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@@ -337,3 +337,6 @@ new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/visual/yjxvpg__base_li
 new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/visual/xvqshn__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 waffle/waffle_1/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
 cucumber/cucumber_0/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+garlic/garlic_1/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+garlic/garlic_2/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+garlic/garlic_4/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text

garlic/garlic_0/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
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garlic/garlic_0/collision/model_normalized_collision_1.obj

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+# https://github.com/mikedh/trimesh
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garlic/garlic_0/collision/model_normalized_collision_10.obj

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+# https://github.com/mikedh/trimesh
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garlic/garlic_0/collision/model_normalized_collision_11.obj

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+# https://github.com/mikedh/trimesh
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garlic/garlic_0/collision/model_normalized_collision_12.obj

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+# https://github.com/mikedh/trimesh
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garlic/garlic_0/collision/model_normalized_collision_13.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.04982147 -0.24721460 0.25482746
+v 0.06179316 -0.22323498 0.25429323
+v -0.09263022 -0.11405694 0.22961898
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+f 23 17 21

garlic/garlic_0/collision/model_normalized_collision_14.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.09643413 -0.25108476 0.00504904
+v 0.26047334 -0.08611060 0.00084991
+v 0.09085954 -0.08582485 0.08645485
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+v 0.10455239 -0.24039016 0.01228487
+v 0.26311386 0.01684444 0.00239658
+v 0.13239692 -0.22396285 0.00723408
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+f 22 20 8
+f 22 13 20

garlic/garlic_0/collision/model_normalized_collision_15.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02110463 -0.25145515 0.08213787
+v 0.11871063 -0.19129288 0.03894698
+v 0.03485897 -0.11457266 0.13268530
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+v 0.06008269 0.04258338 0.10828797
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+f 25 6 24

garlic/garlic_0/collision/model_normalized_collision_16.obj

@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.19809320 0.07337001 0.00853410
+v 0.20328159 0.07763588 0.00446192
+v 0.04900930 0.15688509 0.05001896
+v -0.13887177 0.22014004 -0.00043064
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+v 0.05185348 0.22398125 -0.00019424
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+v -0.20284588 0.15353975 0.00613456
+v 0.16861979 0.13492943 -0.00243976
+v -0.12329136 0.17193334 0.04967843
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+v 0.20183982 0.09120966 -0.00004697
+v -0.18079182 0.19139256 -0.00103279
+v -0.13627607 0.21353265 0.00957516
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garlic/garlic_0/collision/model_normalized_collision_17.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08092006 -0.26073818 -0.25695597
+v 0.11624586 -0.18377607 -0.32998792
+v 0.01462925 -0.20296947 -0.31869686
+v -0.10659260 -0.17299251 -0.37207031
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+v -0.11654570 -0.17476259 -0.37660234
+v -0.11943402 -0.23977905 -0.31509459
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+f 15 14 9
+f 15 7 14

garlic/garlic_0/collision/model_normalized_collision_18.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02019021 -0.17789410 0.12696675
+v 0.02292161 -0.17874096 0.00757577
+v 0.02292161 0.07883480 0.00757577
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+v -0.00885770 0.07024963 0.10983703
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+f 23 19 6
+f 23 6 15

garlic/garlic_0/collision/model_normalized_collision_19.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.13097664 -0.23025408 -0.33424471
+v 0.00703559 -0.16196467 -0.33651230
+v -0.00868658 -0.17596529 -0.33402080
+v -0.17404808 -0.01207429 -0.34090908
+v -0.15456526 -0.04182518 -0.43080177
+v 0.00777010 -0.01207429 -0.34090908
+v -0.17716740 -0.16711942 -0.40187133
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+v -0.17178052 -0.22719642 -0.34526742
+v 0.00900497 -0.07834811 -0.37367481
+v -0.13450047 -0.22489073 -0.34260228
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+f 16 1 9
+f 16 9 14

garlic/garlic_0/collision/model_normalized_collision_2.obj

@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.10985216 0.22158841 -0.01839850
+v 0.20351781 0.22935392 -0.23442404
+v 0.11971145 0.30274406 -0.16022770
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+v -0.19553999 0.23655818 -0.09270638
+v -0.03407302 0.31736363 -0.23126779
+v 0.03632231 0.30238527 -0.09174020
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+v -0.09496269 0.26072554 -0.26693958
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+v -0.15375037 0.26274843 -0.10083162
+v -0.06798748 0.21519843 -0.09848484
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garlic/garlic_0/collision/model_normalized_collision_20.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.20084776 -0.17434079 0.00009903
+v 0.20214365 -0.17040429 -0.34453049
+v 0.21179376 -0.01043444 0.02416538
+v 0.00777010 -0.01207429 0.00757577
+v 0.00702535 -0.17535227 -0.33164152
+v 0.10988248 -0.00137012 -0.40582921
+v 0.00777010 -0.17874096 0.00757577
+v 0.19991249 -0.00866417 -0.38587048
+v 0.00664261 -0.03135898 -0.41069220
+v 0.19945939 -0.12918242 -0.36749111
+v 0.06827604 -0.01189002 -0.41638807
+v 0.00486192 -0.15715641 -0.33865225
+v 0.19997681 -0.02437668 -0.38329211
+v 0.14755789 -0.16966378 -0.35343623
+v 0.17220741 -0.14353055 -0.36849201
+v 0.19889298 -0.15529022 -0.35586916
+v 0.18382865 -0.16480578 -0.35419548
+f 1 2 3
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+f 8 3 2
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+f 16 15 10
+f 16 10 2
+f 17 2 14
+f 17 14 15
+f 17 16 2
+f 17 15 16

garlic/garlic_0/collision/model_normalized_collision_21.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.17404808 -0.14843793 -0.09848484
+v -0.15021099 -0.04765510 -0.42198278
+v -0.17404808 -0.01207429 -0.09848484
+v -0.34374763 -0.01084137 -0.13572178
+v -0.31207540 -0.13306339 -0.34693633
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+v -0.31762797 -0.01275297 -0.10609829
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+v -0.37085222 -0.01206856 -0.20850864
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+v -0.36633789 -0.06621296 -0.31965350
+v -0.33702439 -0.12022906 -0.20974069
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+f 36 26 32
+f 37 35 13
+f 37 13 18
+f 37 18 35

garlic/garlic_0/collision/model_normalized_collision_22.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.34523311 -0.01561695 -0.13916715
+v -0.30447275 0.03847988 -0.39222831
+v -0.30863068 0.10782566 -0.15983448
+v -0.30735965 0.02987038 -0.39725057
+v -0.35367803 0.06844024 -0.27522268
+v -0.30275293 0.08652467 -0.34827753
+v -0.35248614 0.07153183 -0.19469412
+v -0.37104519 -0.01324455 -0.32306586
+v -0.31839846 0.11836352 -0.23420025
+v -0.32677193 0.03550385 -0.37486163
+v -0.35154439 0.04232074 -0.16944772
+v -0.33347276 0.00065981 -0.39245674
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+v -0.33719264 0.08154594 -0.30391029
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+v -0.31315443 0.03599984 -0.38789357
+v -0.32395565 0.09369559 -0.16875639
+v -0.35604827 -0.01299103 -0.36450320
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+v -0.35707777 -0.01174295 -0.16470475
+v -0.37085222 -0.01206856 -0.20850864
+v -0.31282328 0.08157430 -0.34311391
+v -0.36950495 -0.00126117 -0.32245426
+v -0.35125094 0.05696968 -0.30342951
+f 1 2 3
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+f 29 19 5
+f 29 5 14
+f 29 14 24

garlic/garlic_0/collision/model_normalized_collision_23.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.20568824 0.20167109 -0.03689926
+v -0.16627763 0.23504903 -0.22925263
+v -0.18346318 0.21162771 -0.02745632
+v -0.16826511 0.24829345 -0.07170116
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+v -0.16877093 0.23641004 -0.04534293
+v -0.23351205 0.19984552 -0.10272930
+v -0.19307580 0.24333009 -0.15597043
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+v -0.17713233 0.24446870 -0.07454750
+v -0.23897705 0.19336693 -0.10111265
+v -0.16684646 0.25000131 -0.20058826
+v -0.23177450 0.20081639 -0.18307808
+v -0.21495675 0.19500960 -0.23203306
+v -0.19334606 0.21610558 -0.04460559
+v -0.20430998 0.23040224 -0.10256963
+v -0.19046299 0.24322836 -0.11457027
+v -0.20520715 0.22796553 -0.18294971
+v -0.22734094 0.19226368 -0.21746436
+v -0.20852763 0.20303696 -0.22805128
+v -0.18959226 0.22796549 -0.06221291
+v -0.19195162 0.22749373 -0.20968224
+v -0.17676768 0.24370538 -0.19826153
+v -0.22075481 0.20067985 -0.21251997
+f 6 3 2
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+f 11 1 7
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+f 12 4 2
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+f 24 22 19
+f 24 19 18
+f 24 18 22

garlic/garlic_0/collision/model_normalized_collision_24.obj

@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.16659575 -0.25675322 -0.14671168
+v -0.17178052 -0.22719642 -0.34526742
+v -0.17565145 -0.14943491 0.00947284
+v -0.26640671 -0.14033717 -0.06114394
+v -0.29294377 -0.18042434 -0.27684961
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+v -0.21250845 -0.25152554 -0.29176865
+v -0.25094444 -0.22264392 -0.19468695
+v -0.19544037 -0.14194116 -0.00360485
+v -0.31696036 -0.13940834 -0.32335589
+v -0.16770146 -0.17364867 0.00159364
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+v -0.17454587 -0.25488557 -0.30605970
+v -0.31460060 -0.14146360 -0.17759148
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+v -0.20912345 -0.24989648 -0.19541293
+v -0.23740433 -0.23848855 -0.28893365
+v -0.25432599 -0.14140767 -0.04983913
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+v -0.21115797 -0.19146447 -0.37103368
+v -0.24984347 -0.19288567 -0.34314594
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+f 44 40 35
+f 44 35 36

garlic/garlic_0/collision/model_normalized_collision_25.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.08948826 -0.20417893 0.23109771
+v -0.09497408 -0.20722789 0.08273524
+v -0.09263022 -0.11405694 0.22961898
+v -0.09708441 -0.10437981 0.18909658
+v -0.11132311 -0.16052226 0.18688037
+v -0.09445086 -0.19854746 0.22675605
+v -0.10684138 -0.16263680 0.08133534
+v -0.11184915 -0.13703693 0.18861313
+v -0.09863873 -0.20110428 0.08082079
+v -0.09635153 -0.11733022 0.22736674
+v -0.10690681 -0.11733840 0.12820016
+v -0.11115845 -0.13530414 0.16155406
+v -0.10060694 -0.10782932 0.18970642
+v -0.11123789 -0.15894751 0.17675179
+f 1 2 3
+f 3 2 4
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+f 9 6 5
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+f 9 5 7
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+f 13 3 4
+f 13 8 10
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+f 13 4 11
+f 14 12 7
+f 14 7 5
+f 14 5 8
+f 14 8 12

garlic/garlic_0/collision/model_normalized_collision_26.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.06798748 0.15459237 -0.09848484
+v -0.06798748 0.15459237 -0.23484847
+v -0.06196144 0.30742380 -0.23206376
+v -0.06368104 0.30773286 -0.14610927
+v -0.19768272 0.19184582 -0.25805891
+v -0.06459938 0.29646741 -0.10120115
+v -0.17404808 0.15459237 -0.11363635
+v -0.16407069 0.25814862 -0.10093865
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+v -0.17404808 0.15459237 -0.09848484
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+v -0.16015358 0.24196277 -0.22484243
+v -0.07260717 0.30257468 -0.23110205
+f 1 2 3
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+f 14 3 5
+f 14 5 13

garlic/garlic_0/collision/model_normalized_collision_27.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.10662051 -0.28606847 -0.10083481
+v 0.20268258 -0.22553363 -0.29738536
+v 0.19708256 -0.23499260 -0.07669364
+v 0.12992188 -0.18882387 0.03277614
+v 0.11534154 -0.17591642 -0.33652218
+v 0.20084776 -0.17434079 0.00009903
+v 0.10827660 -0.24605311 0.00132482
+v 0.20218139 -0.25174295 -0.24344414
+v 0.13371013 -0.17113013 -0.34672555
+v 0.10664959 -0.25675354 -0.01411891
+v 0.19278048 -0.19498987 -0.01026420
+v 0.19898529 -0.25007199 -0.11831546
+v 0.10873602 -0.28669323 -0.20087542
+v 0.20214365 -0.17040429 -0.34453049
+v 0.19437901 -0.22147220 -0.04844393
+v 0.14793506 -0.22366080 -0.00506878
+v 0.17043763 -0.26685934 -0.20161981
+v 0.17270212 -0.25136740 -0.25372404
+v 0.11286005 -0.25587245 -0.25367846
+v 0.20057600 -0.18052180 -0.33756816
+v 0.11773763 -0.25283401 -0.01856266
+v 0.16858452 -0.26543537 -0.14700004
+v 0.13436453 -0.17900985 -0.34108190
+v 0.16181378 -0.22227076 -0.29781747
+v 0.11624586 -0.18377607 -0.32998792
+f 7 4 5
+f 8 2 6
+f 9 5 4
+f 9 4 6
+f 10 7 5
+f 10 5 1
+f 11 6 4
+f 12 10 1
+f 12 3 10
+f 12 8 6
+f 12 6 3
+f 13 1 5
+f 14 9 6
+f 14 6 2
+f 15 3 6
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+f 16 11 4
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+f 16 7 15
+f 17 8 12
+f 17 13 8
+f 17 1 13
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+f 18 2 8
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+f 20 14 2
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+f 21 10 3
+f 21 3 15
+f 21 15 7
+f 21 7 10
+f 22 17 12
+f 22 12 1
+f 22 1 17
+f 23 20 2
+f 23 9 20
+f 23 5 9
+f 24 23 2
+f 24 2 19
+f 24 19 23
+f 25 23 19
+f 25 19 5
+f 25 5 23

garlic/garlic_0/collision/model_normalized_collision_28.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00777010 -0.17874096 0.00757577
+v 0.00702535 -0.17535227 -0.33164152
+v 0.00777010 -0.01207429 0.00757577
+v -0.19989171 -0.01765230 0.03282919
+v -0.18125654 -0.20605440 -0.36591147
+v 0.00777010 -0.01207429 -0.34090908
+v -0.16770146 -0.17364867 0.00159364
+v -0.17404808 -0.01207429 -0.34090908
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 3
+f 8 3 6

garlic/garlic_0/collision/model_normalized_collision_29.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.23360785 0.17774728 -0.07952673
+v 0.23262586 0.19419078 -0.25294338
+v 0.14040821 0.27750432 -0.25996472
+v 0.00777010 0.23034995 -0.09848484
+v 0.00777010 0.15459237 -0.23484847
+v 0.19918473 0.22465732 -0.10075683
+v 0.00777010 0.15459237 -0.09848484
+v 0.00777010 0.23034995 -0.23484847
+v 0.20197938 0.22752118 -0.11476535
+v 0.20351781 0.22935392 -0.23442404
+f 5 2 1
+f 5 3 2
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+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 6 1
+f 9 1 2
+f 9 3 6
+f 10 9 2
+f 10 2 3
+f 10 3 9

garlic/garlic_0/collision/model_normalized_collision_3.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.17404808 -0.01207429 -0.09848484
+v -0.15021099 -0.04765510 -0.42198278
+v -0.16814324 0.22282693 -0.24409744
+v -0.20284976 0.22867149 -0.09074102
+v -0.35487764 -0.01209508 -0.15951111
+v -0.16562394 0.20280148 -0.26898660
+v -0.31762797 -0.01275297 -0.10609829
+v -0.34633704 0.08615275 -0.26297354
+v -0.26101509 0.15825874 -0.10301167
+v -0.31337267 0.12194775 -0.26308022
+v -0.32370497 -0.00501178 -0.40394877
+v -0.33899681 0.02833790 -0.13968848
+v -0.34066999 0.09715842 -0.23443374
+v -0.18305593 0.22224077 -0.22989087
+v -0.31204141 0.09423038 -0.33080972
+v -0.17192250 0.08824185 -0.39647438
+v -0.34374763 -0.01084137 -0.13572178
+v -0.30686129 0.05809963 -0.11124977
+v -0.23897705 0.19336693 -0.10111265
+v -0.33928847 0.05673977 -0.15464648
+v -0.32375494 0.11094336 -0.27620779
+v -0.17232433 0.22815382 -0.23312540
+v -0.33243019 0.08621900 -0.30645964
+v -0.25886952 0.10810535 -0.35513025
+v -0.16898248 0.09544782 -0.38950218
+v -0.32454470 0.08433429 -0.15590965
+v -0.27476109 0.13080614 -0.10630931
+v -0.33912911 0.09537893 -0.26132612
+v -0.29939542 0.12101941 -0.30403093
+v -0.31009875 0.10724016 -0.31420724
+v -0.24532533 0.09702903 -0.36942385
+v -0.28451451 0.09398291 -0.35594200
+v -0.28590716 0.10760600 -0.34115410
+v -0.17029362 0.10920054 -0.37395471
+v -0.32610164 0.10876455 -0.20862359
+v -0.32528533 0.09620550 -0.30301880
+v -0.29897399 0.06566682 -0.36792558
+f 1 3 4
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+f 36 30 23
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+f 36 21 30
+f 37 32 11
+f 37 11 15
+f 37 15 32

garlic/garlic_0/collision/model_normalized_collision_30.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01159908 0.17903736 0.04085494
+v 0.00777010 0.15459237 -0.23484847
+v 0.00777010 0.23034995 -0.23484847
+v -0.06781415 0.22695207 0.00436377
+v -0.06798748 0.15459237 -0.23484847
+v 0.00733614 0.22628513 0.00296946
+v -0.06838655 0.18341233 0.04403224
+v -0.09496269 0.26072554 -0.26693958
+v -0.06778848 0.19340164 0.03597866
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 6 4
+f 9 4 7
+f 9 7 1
+f 9 1 6

garlic/garlic_0/collision/model_normalized_collision_31.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.06798748 0.15459237 -0.09848484
+v -0.06798748 0.21519843 -0.09848484
+v -0.06838655 0.18341233 0.04403224
+v -0.19553999 0.23655818 -0.09270638
+v -0.17404808 0.15459237 -0.09848484
+v -0.06860704 0.22734450 0.00390585
+v -0.06825810 0.21964476 0.01193059
+v -0.18249834 0.16205850 0.01816732
+v -0.16549733 0.20639690 -0.00117919
+f 5 2 1
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+f 6 2 4
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 8 5 1
+f 8 1 3
+f 8 4 5
+f 9 8 3
+f 9 3 7
+f 9 7 6
+f 9 6 4
+f 9 4 8

garlic/garlic_0/collision/model_normalized_collision_4.obj

@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.20473979 0.13944086 -0.23484847
+v 0.19898314 0.13179682 -0.32819402
+v 0.13739759 0.29167179 -0.23244756
+v -0.06196144 0.30742380 -0.23206376
+v -0.17404808 0.13944086 -0.23484847
+v 0.08067124 0.16266553 -0.44335610
+v -0.14946605 0.24827371 -0.22811778
+v 0.18956311 0.24787539 -0.22987648
+v 0.03769955 0.30317472 -0.26859699
+v -0.03219717 0.12897661 -0.43898724
+v 0.19383058 0.18857413 -0.29462837
+v 0.09475954 0.30755527 -0.23176255
+v 0.10076728 0.19359819 -0.42293331
+v 0.12111532 0.13145257 -0.43886698
+v -0.15658624 0.13212266 -0.34981802
+v 0.17676260 0.26162906 -0.22986676
+v -0.08941325 0.29204748 -0.23081013
+v -0.00629579 0.30465151 -0.26698731
+v 0.01217447 0.14050904 -0.44645796
+v 0.12045423 0.27539455 -0.28336002
+v 0.18742097 0.24474945 -0.24372979
+v 0.09181085 0.14987131 -0.44449308
+v -0.17346170 0.13717603 -0.33873319
+v -0.05503249 0.30284746 -0.25599080
+v 0.06041629 0.15386272 -0.44804193
+v 0.00850311 0.13269849 -0.45137317
+v 0.09226854 0.30175178 -0.25462273
+v 0.14983362 0.27418673 -0.25621953
+v -0.16627763 0.23504903 -0.22925263
+v -0.05630775 0.26636236 -0.29184310
+v -0.03338676 0.28965056 -0.28016439
+v 0.09310176 0.13637379 -0.44671246
+v 0.13477534 0.28934114 -0.24204218
+v 0.08066706 0.28961957 -0.28102224
+v 0.17442143 0.25962307 -0.24141693
+v 0.14844482 0.26033956 -0.28095523
+v -0.11531439 0.26012830 -0.25038828
+v -0.08763160 0.28880802 -0.24082157
+v 0.00164614 0.15071597 -0.43323971
+v -0.16281427 0.23118913 -0.23877055
+v -0.14633195 0.24507666 -0.23772699
+f 5 2 1
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+f 41 37 40
+f 41 40 29
+f 41 29 38

garlic/garlic_0/collision/model_normalized_collision_5.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.21179376 -0.01043444 0.02416538
+v 0.21142737 -0.01594026 -0.38156867
+v 0.23262586 0.19419078 -0.25294338
+v -0.18249834 0.16205850 0.01816732
+v -0.19989171 -0.01765230 0.03282919
+v -0.17137184 0.12988271 -0.34722987
+v 0.16559896 0.14726476 -0.00673839
+v 0.18055077 0.12901737 -0.33996635
+v -0.19768272 0.19184582 -0.25805891
+v -0.17404808 -0.01207429 -0.35606059
+v 0.19631501 0.14549909 -0.02397114
+v 0.19502626 0.11470861 -0.34146572
+v 0.19638028 0.11639817 -0.00877465
+v 0.19898314 0.13179682 -0.32819402
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 2 6
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 6 2
+f 10 2 5
+f 10 9 6
+f 10 5 9
+f 11 1 3
+f 11 3 7
+f 12 2 8
+f 13 11 7
+f 13 7 1
+f 13 1 11
+f 14 12 8
+f 14 8 3
+f 14 3 2
+f 14 2 12

garlic/garlic_0/collision/model_normalized_collision_6.obj

@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.20439610 -0.23730180 -0.27929180
+v 0.34926994 -0.01849242 -0.30637856
+v 0.20473979 -0.01207429 -0.28030302
+v 0.20508117 0.15508305 -0.31136724
+v 0.20413526 -0.01172107 -0.38414602
+v 0.25999149 0.13320179 -0.30170069
+v 0.29912105 -0.17278733 -0.27435259
+v 0.19855884 0.10304138 -0.34677353
+v 0.23203676 0.14981896 -0.30337215
+v 0.24475798 -0.22762457 -0.27458663
+v 0.30214573 0.08922270 -0.30178080
+v 0.27271818 -0.03742120 -0.36953665
+v 0.19889298 -0.15529022 -0.35586916
+v 0.19898314 0.13179682 -0.32819402
+v 0.25507524 0.12855893 -0.30741350
+v 0.28248118 -0.19852321 -0.27294283
+v 0.29966652 -0.03797993 -0.35341529
+v 0.28433291 0.02446749 -0.35420358
+v 0.20155303 -0.11343923 -0.37193459
+v 0.23038340 -0.20828144 -0.30905123
+v 0.20072970 0.14926752 -0.31690023
+v 0.20268258 -0.22553363 -0.29738536
+v 0.29348167 -0.15353273 -0.29757721
+v 0.23959882 -0.18494429 -0.32372502
+v 0.27265704 -0.01497525 -0.36862402
+v 0.27200500 0.03936502 -0.35317748
+v 0.29830649 0.03715224 -0.33814116
+v 0.29857970 -0.00067127 -0.35254187
+v 0.22389241 -0.13902998 -0.35247571
+v 0.25141272 -0.20814322 -0.29596904
+v 0.20263373 -0.19592177 -0.32447088
+v 0.21658296 -0.22448155 -0.29618147
+v 0.29506231 -0.17001917 -0.28343053
+v 0.28541425 -0.06258869 -0.35238709
+v 0.21683727 -0.19473082 -0.32328390
+v 0.29807151 0.08565438 -0.30770234
+v 0.21182486 -0.11241378 -0.36899493
+v 0.21155237 -0.15213314 -0.35257884
+v 0.24130270 -0.22292383 -0.28503765
+v 0.26518623 -0.19509038 -0.29615789
+v 0.27996233 -0.19412443 -0.28152869
+v 0.28295576 -0.15383031 -0.30894253
+v 0.25403713 -0.13961320 -0.33614191
+v 0.25386802 -0.16904030 -0.32299885
+f 9 4 3
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+f 44 42 40
+f 44 40 24
+f 44 24 43
+f 44 43 34
+f 44 34 42

garlic/garlic_0/collision/model_normalized_collision_7.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00592255 -0.28709174 0.00127717
+v 0.11871063 -0.19129288 0.03894698
+v -0.04858101 -0.25555651 0.13230937
+v -0.16620066 -0.15778105 0.01293324
+v 0.09255477 -0.25721880 -0.00027479
+v 0.02019021 -0.17789410 0.12696675
+v -0.08905408 -0.25697883 0.00193917
+v -0.17228986 -0.16228807 0.00538140
+v 0.01088998 -0.24156487 0.11513202
+v 0.08672734 -0.17480215 0.06848743
+v -0.10216346 -0.17925513 0.12858470
+v -0.06281718 -0.27427493 0.00283349
+v -0.14984574 -0.19994244 -0.00142501
+v 0.08771903 -0.25288430 0.01036129
+v -0.01418192 -0.25346162 0.12618615
+v -0.10684138 -0.16263680 0.08133534
+v -0.08302552 -0.22461945 0.12443293
+v -0.02132348 -0.28591020 0.00219250
+v -0.16770146 -0.17364867 0.00159364
+v 0.06198819 -0.27155861 0.00074571
+f 8 4 2
+f 8 2 5
+f 9 2 6
+f 10 6 2
+f 10 2 4
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+f 11 4 8
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+f 15 5 9
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+f 15 6 3
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+f 16 6 10
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+f 18 1 3
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+f 18 13 1
+f 18 7 13
+f 19 8 5
+f 19 5 13
+f 19 17 8
+f 19 13 17
+f 20 15 1
+f 20 1 5
+f 20 5 15

garlic/garlic_0/collision/model_normalized_collision_8.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.16559896 0.14726476 -0.00673839
+v 0.23360785 0.17774728 -0.07952673
+v 0.13567303 0.22781498 -0.03823635
+v 0.11190471 0.28659628 -0.10073193
+v 0.00777010 0.15459237 -0.09848484
+v 0.16061846 0.24343299 -0.07873866
+v 0.20126753 0.15084553 -0.02948177
+v 0.19218257 0.23263327 -0.10362069
+v 0.01159908 0.17903736 0.04085494
+v 0.11961687 0.27233620 -0.07978947
+v 0.19305517 0.17419393 -0.03918144
+v 0.12044286 0.20233602 -0.00810193
+v 0.13544179 0.27748519 -0.10581666
+v 0.18996261 0.22862287 -0.09383078
+v 0.00777010 0.23034995 -0.09848484
+v 0.13390325 0.24397117 -0.05434780
+v 0.00733614 0.22628513 0.00296946
+v 0.16243297 0.16124304 -0.01110614
+v 0.14649599 0.20285272 -0.02486410
+v 0.13258619 0.27267661 -0.09417592
+v 0.10792812 0.27574370 -0.07805096
+v 0.09146749 0.21891095 -0.00832243
+f 6 3 2
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+f 11 2 3
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+f 13 6 8
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+f 17 5 9
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+f 18 1 7
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+f 21 10 4
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+f 21 16 10
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+f 22 9 12
+f 22 12 3
+f 22 21 17
+f 22 3 16
+f 22 16 21

garlic/garlic_0/collision/model_normalized_collision_9.obj

@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.04641835 -0.31096131 -0.07400868
+v 0.11243895 -0.21455134 -0.29920504
+v 0.12992188 -0.18882387 0.03277614
+v -0.16770146 -0.17364867 0.00159364
+v -0.17454587 -0.25488557 -0.30605970
+v -0.10298784 -0.19187838 -0.35847152
+v -0.04608611 -0.28109763 0.00064809
+v 0.10879632 -0.28319627 -0.21182691
+v -0.18125654 -0.20605440 -0.36591147
+v 0.04573025 -0.28035901 -0.00349449
+v -0.07584307 -0.31279247 -0.17059083
+v 0.11286005 -0.25587245 -0.25367846
+v 0.10292218 -0.28170358 -0.07339573
+v 0.02156014 -0.31179585 -0.05947038
+v 0.01766908 -0.31312751 -0.21325722
+v -0.16134116 -0.25100249 -0.12019967
+v 0.05926170 -0.31129048 -0.10271746
+v 0.08867293 -0.28060547 -0.04568862
+v 0.04507834 -0.29505797 -0.03255323
+v -0.05962682 -0.31253893 -0.10179293
+v -0.03420796 -0.31171932 -0.21390921
+v 0.03130673 -0.29596820 -0.23956893
+v -0.09802481 -0.25230099 -0.00232364
+v -0.16737147 -0.26561421 -0.19192442
+v 0.08855580 -0.29561007 -0.10178429
+v 0.06006943 -0.31206656 -0.15843352
+v 0.10262107 -0.25301480 -0.00340519
+v 0.06007462 -0.29479750 -0.04553874
+v -0.02059786 -0.31140830 -0.05957992
+v -0.06187288 -0.31125695 -0.19833906
+v 0.10935018 -0.26793249 -0.23874940
+v 0.04415951 -0.28278818 -0.25154901
+v -0.17163810 -0.24018616 -0.32954660
+v -0.15912595 -0.22196066 -0.04611519
+v -0.07219306 -0.29676813 -0.05945042
+v -0.17061634 -0.26711064 -0.24865369
+v -0.10212091 -0.29611935 -0.13201156
+v 0.04759851 -0.31232448 -0.18641344
+v 0.09160391 -0.29683559 -0.18752566
+v 0.10318894 -0.26617527 -0.03003550
+v 0.04637026 -0.26928371 -0.26356693
+v -0.15781014 -0.19518050 -0.00468104
+v -0.09907248 -0.26769735 -0.03206118
+v -0.04743712 -0.29648502 -0.03040077
+v -0.07438600 -0.31082711 -0.13227552
+v -0.08799309 -0.29527248 -0.08809534
+v -0.11299715 -0.26904210 -0.05930223
+v -0.11656620 -0.28081205 -0.10369353
+v -0.15859978 -0.23688149 -0.07664760
+f 6 3 2
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+f 12 2 3
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+f 13 8 3
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+f 17 13 1
+f 17 1 14
+f 18 1 13
+f 19 14 1
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+f 23 7 4
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+f 25 8 13
+f 25 13 17
+f 26 17 14
+f 26 14 15
+f 27 3 10
+f 28 19 1
+f 28 1 18
+f 28 27 10
+f 28 10 19
+f 29 20 14
+f 29 14 7
+f 30 21 11
+f 30 11 5
+f 30 5 21
+f 31 12 8
+f 31 8 22
+f 32 2 12
+f 32 31 22
+f 32 12 31
+f 33 22 15
+f 33 15 5
+f 33 5 9
+f 33 32 22
+f 33 9 32
+f 34 4 16
+f 36 24 4
+f 36 4 5
+f 36 5 11
+f 36 11 24
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+f 38 15 8
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+f 39 8 25
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+f 48 16 24
+f 48 24 37
+f 48 37 46
+f 48 47 16
+f 48 46 47
+f 49 47 34
+f 49 34 16
+f 49 16 47

garlic/garlic_0/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="garlic_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.065 0.065 0.065" refquat="0.923879532511287 0.0 0.0 0.38268343236508984"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Garlic_u1_v1" texture="image0" specular="0.5" shininess="0.0"/>
+  </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="Garlic_u1_v1"/>
+        <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="-0.0002495024877189861 -0.0015065008780848876 -0.0321915126" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0002495024877189861 -0.0015065008780848876 0.03223520365" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.021373955941014638 0.020123444426423387 2.184552499999909e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

garlic/garlic_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 0.00000000
+map_Kd material_0.jpeg

garlic/garlic_1/collision/model_normalized_collision_0.obj

@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.33129510 -0.14100296 -0.07437673
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garlic/garlic_1/collision/model_normalized_collision_1.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
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garlic/garlic_1/collision/model_normalized_collision_10.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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garlic/garlic_1/collision/model_normalized_collision_11.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
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garlic/garlic_1/collision/model_normalized_collision_12.obj

@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
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garlic/garlic_1/collision/model_normalized_collision_13.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.07378365 0.18871621 -0.23484849
+v 0.01537583 0.29383444 -0.36005088
+v 0.01783461 0.37780980 -0.23281051
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+v -0.18749777 0.34329297 -0.27451575
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garlic/garlic_1/collision/model_normalized_collision_14.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01712544 -0.12946561 -0.35606061
+v 0.01712544 -0.12946561 -0.41666667
+v 0.02337453 -0.00352772 -0.46404854
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+v -0.07378365 0.08265560 -0.35606061
+v -0.19499578 -0.12946561 -0.35606061
+v -0.20058934 0.08045873 -0.47310384
+v 0.01712544 -0.00825349 -0.35606061
+v -0.07954716 0.08171313 -0.46173556
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+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 3 8
+f 10 8 4
+f 10 4 6

garlic/garlic_1/collision/model_normalized_collision_15.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.19155303 -0.31949644 -0.10241745
+v -0.18730502 -0.31355156 -0.08908792
+v -0.37919985 -0.09373802 -0.10643258
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+v -0.19664134 -0.21340024 -0.01060689
+v -0.34459451 -0.07947974 -0.05180362
+v -0.36088547 -0.01362799 -0.06637803
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+f 24 19 20

garlic/garlic_1/collision/model_normalized_collision_16.obj

@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.18854646 -0.35916421 -0.20691901
+v -0.18712986 -0.26057956 -0.43886746
+v -0.23637981 -0.22749158 -0.06032461
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garlic/garlic_1/collision/model_normalized_collision_17.obj

@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.13535650 -0.32500519 -0.37630630
+v 0.14010407 -0.28482427 -0.42272041
+v 0.13833756 -0.11431409 -0.35606061
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garlic/garlic_1/collision/model_normalized_collision_18.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.12860094 -0.23492549 -0.46410384
+v -0.11779852 -0.18852329 -0.48590508
+v -0.11790588 0.18472794 -0.44325275
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+f 22 15 18

garlic/garlic_1/collision/model_normalized_collision_19.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.20856330 -0.32656141 -0.34957899
+v 0.24477316 -0.29659425 -0.35636151
+v -0.18923824 -0.33220971 -0.35156402
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