
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coffee_cup/coffee_cup_14/visual/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.jpeg

coffee_cup/coffee_cup_15/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="coffee_cup_22">
+  <asset>
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+    <material name="lambert2SG.001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
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coffee_cup/coffee_cup_16/model.xml

@@ -0,0 +1,117 @@
+<mujoco model="coffee_cup_24">
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+  </worldbody>
+</mujoco>

coffee_cup/coffee_cup_17/model.xml

@@ -0,0 +1,87 @@
+<mujoco model="coffee_cup_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
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+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="m_blacktop" texture="image0" specular="0.5" shininess="0.308031459"/>
+    <material name="m_cup" texture="image0" specular="0.5" shininess="0.20398128299999999"/>
+    <material name="m_heatguard" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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