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cake/cake_0/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
+v 0.15262595 0.34469561 0.24247465
+v 0.14393940 0.34433195 0.15129910
+v 0.14402568 0.47763922 0.15116851
+v -0.41537507 0.47962427 0.22658021
+v -0.36914805 0.35478553 0.24633635
+v -0.42176813 0.47944670 0.15068910
+v 0.14410133 0.47324990 0.22629816
+v 0.00757577 0.34433195 0.15129910
+v -0.08443171 0.48073076 0.15114177
+v -0.41691423 0.41101771 0.24931679
+v -0.35606059 0.35948346 0.15129910
+v -0.34772069 0.48165681 0.25006963
+v -0.23227732 0.35344207 0.25919313
+v -0.41530553 0.48001008 0.15146186
+v -0.09967017 0.47949910 0.22589201
+v -0.36853677 0.47160650 0.25877238
+v -0.37107001 0.35864855 0.25639587
+v -0.36943522 0.47732989 0.25127733
+v -0.01987809 0.44025762 0.25714186
+v 0.00729310 0.47022476 0.24631050
+v -0.36752418 0.47126009 0.25919873
+v -0.00897101 0.42666251 0.25715899
+v -0.27286751 0.47190618 0.26012232
+v -0.05134070 0.45838779 0.25731742
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 3 6
+f 10 4 6
+f 11 8 5
+f 11 6 8
+f 11 10 6
+f 11 5 10
+f 13 5 1
+f 14 12 9
+f 14 9 6
+f 14 6 4
+f 14 4 12
+f 15 12 7
+f 15 7 3
+f 15 3 9
+f 15 9 12
+f 16 4 10
+f 17 10 5
+f 17 5 13
+f 18 16 12
+f 18 12 4
+f 18 4 16
+f 19 1 7
+f 20 7 12
+f 20 19 7
+f 21 16 10
+f 21 10 17
+f 21 17 13
+f 21 12 16
+f 22 13 1
+f 22 1 19
+f 23 21 13
+f 23 20 12
+f 23 12 21
+f 23 22 19
+f 23 13 22
+f 24 23 19
+f 24 19 20
+f 24 20 23

cake/cake_0/collision/model_normalized_collision_1.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.41666665 -0.07991047 -0.12142816
+v -0.35608693 -0.00384503 -0.25763038
+v -0.35606059 0.23827134 0.01493547
+v -0.49164850 0.23828447 0.01493769
+v -0.48221308 -0.07936112 -0.25238553
+v -0.35580414 0.23869004 -0.25870236
+v -0.49511655 -0.00426160 0.01512113
+v -0.35606059 -0.00415289 0.01493547
+v -0.41597851 -0.07944451 -0.25766059
+v -0.49231685 0.23864415 -0.13685381
+v -0.49220910 0.17742326 0.01535111
+v -0.49097530 -0.07986764 -0.12135635
+v -0.47583219 0.17731912 -0.25719649
+v -0.49206559 0.23863030 -0.24197298
+v -0.47426704 -0.00383254 -0.25688467
+v -0.49174934 0.08713566 -0.22684234
+v -0.48954205 0.23836806 -0.25402417
+v -0.41634628 0.23872410 -0.25759054
+v -0.44624103 -0.06426556 -0.25676075
+v -0.49236461 -0.03400634 -0.12067427
+v -0.48385161 0.05689766 -0.25624892
+v -0.43109940 -0.07942377 -0.25698036
+v -0.48522471 0.14717715 -0.25630894
+f 8 7 1
+f 8 6 3
+f 8 2 6
+f 9 8 1
+f 9 2 8
+f 9 6 2
+f 10 4 3
+f 10 3 6
+f 10 7 4
+f 11 3 4
+f 11 4 7
+f 11 8 3
+f 11 7 8
+f 12 1 7
+f 12 9 1
+f 13 6 9
+f 14 7 10
+f 15 13 9
+f 16 5 12
+f 16 7 14
+f 17 16 14
+f 17 5 16
+f 18 14 10
+f 18 10 6
+f 18 17 14
+f 18 6 13
+f 18 13 17
+f 19 15 9
+f 19 5 15
+f 20 16 12
+f 20 12 7
+f 20 7 16
+f 21 15 5
+f 21 5 17
+f 21 13 15
+f 22 19 9
+f 22 5 19
+f 22 12 5
+f 22 9 12
+f 23 21 17
+f 23 17 13
+f 23 13 21

cake/cake_0/collision/model_normalized_collision_10.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.34006571 -0.47840892 0.24708175
+v 0.34051760 -0.48133408 0.22695650
+v 0.34110280 -0.26196259 0.24773596
+v 0.16049786 -0.07623871 0.25661440
+v -0.16834998 -0.47627040 0.25496079
+v 0.22247225 -0.07311791 0.24323557
+v 0.32032239 -0.46337829 0.25964433
+v 0.34496174 -0.33646597 0.25712450
+v 0.26532972 -0.13299858 0.24011756
+v 0.22076425 -0.07386456 0.25328539
+v -0.15910171 -0.27284834 0.24599968
+v 0.16907279 -0.47336917 0.25858482
+v 0.33991011 -0.45742841 0.25456754
+v 0.26518931 -0.13373832 0.25305963
+v 0.19532709 -0.08433994 0.25605125
+v -0.14696214 -0.27927460 0.25464393
+v -0.00082786 -0.12997753 0.24877065
+v -0.15932500 -0.47844074 0.22635970
+v 0.16895216 -0.47378044 0.25806902
+v -0.16824105 -0.47137893 0.25959483
+v 0.15953739 -0.07848641 0.24541547
+v 0.00751882 -0.12530698 0.25346434
+v -0.15586383 -0.39346185 0.25916904
+v -0.15892359 -0.26143799 0.25033363
+v 0.14374130 -0.07979002 0.25151740
+f 5 2 1
+f 8 1 2
+f 8 2 3
+f 8 4 7
+f 9 3 2
+f 10 6 4
+f 12 1 7
+f 13 8 7
+f 13 7 1
+f 13 1 8
+f 14 9 6
+f 14 6 10
+f 14 3 9
+f 14 8 3
+f 15 10 4
+f 15 4 8
+f 15 14 10
+f 15 8 14
+f 18 2 5
+f 18 5 11
+f 18 9 2
+f 18 6 9
+f 18 11 17
+f 19 12 5
+f 19 5 1
+f 19 1 12
+f 20 12 7
+f 20 5 12
+f 21 4 6
+f 21 18 17
+f 21 6 18
+f 23 20 7
+f 23 7 4
+f 23 22 16
+f 23 4 22
+f 24 11 5
+f 24 5 20
+f 24 16 22
+f 24 22 17
+f 24 17 11
+f 24 23 16
+f 24 20 23
+f 25 21 17
+f 25 17 22
+f 25 22 4
+f 25 4 21

cake/cake_0/collision/model_normalized_collision_11.obj

@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.40941793 -0.47678508 0.24113405
+v -0.35620578 -0.47514696 -0.25672097
+v -0.35606059 -0.38294077 0.15129910
+v -0.47012604 -0.38318562 0.24735054
+v -0.46063588 -0.46071952 -0.25359639
+v -0.41659727 -0.38199670 0.25000309
+v -0.35550172 -0.47973443 0.15139246
+v -0.44196045 -0.47215419 -0.25407786
+v -0.46620196 -0.46050377 0.23947820
+v -0.35648338 -0.38280163 -0.26131643
+v -0.41034601 -0.46902767 0.25120144
+v -0.41560722 -0.47403598 -0.25690123
+v -0.47786348 -0.38244656 -0.25388367
+v -0.44744492 -0.47401924 0.24314856
+v -0.43446015 -0.44518873 0.25839669
+v -0.45079927 -0.47225629 -0.16634324
+v -0.45388086 -0.46265893 -0.25834372
+v -0.47635990 -0.38308017 0.23734575
+v -0.47604062 -0.44035228 -0.13618022
+v -0.43319271 -0.47370584 0.24668291
+v -0.41568253 -0.44682115 0.25476443
+v -0.44606686 -0.38247544 0.25633051
+v -0.45043174 -0.43953480 0.25686194
+v -0.47182805 -0.38284972 -0.26085849
+v -0.47453606 -0.41088259 0.23732253
+v -0.47525700 -0.42563573 -0.24193149
+v -0.44190630 -0.46156625 0.25121790
+v -0.46489566 -0.45627761 0.24177989
+v -0.46466904 -0.45301227 -0.25672444
+v -0.47587714 -0.44023276 -0.10703113
+v -0.47572633 -0.41052445 -0.25321638
+f 10 7 2
+f 10 3 7
+f 10 6 3
+f 11 3 6
+f 11 7 3
+f 11 1 7
+f 12 7 1
+f 12 2 7
+f 13 6 10
+f 16 12 1
+f 16 8 12
+f 16 1 14
+f 16 5 8
+f 16 14 9
+f 16 9 5
+f 17 10 2
+f 17 2 12
+f 17 12 8
+f 17 8 5
+f 19 5 9
+f 19 18 13
+f 20 14 1
+f 20 1 11
+f 21 15 11
+f 21 11 6
+f 22 18 4
+f 22 6 13
+f 22 13 18
+f 22 21 6
+f 22 15 21
+f 23 9 14
+f 23 22 4
+f 23 15 22
+f 24 13 10
+f 24 10 17
+f 25 9 4
+f 25 4 18
+f 26 19 13
+f 27 14 20
+f 27 23 14
+f 27 15 23
+f 27 20 11
+f 27 11 15
+f 28 23 4
+f 28 4 9
+f 28 9 23
+f 29 24 17
+f 29 17 5
+f 29 5 19
+f 29 19 26
+f 30 19 9
+f 30 9 25
+f 30 25 18
+f 30 18 19
+f 31 13 24
+f 31 24 29
+f 31 29 26
+f 31 26 13

cake/cake_0/collision/model_normalized_collision_12.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.34047268 -0.00438818 0.24801312
+v 0.34090909 -0.00415289 0.15129910
+v 0.33664795 0.16607134 0.24756874
+v 0.14318956 0.15843334 0.24232611
+v 0.00183241 -0.00887475 0.24623775
+v 0.34090909 0.16251377 0.15129910
+v -0.01226830 0.10367653 0.24618781
+v 0.14393940 0.16251377 0.15129910
+v 0.00757577 -0.00415289 0.15129910
+v 0.00757577 0.10190771 0.15129910
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 6 2
+f 9 8 2
+f 9 2 5
+f 9 5 7
+f 10 9 7
+f 10 7 8
+f 10 8 9

cake/cake_0/collision/model_normalized_collision_13.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.16834998 -0.47627040 0.25496079
+v -0.15936635 -0.48068870 0.15112155
+v -0.15892359 -0.26143799 0.25033363
+v -0.48264219 -0.25453007 0.24220729
+v -0.41603802 -0.47584988 0.15126961
+v -0.15909090 -0.26172864 0.15129910
+v -0.44349544 -0.37542671 0.25659680
+v -0.16268251 -0.35399947 0.25746055
+v -0.40945818 -0.47651795 0.24390052
+v -0.48282413 -0.26131470 0.15096708
+v -0.47857255 -0.25562915 0.24828701
+v -0.47635990 -0.38308017 0.23734575
+v -0.16824105 -0.47137893 0.25959483
+v -0.19932997 -0.47975842 0.25513564
+v -0.42346920 -0.32706056 0.25592125
+v -0.45043174 -0.43953480 0.25686194
+v -0.47819939 -0.38300027 0.15145882
+v -0.47012604 -0.38318562 0.24735054
+v -0.19803439 -0.47920586 0.25560485
+v -0.40922052 -0.45522915 0.25912943
+f 6 3 2
+f 6 4 3
+f 8 2 3
+f 9 5 2
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 3 4
+f 13 1 2
+f 13 2 8
+f 14 9 2
+f 14 2 1
+f 15 8 3
+f 15 3 11
+f 15 11 7
+f 16 7 11
+f 16 5 9
+f 17 10 5
+f 17 16 12
+f 17 5 16
+f 17 12 4
+f 17 4 10
+f 18 11 4
+f 18 4 12
+f 18 16 11
+f 18 12 16
+f 19 14 1
+f 19 1 13
+f 20 13 8
+f 20 8 15
+f 20 15 7
+f 20 7 16
+f 20 19 13
+f 20 16 9
+f 20 9 14
+f 20 14 19

cake/cake_0/collision/model_normalized_collision_14.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.49524715 -0.13699600 0.23598900
+v 0.49104435 -0.14053467 0.15131072
+v 0.48803796 -0.00426913 0.15135812
+v 0.00332285 -0.00680250 0.26090132
+v -0.00178232 -0.13410468 0.24752456
+v 0.48336521 -0.00403555 0.24296652
+v 0.14700174 -0.14276874 0.25606980
+v 0.00757577 -0.14051653 0.15129910
+v 0.00757577 -0.00415289 0.15129910
+v 0.00751882 -0.12530698 0.25346434
+v 0.39654655 -0.01251870 0.25699899
+v 0.06788726 -0.14021636 0.25235981
+v 0.39651534 -0.00998987 0.25646016
+v 0.48857686 -0.13634509 0.24264746
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 2 7
+f 9 6 3
+f 9 4 6
+f 9 3 2
+f 9 2 8
+f 9 8 5
+f 9 5 4
+f 10 7 4
+f 10 4 5
+f 11 4 7
+f 12 8 7
+f 12 5 8
+f 12 10 5
+f 12 7 10
+f 13 11 6
+f 13 6 4
+f 13 4 11
+f 14 11 7
+f 14 7 1
+f 14 1 6
+f 14 6 11

cake/cake_0/collision/model_normalized_collision_15.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.49200502 -0.26218988 0.22675472
+v 0.49421243 -0.26197110 0.01467882
+v 0.49136446 -0.14054375 0.01491476
+v 0.26518931 -0.13373832 0.25305963
+v 0.26515152 -0.26172864 0.01493547
+v 0.48875470 -0.14061900 0.22688090
+v 0.49163374 -0.21671927 0.21114151
+v 0.26919954 -0.26238217 0.25393101
+v 0.26515152 -0.14051653 0.01493547
+v 0.49215762 -0.17121550 0.01463403
+v 0.39631963 -0.14314232 0.25335851
+v 0.40159534 -0.26186061 0.24860130
+f 6 3 4
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 10 7 2
+f 10 3 7
+f 10 9 3
+f 10 2 5
+f 10 5 9
+f 11 6 4
+f 11 4 8
+f 11 1 6
+f 12 11 8
+f 12 8 1
+f 12 1 11

cake/cake_0/collision/model_normalized_collision_16.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.48803796 -0.00426913 0.15135812
+v 0.48709804 -0.00434722 0.01495355
+v 0.46291429 0.46950130 0.01474385
+v 0.14402568 0.47763922 0.15116851
+v 0.14393940 -0.00415289 0.15129910
+v 0.46176175 0.46567792 0.14999563
+v 0.47665792 0.43424616 0.01468168
+v 0.14393940 -0.00415289 0.01493547
+v 0.43129879 0.47953940 0.13493660
+v 0.47593663 0.38891919 0.15049098
+v 0.47633308 0.43450211 0.04508433
+v 0.14410557 0.48307906 0.01450209
+v 0.44165327 0.47893005 0.11975951
+v 0.40056552 0.47974122 0.15030802
+v 0.47644797 0.41935587 0.10569150
+v 0.44256719 0.48022777 0.01472484
+v 0.28068268 0.47946338 0.15007639
+v 0.47591570 0.40418053 0.13534097
+v 0.18976996 0.47985950 0.12040911
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 8 2 5
+f 8 5 4
+f 10 4 1
+f 11 7 3
+f 11 3 6
+f 12 7 2
+f 12 2 8
+f 12 8 4
+f 13 9 6
+f 13 6 3
+f 14 6 9
+f 14 10 6
+f 14 4 10
+f 15 11 6
+f 15 10 1
+f 15 1 7
+f 15 7 11
+f 16 9 13
+f 16 14 9
+f 16 12 14
+f 16 13 3
+f 16 3 7
+f 16 7 12
+f 17 14 12
+f 17 4 14
+f 18 15 6
+f 18 6 10
+f 18 10 15
+f 19 17 12
+f 19 12 4
+f 19 4 17

cake/cake_0/collision/model_normalized_collision_17.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.23475609 -0.48232801 0.15115434
+v -0.23477098 -0.47749284 -0.25465908
+v -0.23495030 0.48339320 0.15094067
+v -0.35520210 0.48308566 0.15110059
+v -0.35608254 -0.47706950 -0.25443267
+v -0.35550172 -0.47973443 0.15139246
+v -0.35675729 0.47522088 -0.25734360
+v -0.23497737 0.47613771 -0.25316530
+v -0.35634808 -0.47034239 -0.25888762
+v -0.35669962 0.47917010 -0.25287190
+v -0.23527970 0.43507963 -0.25698917
+v -0.23506080 0.47989203 -0.22614870
+v -0.23487938 -0.47094482 -0.25793462
+v -0.26549313 0.46442500 -0.25685459
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 6 1 3
+f 6 3 4
+f 7 6 4
+f 8 3 2
+f 9 2 5
+f 9 5 6
+f 9 6 7
+f 10 8 7
+f 10 7 4
+f 11 9 7
+f 12 10 4
+f 12 4 3
+f 12 3 8
+f 12 8 10
+f 13 11 8
+f 13 8 2
+f 13 2 9
+f 13 9 11
+f 14 11 7
+f 14 7 8
+f 14 8 11

cake/cake_0/collision/model_normalized_collision_18.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.45746881 -0.47289645 0.23789473
+v 0.49215568 -0.42778602 0.22677534
+v 0.47667061 -0.31960540 0.25661798
+v 0.39631963 -0.14314232 0.25335851
+v 0.34051760 -0.48133408 0.22695650
+v 0.49524715 -0.13699600 0.23598900
+v 0.48772180 -0.45218928 0.25105947
+v 0.45780486 -0.47402905 0.22646419
+v 0.34012835 -0.42796623 0.25445319
+v 0.48888972 -0.16517198 0.25049579
+v 0.39635092 -0.14424165 0.24040092
+v 0.39298879 -0.46976750 0.25655607
+v 0.49556401 -0.31304956 0.24788103
+v 0.44594518 -0.47327902 0.24416155
+v 0.47925300 -0.46293019 0.22661061
+v 0.48857686 -0.13634509 0.24264746
+v 0.45293686 -0.21018001 0.25470335
+v 0.34049346 -0.26122667 0.24770580
+v 0.34006571 -0.47840892 0.24708175
+v 0.47443363 -0.38441163 0.25596087
+v 0.35140406 -0.37535152 0.25825808
+v 0.49111985 -0.42775652 0.23784538
+v 0.38396111 -0.46570519 0.25712927
+v 0.45713520 -0.42110668 0.25555088
+v 0.44939446 -0.21120146 0.25479965
+f 6 2 5
+f 8 5 2
+f 11 6 5
+f 13 2 6
+f 13 6 10
+f 13 10 3
+f 13 3 7
+f 14 8 1
+f 14 5 8
+f 14 1 7
+f 14 7 12
+f 15 7 1
+f 15 1 8
+f 15 8 2
+f 15 2 7
+f 16 10 6
+f 16 4 10
+f 16 11 4
+f 16 6 11
+f 17 10 4
+f 17 3 10
+f 18 4 11
+f 18 11 5
+f 19 14 12
+f 19 5 14
+f 19 18 5
+f 19 9 18
+f 20 7 3
+f 21 18 9
+f 21 4 18
+f 22 13 7
+f 22 7 2
+f 22 2 13
+f 23 19 12
+f 23 9 19
+f 23 21 9
+f 23 3 21
+f 23 20 3
+f 24 12 7
+f 24 7 20
+f 24 23 12
+f 24 20 23
+f 25 17 4
+f 25 4 21
+f 25 21 3
+f 25 3 17

cake/cake_0/collision/model_normalized_collision_19.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 -0.26172864 0.15129910
+v 0.14393940 -0.26172864 0.01493547
+v 0.14410557 0.48307906 0.01450209
+v -0.23495030 0.48339320 0.15094067
+v -0.23484847 -0.26172864 0.01493547
+v 0.14402568 0.47763922 0.15116851
+v 0.14430991 0.48007140 0.09000052
+v -0.23484847 -0.26172864 0.15129910
+v 0.00771900 0.48141866 0.01430219
+v -0.23493934 0.48264289 0.01518665
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 4
+f 7 4 6
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 3 2
+f 9 2 5
+f 10 9 5
+f 10 5 4
+f 10 4 3
+f 10 3 9

cake/cake_0/collision/model_normalized_collision_2.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.35606059 -0.38294077 0.15129910
+v -0.35648338 -0.38280163 -0.26131643
+v -0.35598273 -0.00506300 -0.25760570
+v -0.49587414 -0.00426224 0.15110185
+v -0.47819939 -0.38300027 0.15145882
+v -0.48221308 -0.07936112 -0.25238553
+v -0.35606059 -0.00415289 0.15129910
+v -0.47182805 -0.38284972 -0.26085849
+v -0.49322262 -0.00432353 -0.12094814
+v -0.41597404 -0.00495239 -0.25790419
+v -0.47786348 -0.38244656 -0.25388367
+v -0.48142843 -0.20181302 -0.25494891
+v -0.49190348 -0.06429569 -0.09091241
+v -0.47864749 -0.33710532 -0.25669634
+v -0.49191827 -0.04914466 -0.12065215
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 2 5
+f 9 7 3
+f 9 4 7
+f 10 8 6
+f 10 3 2
+f 10 2 8
+f 10 9 3
+f 10 6 9
+f 11 8 5
+f 11 5 4
+f 12 9 6
+f 12 6 8
+f 13 11 4
+f 13 4 9
+f 14 12 8
+f 14 8 11
+f 14 11 9
+f 14 9 12
+f 15 13 9
+f 15 9 11
+f 15 11 13

cake/cake_0/collision/model_normalized_collision_20.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.45780486 -0.47402905 0.22646419
+v 0.49164508 -0.44072594 0.15145199
+v 0.49360575 -0.38284464 0.22641196
+v 0.00800006 -0.38366838 0.25244571
+v 0.00789714 -0.47893136 0.15127919
+v 0.00757577 -0.38294077 0.15129910
+v 0.49215568 -0.42778602 0.22677534
+v 0.46840088 -0.47266152 0.15107745
+v 0.00756779 -0.47710344 0.22648069
+v 0.49442438 -0.38253395 0.15114480
+v 0.47925300 -0.46293019 0.22661061
+v 0.47981074 -0.46368016 0.15125112
+v 0.49197636 -0.43936975 0.21151723
+v 0.46853004 -0.47142946 0.21126762
+f 6 4 3
+f 7 3 4
+f 8 1 5
+f 8 5 6
+f 9 5 1
+f 9 1 4
+f 9 6 5
+f 9 4 6
+f 10 6 3
+f 10 8 6
+f 11 7 4
+f 11 4 1
+f 12 10 2
+f 12 8 10
+f 12 11 8
+f 13 2 10
+f 13 7 11
+f 13 12 2
+f 13 11 12
+f 13 10 3
+f 13 3 7
+f 14 11 1
+f 14 1 8
+f 14 8 11

cake/cake_0/collision/model_normalized_collision_21.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.23484847 -0.04960744 -0.25779049
+v -0.49003310 -0.00407073 -0.21217031
+v -0.48811111 -0.04942314 -0.21203609
+v -0.48570956 -0.00390987 -0.25341547
+v -0.23484831 -0.00415031 -0.25767178
+v -0.48362032 -0.04912926 -0.25279958
+v -0.46131839 -0.00389429 -0.25781493
+v -0.28039876 -0.04977162 -0.25776684
+v -0.37123840 -0.00384555 -0.25765642
+v -0.44626176 -0.04912809 -0.25722135
+v -0.46127006 -0.03396441 -0.25690950
+f 3 2 4
+f 5 2 3
+f 5 3 1
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 8 1 3
+f 8 3 6
+f 8 7 1
+f 9 7 4
+f 9 4 2
+f 9 2 5
+f 9 5 7
+f 10 8 6
+f 10 7 8
+f 11 10 6
+f 11 6 7
+f 11 7 10

cake/cake_0/collision/model_normalized_collision_22.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.48709804 -0.00434722 0.01495355
+v 0.48345745 -0.00458149 -0.25850042
+v 0.46291429 0.46950130 0.01474385
+v -0.23493934 0.48264289 0.01518665
+v -0.23484847 -0.00415289 0.01493547
+v 0.43071217 0.47822326 -0.25367984
+v 0.47665792 0.43424616 0.01468168
+v 0.44256719 0.48022777 0.01472484
+v -0.23535938 0.41962391 -0.25742077
+v 0.47661534 0.40353765 -0.09072525
+v 0.46482019 0.45695620 -0.25659303
+v 0.44210877 0.47848972 -0.16662128
+v -0.23497737 0.47613771 -0.25316530
+v -0.23482899 -0.00382367 -0.25767884
+v 0.48062270 0.13129538 -0.25556804
+v 0.47605097 0.43420766 -0.02995466
+v 0.45308325 0.46937116 -0.25734638
+v -0.23506080 0.47989203 -0.22614870
+v 0.47564745 0.31389748 -0.25438580
+v -0.14356307 0.47385707 -0.25629076
+v 0.46021377 0.46808384 -0.16640445
+v -0.18906554 0.47930356 -0.24124952
+v 0.08352026 0.47854350 -0.25247380
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 1
+f 8 6 4
+f 8 4 3
+f 9 5 4
+f 10 7 1
+f 11 3 7
+f 12 8 3
+f 12 6 8
+f 14 9 2
+f 14 2 5
+f 14 5 9
+f 15 10 1
+f 15 1 2
+f 16 11 7
+f 16 7 10
+f 16 10 11
+f 17 11 2
+f 17 2 9
+f 17 6 12
+f 18 13 9
+f 18 9 4
+f 18 4 6
+f 19 11 10
+f 19 10 15
+f 19 15 2
+f 19 2 11
+f 20 17 9
+f 20 9 13
+f 20 6 17
+f 21 17 12
+f 21 12 3
+f 21 3 11
+f 21 11 17
+f 22 18 6
+f 22 13 18
+f 23 20 13
+f 23 6 20
+f 23 22 6
+f 23 13 22

cake/cake_0/collision/model_normalized_collision_23.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35606059 -0.00415289 0.15129910
+v -0.35606059 -0.00415289 0.01493547
+v -0.35606059 0.35948346 0.15129910
+v -0.49458421 0.35983560 0.15134783
+v -0.49587414 -0.00426224 0.15110185
+v -0.35606059 0.35948346 0.01493547
+v -0.49365109 0.35963168 0.01513578
+v -0.49511655 -0.00426160 0.01512113
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 4 6
+f 8 5 4
+f 8 4 7
+f 8 2 5
+f 8 7 6
+f 8 6 2

cake/cake_0/collision/model_normalized_collision_24.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.46896968 -0.47692417 0.01441701
+v 0.48908570 -0.45321110 -0.24139521
+v 0.48709804 -0.00434722 0.01495355
+v -0.23484847 -0.00415289 0.01493547
+v -0.23477098 -0.47749284 -0.25465908
+v 0.47554841 -0.00434161 -0.26124532
+v -0.23478418 -0.48110556 0.01503504
+v 0.48995503 -0.45267343 0.01441776
+v 0.46731762 -0.47459266 -0.25687913
+v 0.48345745 -0.00458149 -0.25850042
+v -0.21925728 -0.00341828 -0.25773747
+v -0.23487938 -0.47094482 -0.25793462
+v 0.47987914 -0.47170608 -0.07642769
+v 0.49219934 -0.15606298 -0.07598858
+v -0.20387045 -0.47762492 -0.25541751
+v 0.47989677 -0.46397458 -0.25698816
+v -0.23484831 -0.00415031 -0.25767178
+v 0.47978291 -0.47108172 -0.22592234
+v 0.49155025 -0.32277992 -0.24181137
+v 0.49176892 -0.15607397 0.01462643
+v 0.49029478 -0.42785579 -0.25292371
+v 0.49149230 -0.29247850 -0.22665685
+v 0.49033678 -0.36808883 -0.25304569
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 1 7
+f 10 6 3
+f 11 4 3
+f 11 3 6
+f 12 7 4
+f 12 5 7
+f 13 8 1
+f 13 2 8
+f 14 10 3
+f 15 9 7
+f 15 7 5
+f 15 12 9
+f 15 5 12
+f 16 6 10
+f 16 12 6
+f 16 9 12
+f 17 12 4
+f 17 4 11
+f 17 11 6
+f 17 6 12
+f 18 13 1
+f 18 1 9
+f 18 9 16
+f 18 16 2
+f 18 2 13
+f 19 14 8
+f 20 14 3
+f 20 3 8
+f 20 8 14
+f 21 19 8
+f 21 8 2
+f 21 2 16
+f 21 16 10
+f 22 19 10
+f 22 10 14
+f 22 14 19
+f 23 21 10
+f 23 10 19
+f 23 19 21

cake/cake_0/collision/model_normalized_collision_25.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26925955 -0.37625028 0.24693294
+v 0.26515152 -0.38294077 0.15129910
+v 0.26515152 -0.14051653 0.15129910
+v -0.00178232 -0.13410468 0.24752456
+v 0.00800006 -0.38366838 0.25244571
+v 0.00757577 -0.14051653 0.15129910
+v 0.26532972 -0.13299858 0.24011756
+v 0.00757577 -0.38294077 0.15129910
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5

cake/cake_0/collision/model_normalized_collision_26.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.49360575 -0.38284464 0.22641196
+v 0.49443262 -0.38310629 0.15136188
+v 0.49277366 -0.26200839 0.15145492
+v 0.26906092 -0.26261981 0.24348462
+v 0.26515152 -0.38294077 0.15129910
+v 0.49200502 -0.26218988 0.22675472
+v 0.26925955 -0.37625028 0.24693294
+v 0.40151515 -0.26172864 0.15129910
+v 0.26515152 -0.26172864 0.15129910
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 9 8 5
+f 9 5 4
+f 9 4 6
+f 9 6 8

cake/cake_0/collision/model_normalized_collision_27.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00756779 -0.47710344 0.22648069
+v 0.00789714 -0.47893136 0.15127919
+v 0.00757577 -0.26172864 0.15129910
+v -0.15910171 -0.27284834 0.24599968
+v -0.15936635 -0.48068870 0.15112155
+v 0.00636684 -0.25974831 0.24451443
+v -0.15932500 -0.47844074 0.22635970
+v -0.15909090 -0.26172864 0.15129910
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6

cake/cake_0/collision/model_normalized_collision_28.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00636684 -0.25974831 0.24451443
+v 0.00757577 -0.26172864 0.15129910
+v 0.00757577 0.10190771 0.15129910
+v -0.09655007 0.11471874 0.24889427
+v -0.09848484 -0.26172864 0.15129910
+v -0.01226830 0.10367653 0.24618781
+v -0.09651260 -0.26586759 0.24447481
+v -0.09848484 0.10190771 0.15129910
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5

cake/cake_0/collision/model_normalized_collision_29.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.46840088 -0.47266152 0.15107745
+v 0.48995503 -0.45267343 0.01441776
+v 0.49277366 -0.26200839 0.15145492
+v -0.23484847 -0.26172864 0.15129910
+v -0.23478418 -0.48110556 0.01503504
+v 0.49421243 -0.26197110 0.01467882
+v 0.49164508 -0.44072594 0.15145199
+v 0.46896968 -0.47692417 0.01441701
+v -0.23475609 -0.48232801 0.15115434
+v -0.23484847 -0.26172864 0.01493547
+v 0.47981074 -0.46368016 0.15125112
+f 6 4 3
+f 7 3 4
+f 7 6 3
+f 7 2 6
+f 9 4 5
+f 9 7 4
+f 9 8 1
+f 9 5 8
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 8 5
+f 10 2 8
+f 11 2 7
+f 11 8 2
+f 11 1 8
+f 11 9 1
+f 11 7 9

cake/cake_0/collision/model_normalized_collision_3.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.39899662 0.17379022 0.24538684
+v 0.48304075 0.23779995 0.15122722
+v 0.45979852 0.45324763 0.24314994
+v 0.14410133 0.47324990 0.22629816
+v 0.14393940 0.16251377 0.15129910
+v 0.45477337 0.47123654 0.15051774
+v 0.14939187 0.34695261 0.25575774
+v 0.47848628 0.23701869 0.24424140
+v 0.40151515 0.16251377 0.15129910
+v 0.46707304 0.45828122 0.15060853
+v 0.43631321 0.46659794 0.24847048
+v 0.14402568 0.47763922 0.15116851
+v 0.14318956 0.15843334 0.24232611
+v 0.32793686 0.35028023 0.25736693
+v 0.47672954 0.37380939 0.15052984
+v 0.45002565 0.46541002 0.23662206
+v 0.26643730 0.47292441 0.25200430
+v 0.47893737 0.27796682 0.24705844
+v 0.38649676 0.23790854 0.25054527
+v 0.14111019 0.40691839 0.25166350
+v 0.47599072 0.37377053 0.16564515
+v 0.31324285 0.44383874 0.25764214
+v 0.25909973 0.35017130 0.25691145
+v 0.32215424 0.44961481 0.25659458
+f 9 8 1
+f 9 2 8
+f 12 6 5
+f 13 9 1
+f 13 5 9
+f 15 2 9
+f 15 6 10
+f 15 9 5
+f 15 5 6
+f 16 10 6
+f 16 3 10
+f 16 11 3
+f 16 6 11
+f 17 12 4
+f 17 11 6
+f 17 6 12
+f 18 3 11
+f 18 8 2
+f 18 2 15
+f 18 1 8
+f 19 13 1
+f 19 7 13
+f 19 18 14
+f 19 1 18
+f 20 13 7
+f 20 4 12
+f 20 12 5
+f 20 5 13
+f 20 17 4
+f 21 15 10
+f 21 10 3
+f 21 18 15
+f 21 3 18
+f 22 18 11
+f 22 14 18
+f 22 20 7
+f 22 17 20
+f 23 19 14
+f 23 7 19
+f 23 22 7
+f 23 14 22
+f 24 22 11
+f 24 11 17
+f 24 17 22

cake/cake_0/collision/model_normalized_collision_30.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.49104435 -0.14053467 0.15131072
+v 0.49136446 -0.14054375 0.01491476
+v 0.48803796 -0.00426913 0.15135812
+v 0.26515152 -0.00415289 0.15129910
+v 0.26515152 -0.14051653 0.01493547
+v 0.26515152 -0.00415289 0.01493547
+v 0.26515152 -0.14051653 0.15129910
+v 0.48709804 -0.00434722 0.01495355
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 6 3
+f 8 3 2
+f 8 2 6

cake/cake_0/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.26172864 0.15129910
+v 0.26515152 -0.26172864 0.01493547
+v 0.26515152 -0.00415289 0.15129910
+v 0.14393940 -0.00415289 0.15129910
+v 0.14393940 -0.26172864 0.01493547
+v 0.14393940 -0.00415289 0.01493547
+v 0.14393940 -0.26172864 0.15129910
+v 0.26515152 -0.00415289 0.01493547
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6

cake/cake_0/collision/model_normalized_collision_4.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.35606059 0.23827134 0.01493547
+v -0.35580414 0.23869004 -0.25870236
+v -0.35520210 0.48308566 0.15110059
+v -0.46908991 0.46996797 0.22674300
+v -0.49206559 0.23863030 -0.24197298
+v -0.41719147 0.40484892 0.24798004
+v -0.48954205 0.23836806 -0.25402417
+v -0.35606059 0.35948346 0.15129910
+v -0.41657273 0.47951594 0.22702203
+v -0.49164850 0.23828447 0.01493769
+v -0.45604205 0.47836303 -0.25263555
+v -0.49529667 0.44611951 0.23435521
+v -0.35669962 0.47917010 -0.25287190
+v -0.48263331 0.45786921 -0.25764105
+v -0.45611744 0.47869630 -0.01609866
+v -0.49902230 0.40533734 0.23627588
+v -0.48658559 0.26893350 -0.25630994
+v -0.49038221 0.44525526 -0.25301243
+v -0.47082415 0.47742567 -0.10706192
+v -0.35675729 0.47522088 -0.25734360
+v -0.49204489 0.23865079 -0.12170717
+v -0.43167344 0.23864464 -0.25739444
+v -0.49030118 0.25382920 -0.25268620
+v -0.47940150 0.46590487 -0.25254498
+v -0.47074954 0.47750462 -0.15144383
+v -0.46936997 0.47046171 -0.25778724
+f 1 2 3
+f 7 2 1
+f 8 6 1
+f 8 1 3
+f 8 3 6
+f 9 6 3
+f 10 1 6
+f 10 7 1
+f 10 5 7
+f 12 9 4
+f 12 6 9
+f 13 11 3
+f 13 3 2
+f 15 9 3
+f 15 3 11
+f 15 4 9
+f 16 10 6
+f 16 6 12
+f 18 5 16
+f 18 16 12
+f 18 17 7
+f 18 14 17
+f 19 12 4
+f 19 4 15
+f 20 13 2
+f 20 11 13
+f 21 16 5
+f 21 5 10
+f 21 10 16
+f 22 17 14
+f 22 14 2
+f 22 2 7
+f 22 7 17
+f 23 18 7
+f 23 7 5
+f 23 5 18
+f 24 18 12
+f 24 14 18
+f 25 19 15
+f 25 15 11
+f 25 11 24
+f 25 24 12
+f 25 12 19
+f 26 20 2
+f 26 2 14
+f 26 11 20
+f 26 24 11
+f 26 14 24

cake/cake_0/collision/model_normalized_collision_5.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.03592411 -0.26611388 0.25768277
+v -0.00363839 -0.17824436 0.24630939
+v 0.00302850 0.39923100 0.25781369
+v -0.46744659 0.46769743 0.24505565
+v -0.47951369 -0.26124141 0.22620098
+v -0.48338764 0.40817974 0.25661485
+v -0.00354484 -0.17933599 0.25906011
+v -0.03513294 -0.26631009 0.24582774
+v -0.05333903 0.47619529 0.22678493
+v -0.05747980 0.46648743 0.25779272
+v -0.45598611 -0.15987056 0.25541701
+v -0.49226670 0.45263486 0.23599888
+v 0.00631839 0.42026299 0.25516287
+v -0.40842455 0.47318047 0.25615862
+v -0.47884140 -0.25474404 0.24857507
+v -0.49403810 0.44652980 0.24200076
+v -0.46908991 0.46996797 0.22674300
+v 0.00557969 0.41909649 0.24513877
+v -0.47267022 0.44637911 0.25177624
+v -0.17057788 0.48116188 0.25087135
+v -0.48225601 0.00143081 0.25569351
+v -0.49395109 0.45048126 0.23871797
+v -0.49382130 -0.09443817 0.24004871
+v -0.11474285 0.48058644 0.22596947
+v -0.48762253 -0.10899424 0.22628807
+v -0.40096300 0.47942221 0.23793215
+v -0.11475775 0.47965346 0.23929458
+v -0.49532636 0.24563827 0.24305887
+v -0.40090473 0.48041438 0.22661407
+v -0.16630442 0.48132719 0.24860383
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 8 5
+f 9 2 8
+f 10 7 3
+f 10 6 7
+f 11 1 7
+f 13 7 2
+f 13 3 7
+f 13 10 3
+f 13 9 10
+f 14 6 10
+f 15 5 1
+f 15 1 11
+f 17 12 4
+f 18 13 2
+f 18 2 9
+f 18 9 13
+f 19 14 4
+f 19 6 14
+f 19 16 6
+f 19 4 16
+f 20 14 10
+f 21 15 11
+f 21 11 7
+f 21 7 6
+f 22 16 4
+f 22 4 12
+f 23 5 15
+f 23 15 21
+f 24 9 5
+f 25 12 17
+f 25 5 23
+f 25 23 22
+f 25 22 12
+f 25 24 5
+f 25 17 24
+f 26 17 4
+f 26 4 14
+f 26 14 20
+f 27 20 10
+f 27 10 9
+f 27 9 24
+f 28 23 21
+f 28 21 6
+f 28 6 16
+f 28 16 22
+f 28 22 23
+f 29 24 17
+f 29 17 26
+f 29 26 20
+f 30 27 24
+f 30 20 27
+f 30 29 20
+f 30 24 29

cake/cake_0/collision/model_normalized_collision_6.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.09651260 -0.26586759 0.24447481
+v -0.09848484 -0.26172864 0.15129910
+v -0.09848484 0.35948346 0.15129910
+v -0.42176813 0.47944670 0.15068910
+v -0.48282413 -0.26131470 0.15096708
+v -0.10103771 0.36456847 0.24698984
+v -0.49211201 -0.07896583 0.15078892
+v -0.49902230 0.40533734 0.23627588
+v -0.35843082 0.41458290 0.24583858
+v -0.49499975 0.40415618 0.15132520
+v -0.49085509 -0.04879758 0.22582309
+v -0.41691423 0.41101771 0.24931679
+v -0.49111705 -0.07890505 0.18105913
+v -0.47951369 -0.26124141 0.22620098
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 4 2
+f 7 2 5
+f 9 6 4
+f 10 8 4
+f 10 4 7
+f 10 7 8
+f 11 8 7
+f 12 9 4
+f 12 4 8
+f 12 1 6
+f 12 6 9
+f 13 11 7
+f 13 7 5
+f 13 5 11
+f 14 11 5
+f 14 5 1
+f 14 1 12
+f 14 12 8
+f 14 8 11

cake/cake_0/collision/model_normalized_collision_7.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.15121135 0.10250047 0.24686901
+v 0.14393940 0.10190771 0.15129910
+v 0.14393940 0.34433195 0.15129910
+v -0.10103771 0.36456847 0.24698984
+v -0.09848484 0.10190771 0.15129910
+v 0.14939187 0.34695261 0.25575774
+v 0.00708507 0.10135236 0.25483880
+v -0.09848484 0.35948346 0.15129910
+v 0.00757577 0.35948346 0.15129910
+v -0.09693837 0.11331096 0.26209009
+v 0.00767388 0.35850860 0.24132603
+v -0.10010677 0.17396084 0.26066190
+v 0.04766714 0.18111831 0.25650547
+v 0.08701488 0.34819361 0.25507849
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 3 5
+f 9 6 3
+f 9 8 4
+f 9 3 8
+f 10 5 7
+f 10 7 1
+f 11 9 4
+f 11 4 6
+f 11 6 9
+f 12 4 5
+f 12 5 10
+f 12 10 6
+f 13 10 1
+f 13 1 6
+f 13 6 10
+f 14 12 6
+f 14 6 4
+f 14 4 12

cake/cake_0/collision/model_normalized_collision_8.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.48336521 -0.00403555 0.24296652
+v 0.48669765 -0.00423557 0.22666819
+v 0.26643730 0.47292441 0.25200430
+v 0.00729310 0.47022476 0.24631050
+v 0.00183241 -0.00887475 0.24623775
+v 0.26518914 0.47454833 0.22666651
+v 0.47848628 0.23701869 0.24424140
+v 0.00332285 -0.00680250 0.26090132
+v 0.00753395 0.47317127 0.22660123
+v 0.49295982 0.02217502 0.23584045
+v 0.48111611 0.23745864 0.22669267
+v 0.01378327 0.44823848 0.25601037
+v 0.46250198 0.21702214 0.25777290
+v 0.49140526 0.02001644 0.22919637
+v 0.15254902 0.46463998 0.25604964
+v 0.43156885 -0.00145061 0.25742631
+v 0.49252200 0.02269851 0.23671067
+v 0.24463641 0.45964939 0.25792079
+v 0.45478556 0.09157172 0.25639762
+f 5 2 1
+f 8 5 1
+f 8 4 5
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 9 2 5
+f 10 1 2
+f 11 6 3
+f 11 3 7
+f 11 9 6
+f 11 2 9
+f 11 7 10
+f 12 4 8
+f 13 7 3
+f 14 11 10
+f 14 10 2
+f 14 2 11
+f 15 3 4
+f 15 4 12
+f 16 13 8
+f 16 8 1
+f 17 10 7
+f 17 7 13
+f 17 13 1
+f 17 1 10
+f 18 13 3
+f 18 3 15
+f 18 8 13
+f 18 15 12
+f 18 12 8
+f 19 16 1
+f 19 1 13
+f 19 13 16

cake/cake_0/collision/model_normalized_collision_9.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.39850682 -0.07792201 0.24005863
+v 0.48803796 -0.00426913 0.15135812
+v 0.48669765 -0.00423557 0.22666819
+v 0.40229874 0.23951456 0.25052787
+v 0.34090909 0.16251377 0.15129910
+v 0.48304075 0.23779995 0.15122722
+v 0.40151515 -0.07991047 0.15129910
+v 0.33664795 0.16607134 0.24756874
+v 0.48111611 0.23745864 0.22669267
+v 0.40151515 0.23827134 0.15129910
+v 0.34050620 -0.08037183 0.24628132
+v 0.34090909 -0.07991047 0.15129910
+f 1 3 4
+f 6 3 2
+f 7 2 3
+f 7 3 1
+f 7 6 2
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 6 5
+f 10 4 6
+f 10 8 4
+f 10 5 8
+f 11 1 4
+f 11 4 8
+f 11 7 1
+f 12 11 8
+f 12 8 5
+f 12 7 11
+f 12 5 6
+f 12 6 7

cake/cake_0/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="cake_18">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="honey_cake_mat" texture="image0" 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="honey_cake_mat"/>
+        <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"/>
+        <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_30._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_18._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_19._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_31._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_25._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_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"/>
+        <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_9._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_8._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_6._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_7._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_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"/>
+        <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_14._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_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="-0.00012104014999999908 3.728165000000171e-05 -0.018292150099999994" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00012104014999999908 3.728165000000171e-05 0.018346306299999993" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03468948069999999 0.033837523999999994 2.707810000000032e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

cake/cake_0/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 250.00000000
+map_Kd material_0.png

cake/cake_3/collision/model_normalized_collision_0.obj

@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.07033492 -0.41468732 0.08854604
+v 0.29151296 -0.37567993 0.00951132
+v 0.08484665 -0.36864376 0.15532674
+v 0.02905022 -0.22912581 0.25012222
+v -0.07946773 -0.24999999 -0.00038903
+v 0.28127846 -0.32015443 0.08889936
+v -0.08260953 -0.39988784 0.12424835
+v 0.04977423 -0.41316415 0.11558145
+v -0.08706950 -0.40366566 -0.00719707
+v 0.28911633 -0.35363658 0.04888815
+v 0.07188187 -0.22655074 0.25046173
+v 0.31538614 -0.24285759 0.06014590
+v -0.08221145 -0.39159436 0.13306501
+v 0.02659288 -0.24999999 -0.00038903
+v 0.04023116 -0.43231011 0.00875519
+v 0.28187297 -0.36961994 0.03086256
+v 0.06740879 -0.40025666 0.12535906
+v 0.15179774 -0.20071921 0.15979597
+v 0.29600107 -0.23353990 0.08653849
+v 0.29072144 -0.37092154 0.02025101
+v 0.28570341 -0.32645019 0.07777390
+v 0.06207240 -0.37139348 0.15377018
+v -0.13631451 -0.25112073 0.14896676
+v -0.03186683 -0.41297566 0.11278669
+v 0.02818678 -0.43134007 0.00641496
+v 0.02659288 -0.23484848 0.01476248
+v 0.16166861 -0.20413108 0.13485616
+v -0.04800993 -0.26700152 0.21343180
+v -0.15315501 -0.27400247 0.06861308
+v -0.10792081 -0.34762770 0.13724362
+v -0.12844202 -0.24717098 0.13207175
+v -0.04242627 -0.41582753 0.10015987
+v 0.28485351 -0.23043722 0.09052288
+v -0.02910780 -0.25868611 0.22349345
+v -0.09468359 -0.39379117 0.11366565
+v -0.09541739 -0.34859057 0.15046188
+v -0.11571843 -0.24369560 0.15952720
+v -0.05319841 -0.24896230 0.21508637
+v -0.02933807 -0.24695760 0.22752218
+f 8 1 2
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+f 31 18 5
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+f 32 15 8
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+f 32 25 15
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+f 32 24 7
+f 32 7 9
+f 33 19 12
+f 33 12 27
+f 33 27 18
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+f 34 13 4
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+f 35 9 7
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+f 37 31 23
+f 37 4 18
+f 37 18 31
+f 38 36 28
+f 38 23 36
+f 38 37 23
+f 38 4 37
+f 39 34 4
+f 39 4 38
+f 39 38 28
+f 39 28 34

cake/cake_3/collision/model_normalized_collision_1.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.18345491 -0.00019500 0.22586520
+v -0.17037681 -0.00757575 0.01476248
+v -0.16376074 0.37109888 0.05775266
+v -0.16398473 0.39813270 0.04293088
+v -0.39388678 0.14665526 0.00369962
+v -0.34750776 -0.01421804 0.10811159
+v -0.17052150 0.39616392 0.01349020
+v -0.26998837 0.27561909 0.16138863
+v -0.33838670 -0.01032569 -0.01896012
+v -0.31184085 -0.01221529 0.20516768
+v -0.18311414 0.21179463 0.21020559
+v -0.37915159 0.26293055 0.00965386
+v -0.34131060 0.00169097 -0.02572267
+v -0.34123221 -0.01463219 0.17523881
+v -0.19003119 0.19940731 0.21344834
+v -0.19962776 0.38724110 0.02444641
+v -0.19960178 0.38811722 0.01370858
+v -0.38839059 0.22994635 0.00764251
+v -0.29660043 0.15277482 0.19889914
+v -0.32085729 0.20894328 0.14296513
+v -0.30736624 0.16584597 0.18287383
+v -0.27693684 0.27197583 0.15503271
+v -0.32170854 0.14561320 0.17150126
+v -0.28508460 0.23718328 0.16821688
+v -0.30701552 0.21993745 0.15315829
+f 1 2 3
+f 3 2 4
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+f 9 6 5
+f 9 2 6
+f 10 2 1
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+f 24 21 19
+f 24 19 8
+f 25 22 20
+f 25 8 22
+f 25 24 8
+f 25 20 21
+f 25 21 24

cake/cake_3/collision/model_normalized_collision_10.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.37289866 0.00691696 0.06146983
+v 0.44019760 0.04178727 0.00819388
+v 0.40548189 0.14589434 0.04523943
+v 0.24612828 0.32732354 0.04250594
+v 0.22892451 0.18895655 0.01920812
+v 0.31921377 0.31981912 0.00693611
+v 0.39757747 0.11305603 0.05982021
+v 0.36956261 0.01066968 0.02097453
+v 0.21464421 0.25277947 0.05669628
+v 0.40821514 0.18041051 0.01091838
+v 0.29916722 0.31769591 0.03488594
+v 0.22717937 0.31672511 0.01479011
+v 0.40180060 0.01116468 0.00696175
+v 0.40029912 0.08766171 0.05698884
+v 0.41936832 0.13628663 0.03422108
+v 0.25097237 0.11306687 0.04534923
+v 0.26219457 0.31868496 0.04661364
+v 0.32064205 0.11072940 0.06049152
+v 0.40551440 0.17911803 0.01700342
+v 0.43788713 0.07507812 0.00865065
+v 0.30128650 0.32768666 0.02134491
+v 0.23586668 0.31769009 0.04610487
+v 0.22076510 0.18840680 0.02740356
+v 0.42964170 0.02805991 0.00660590
+v 0.25646655 0.12323424 0.02291925
+v 0.43847251 0.04669518 0.01230660
+v 0.29301372 0.32587351 0.03165305
+v 0.35687249 0.07735802 0.06111598
+v 0.42189323 0.13788682 0.01531765
+v 0.24688433 0.32713114 0.01494371
+v 0.40717762 0.05782908 0.04345232
+v 0.30760459 0.32743794 0.01090439
+f 11 7 3
+f 13 12 6
+f 13 5 12
+f 13 1 8
+f 14 7 1
+f 15 3 7
+f 15 7 14
+f 16 8 1
+f 16 1 9
+f 17 9 7
+f 17 7 11
+f 18 9 1
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+f 19 15 10
+f 19 3 15
+f 19 11 3
+f 19 6 11
+f 20 6 10
+f 21 11 6
+f 22 12 9
+f 22 4 12
+f 22 17 4
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+f 26 1 2
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+f 28 18 1
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+f 30 12 4
+f 30 4 21
+f 30 6 12
+f 31 26 14
+f 31 14 1
+f 31 1 26
+f 32 30 21
+f 32 21 6
+f 32 6 30

cake/cake_3/collision/model_normalized_collision_11.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.29740016 -0.35526745 0.02971474
+v 0.44144523 -0.19324987 -0.08400966
+v 0.40795316 -0.18268590 0.02106996
+v 0.37306032 -0.09706945 0.02056913
+v 0.39014478 -0.08672081 -0.08026860
+v 0.43199174 -0.14997521 -0.01942898
+v 0.30778118 -0.18727540 0.11187798
+v 0.31197836 -0.29448930 -0.02998295
+v 0.43188651 -0.16808248 -0.02083134
+v 0.41947837 -0.13517707 -0.00800563
+v 0.43686108 -0.15106891 -0.07978915
+v 0.30204601 -0.31117146 0.07409749
+v 0.29139275 -0.19661567 0.10290949
+v 0.38068150 -0.21560752 -0.07483395
+v 0.29827313 -0.35590362 0.01470625
+v 0.41356651 -0.10328991 -0.07386423
+v 0.29938994 -0.18951160 0.10569091
+v 0.37142270 -0.09818352 0.01599864
+v 0.32771307 -0.23429441 -0.04505205
+v 0.28770677 -0.31931840 0.08195473
+v 0.42379710 -0.13188606 -0.03277410
+v 0.32389528 -0.24809263 -0.04360628
+f 1 2 3
+f 7 3 4
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 4 3
+f 10 3 6
+f 11 6 2
+f 11 2 5
+f 12 1 3
+f 12 3 7
+f 14 5 2
+f 14 2 8
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+f 15 2 1
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+f 20 13 15
+f 21 16 10
+f 21 10 6
+f 21 6 16
+f 22 8 13
+f 22 13 19
+f 22 14 8
+f 22 19 5
+f 22 5 14

cake/cake_3/collision/model_normalized_collision_12.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02659288 -0.00757575 0.01476248
+v 0.02661056 -0.00760469 -0.40015523
+v 0.03097578 0.48189757 -0.11347322
+v -0.03804805 0.49420073 -0.10430475
+v -0.23098288 -0.00757575 -0.00038903
+v 0.02560801 0.47117277 -0.39868919
+v 0.02428963 0.42469070 0.01109172
+v -0.00854855 0.49245284 -0.13085826
+v -0.21982031 0.41700310 -0.39836067
+v 0.01815443 0.48313055 -0.07713895
+v -0.14586538 0.41171792 0.02121972
+v -0.10600471 0.45960116 -0.39845916
+v -0.23096284 -0.00760504 -0.39963057
+v -0.00847156 0.49058015 -0.09866119
+v -0.23098288 -0.00757575 0.01476248
+v 0.00248062 0.42026695 0.01352547
+v -0.22887961 0.41796672 -0.18218833
+v -0.14456667 0.46221485 -0.14030734
+v -0.04731730 0.47643581 -0.31106370
+v -0.21545037 0.36874059 -0.00438938
+v -0.16566096 0.44333939 -0.36058293
+v -0.06463017 0.48985790 -0.14484808
+v -0.19960178 0.38811722 0.01370858
+v -0.19209050 0.43062125 -0.39837263
+v -0.10387068 0.47648843 -0.15567436
+v -0.21470211 0.31982655 0.01407860
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 6 4
+f 8 3 6
+f 9 6 2
+f 10 7 3
+f 10 3 8
+f 11 10 4
+f 11 7 10
+f 12 6 9
+f 13 9 2
+f 13 2 1
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+f 25 22 21
+f 25 21 18
+f 25 18 22
+f 26 23 20
+f 26 20 15
+f 26 15 11
+f 26 11 23

cake/cake_3/collision/model_normalized_collision_13.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.14904490 -0.47262551 -0.07744562
+v 0.35000710 -0.36721181 -0.08306564
+v 0.29865776 -0.35364361 0.01386911
+v 0.02659288 -0.28030302 0.01476248
+v 0.02659288 -0.28030302 -0.07614661
+v 0.31653879 -0.27531257 -0.04324301
+v 0.02021069 -0.40769181 0.01232419
+v 0.28487675 -0.38680727 0.00316695
+v 0.13173564 -0.47254554 -0.08426267
+v 0.32303940 -0.28989915 0.01191625
+v 0.31063419 -0.28019137 -0.07548641
+v 0.32595207 -0.39394629 -0.07185979
+v 0.09897570 -0.46750783 -0.01884955
+v 0.34654647 -0.33226172 -0.08405139
+v 0.02659288 -0.40151514 -0.07614661
+v 0.31958508 -0.27641693 -0.02783714
+v 0.32917418 -0.39098806 -0.07887341
+v 0.14091127 -0.45716004 -0.02454383
+v 0.09392736 -0.46468527 -0.05640946
+v 0.10039904 -0.45811338 -0.07743467
+f 6 5 4
+f 7 3 4
+f 7 4 5
+f 8 2 3
+f 8 3 7
+f 10 3 2
+f 10 4 3
+f 11 5 6
+f 12 8 1
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+f 14 11 6
+f 14 10 2
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+f 17 9 2
+f 17 2 12
+f 17 12 1
+f 17 1 9
+f 18 13 1
+f 18 1 8
+f 18 8 13
+f 19 13 7
+f 19 7 15
+f 19 9 13
+f 20 19 15
+f 20 15 9
+f 20 9 19

cake/cake_3/collision/model_normalized_collision_14.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.41842841 -0.27279709 -0.12946912
+v 0.48091725 -0.12589947 -0.40143418
+v 0.48646955 -0.02374666 -0.19608527
+v 0.38080821 -0.02324553 0.01670735
+v 0.39024604 -0.28032595 -0.40172085
+v 0.39024599 -0.02275520 -0.40092908
+v 0.44144523 -0.19324987 -0.08400966
+v 0.45214515 -0.22258280 -0.39988784
+v 0.36706146 -0.26244000 -0.10299692
+v 0.49398809 -0.02291961 -0.40113843
+v 0.43986621 -0.01806938 -0.03525013
+v 0.48138521 -0.08065541 -0.18741245
+v 0.45084913 -0.22384621 -0.40166863
+v 0.44002338 -0.24874726 -0.13194378
+v 0.39355751 -0.29220965 -0.28070442
+v 0.37507773 -0.15909090 -0.28826781
+v 0.38051456 -0.03262352 0.02112649
+v 0.40914341 -0.27207386 -0.12161441
+v 0.41128898 -0.01509180 -0.01144929
+v 0.46369482 -0.18278528 -0.40156975
+v 0.41418931 -0.27638512 -0.40176104
+v 0.48029017 -0.12205308 -0.36411901
+v 0.37487254 -0.27633577 -0.11348008
+v 0.37435027 -0.03779164 0.01531221
+v 0.42882042 -0.19941378 -0.08329467
+v 0.43748209 -0.25241006 -0.14513935
+v 0.37892333 -0.02480759 0.01224326
+f 10 2 6
+f 11 3 10
+f 12 11 7
+f 12 3 11
+f 12 10 3
+f 12 2 10
+f 14 7 1
+f 14 12 7
+f 14 8 2
+f 16 6 5
+f 16 5 9
+f 17 7 11
+f 18 1 7
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+f 19 10 6
+f 19 6 4
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+f 19 4 17
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+f 21 6 2
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+f 26 14 1
+f 26 1 21
+f 26 21 8
+f 26 8 14
+f 27 24 4
+f 27 4 6
+f 27 6 24

cake/cake_3/collision/model_normalized_collision_15.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.30757851 -0.30246014 0.02976759
+v 0.39117962 -0.29401955 -0.18250311
+v 0.41511169 0.07979382 0.03877541
+v 0.26772485 0.10562828 0.03795661
+v 0.26901712 -0.28030302 -0.18220722
+v 0.26901712 0.08333334 -0.18220722
+v 0.39900975 -0.19550204 -0.04895533
+v 0.40233607 0.09533300 -0.13339027
+v 0.33178390 -0.28272308 0.01404468
+v 0.40517723 -0.20395983 -0.07646416
+v 0.40852971 -0.04001557 -0.17521954
+v 0.38394037 -0.14563826 0.02196577
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 6 2 5
+f 8 6 4
+f 8 4 3
+f 9 1 2
+f 10 3 7
+f 10 9 2
+f 10 7 9
+f 11 2 6
+f 11 6 8
+f 11 10 2
+f 11 8 3
+f 11 3 10
+f 12 9 7
+f 12 7 3
+f 12 3 1
+f 12 1 9

cake/cake_3/collision/model_normalized_collision_16.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.25319897 0.22036591 0.01335061
+v 0.29912895 0.30925371 -0.10735490
+v 0.25248002 0.32915777 0.01649031
+v 0.02371822 0.47689834 -0.07862452
+v 0.02659288 0.21969697 -0.18220722
+v 0.23896190 0.42350118 -0.10322951
+v 0.02659288 0.21969697 0.01476248
+v 0.30457296 0.35945374 -0.11647411
+v 0.25386561 0.21969697 -0.18220722
+v 0.16402908 0.45950461 -0.08574857
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cake/cake_3/collision/model_normalized_collision_17.obj

@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
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cake/cake_3/collision/model_normalized_collision_18.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
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cake/cake_3/collision/model_normalized_collision_19.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
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cake/cake_3/collision/model_normalized_collision_2.obj

@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
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cake/cake_3/collision/model_normalized_collision_20.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
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