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@@ -334,3 +334,6 @@ new_bottle_of_essential_oil/new_bottle_of_essential_oil_2/visual/xhoipk__base_li
 new_bottle_of_essential_oil/new_bottle_of_essential_oil_1/visual/wansva__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_bottle_of_essential_oil/new_bottle_of_essential_oil_0/visual/eyyhld__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/visual/yjxvpg__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
+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

cucumber/cucumber_0/collision/model_normalized_collision_0.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
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cucumber/cucumber_0/collision/model_normalized_collision_1.obj

@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
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cucumber/cucumber_0/collision/model_normalized_collision_10.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
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cucumber/cucumber_0/collision/model_normalized_collision_11.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
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cucumber/cucumber_0/collision/model_normalized_collision_12.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00747228 -0.12441970 0.09088312
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cucumber/cucumber_0/collision/model_normalized_collision_13.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
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cucumber/cucumber_0/collision/model_normalized_collision_14.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.14471078 -0.13816587 -0.05735487
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cucumber/cucumber_0/collision/model_normalized_collision_15.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.32388734 -0.12634953 -0.05856902
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+v 0.33948792 0.08284821 -0.10526620
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+v 0.14039952 0.01152449 -0.12773680
+v 0.14393939 -0.00541726 -0.05914634
+v 0.33845555 -0.12258553 -0.05861534
+v 0.14471078 -0.13816587 -0.05735487
+v 0.34185714 0.07187117 -0.11250165
+v 0.19527761 -0.12512294 -0.08305453
+v 0.32395915 -0.12469888 -0.06874498
+f 7 3 4
+f 7 6 5
+f 7 4 6
+f 8 3 7
+f 9 7 5
+f 9 8 7
+f 9 1 8
+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 10 6 4
+f 10 4 3
+f 11 6 2
+f 11 5 6
+f 11 9 5
+f 12 8 1
+f 12 2 8
+f 12 1 9
+f 12 11 2
+f 12 9 11

cucumber/cucumber_0/collision/model_normalized_collision_16.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.36487311 -0.12212374 0.03898782
+v 0.38940614 -0.10202139 -0.06272387
+v 0.38512729 -0.08326219 0.09961675
+v 0.14312340 -0.09210488 0.11167053
+v 0.13930332 -0.14606359 -0.02328124
+v 0.21706412 -0.12762845 0.07623844
+v 0.37922176 -0.10730799 0.06568385
+v 0.32388734 -0.12634953 -0.05856902
+v 0.14364408 -0.12702215 -0.07668530
+v 0.27172121 -0.09910058 0.10975789
+v 0.27846442 -0.13877425 0.02794735
+v 0.14230788 -0.14287502 0.05328369
+v 0.38228431 -0.10986588 -0.05359763
+v 0.35940387 -0.10995969 0.07789380
+v 0.13638968 -0.10161822 0.10948248
+v 0.14471078 -0.13816587 -0.05735487
+v 0.27472494 -0.09203639 0.11057581
+v 0.34711893 -0.12391349 -0.03568498
+v 0.26176572 -0.13967139 -0.02433149
+v 0.29304025 -0.12388733 0.06790852
+v 0.37103608 -0.09521332 0.09465718
+v 0.14048149 -0.12948606 0.08057600
+v 0.27978300 -0.13858965 0.00423486
+v 0.36397420 -0.12092421 -0.02464395
+v 0.16014564 -0.14080178 -0.04706532
+v 0.33771756 -0.12336020 0.05655479
+v 0.23064792 -0.13911953 -0.03651037
+f 3 2 4
+f 7 2 3
+f 9 4 2
+f 9 2 8
+f 12 5 11
+f 13 7 1
+f 13 2 7
+f 13 8 2
+f 14 1 7
+f 14 10 6
+f 15 9 5
+f 15 4 9
+f 15 10 4
+f 16 9 8
+f 16 5 9
+f 17 10 3
+f 17 3 4
+f 17 4 10
+f 18 8 13
+f 19 11 5
+f 20 12 11
+f 20 6 12
+f 20 14 6
+f 21 14 7
+f 21 7 3
+f 21 3 10
+f 21 10 14
+f 22 15 5
+f 22 5 12
+f 22 12 6
+f 22 6 10
+f 22 10 15
+f 23 1 11
+f 23 11 19
+f 23 19 8
+f 23 8 18
+f 24 18 13
+f 24 13 1
+f 24 23 18
+f 24 1 23
+f 25 16 8
+f 25 5 16
+f 26 20 11
+f 26 11 1
+f 26 1 14
+f 26 14 20
+f 27 25 8
+f 27 8 19
+f 27 19 5
+f 27 5 25

cucumber/cucumber_0/collision/model_normalized_collision_17.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.45881780 -0.07766020 0.01682552
+v 0.49041124 -0.02991687 -0.02544259
+v 0.47587409 0.03368525 0.07012494
+v 0.45530961 0.10787868 -0.00150410
+v 0.45479688 -0.01804242 -0.08247402
+v 0.49652225 0.07292772 0.01433921
+v 0.45122894 0.06763547 0.06899417
+v 0.47623371 -0.00775250 0.06513501
+v 0.45279817 -0.07645959 -0.03966206
+v 0.46447523 0.05929973 -0.07723119
+v 0.45365168 0.10580033 -0.05187487
+v 0.48470206 0.07088629 0.03212638
+v 0.47564135 -0.05668552 0.01456559
+v 0.45737011 -0.00317997 0.08877728
+v 0.49497085 0.02924794 0.02144387
+v 0.45954665 -0.05259970 -0.06170532
+v 0.49123070 0.01219204 -0.04144913
+v 0.45165315 -0.05839278 -0.06579930
+v 0.45483339 0.06423910 -0.08207913
+v 0.46709809 0.10168684 -0.00802967
+v 0.47937970 0.05982171 -0.06139220
+v 0.49133133 0.07270210 0.02098398
+v 0.46287369 0.04450626 0.08185509
+v 0.46528477 -0.07119426 0.01701105
+v 0.46317635 -0.00048059 0.08227045
+v 0.49130851 -0.01878507 0.01288059
+v 0.47374880 -0.05250607 -0.03691055
+v 0.47420753 -0.01149490 -0.06337182
+v 0.46077153 0.10077187 -0.04891819
+v 0.49138801 0.01872077 -0.03939957
+v 0.45606960 0.04782451 0.08591914
+v 0.49020248 -0.02940698 0.00047535
+v 0.47508368 -0.03991447 -0.04978963
+v 0.46198376 -0.01666217 -0.07549375
+v 0.47637526 0.07359855 -0.05248039
+f 11 7 4
+f 12 4 7
+f 14 9 1
+f 14 7 9
+f 15 6 3
+f 15 3 8
+f 15 2 6
+f 17 6 2
+f 18 9 7
+f 18 7 11
+f 18 16 9
+f 18 5 16
+f 19 11 10
+f 19 10 5
+f 19 18 11
+f 19 5 18
+f 20 11 4
+f 20 4 6
+f 22 12 6
+f 22 6 4
+f 22 4 12
+f 23 3 6
+f 23 6 12
+f 23 14 3
+f 24 13 8
+f 24 1 9
+f 24 14 1
+f 24 8 14
+f 25 14 8
+f 25 8 3
+f 25 3 14
+f 26 2 15
+f 26 15 8
+f 26 8 13
+f 27 9 16
+f 27 24 9
+f 27 2 13
+f 27 13 24
+f 28 21 17
+f 28 10 21
+f 28 17 2
+f 29 20 6
+f 29 11 20
+f 29 21 10
+f 29 10 11
+f 30 21 6
+f 30 6 17
+f 30 17 21
+f 31 23 12
+f 31 12 7
+f 31 7 14
+f 31 14 23
+f 32 26 13
+f 32 13 2
+f 32 2 26
+f 33 27 16
+f 33 2 27
+f 33 28 2
+f 34 5 10
+f 34 10 28
+f 34 28 33
+f 34 33 16
+f 34 16 5
+f 35 29 6
+f 35 6 21
+f 35 21 29

cucumber/cucumber_0/collision/model_normalized_collision_18.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.41594120 -0.01297261 0.11532765
+v 0.46472842 -0.00601928 -0.07686049
+v 0.44839804 0.08477319 0.05834727
+v 0.39581778 0.13275456 0.04300842
+v 0.39965807 0.05221157 -0.11506151
+v 0.39677482 0.10228335 0.09324767
+v 0.45126510 0.00045837 0.09701936
+v 0.43187517 -0.00992707 -0.10366425
+v 0.45179197 0.11266395 -0.04007321
+v 0.42112806 0.10017066 0.08178786
+v 0.39819245 -0.00290790 0.12600049
+v 0.44146828 0.05118729 -0.09680550
+v 0.40201948 0.12641299 -0.05121443
+v 0.44839171 0.11390562 -0.00213987
+v 0.44718932 0.03187860 0.10489284
+v 0.39773310 0.02201264 0.12357805
+v 0.39424320 0.07949173 -0.10708409
+v 0.42451520 0.05152538 -0.10577041
+v 0.44854643 0.10242476 -0.06153522
+v 0.42770343 0.12518490 -0.05345531
+v 0.41937791 0.11576057 0.05120761
+v 0.43326075 0.09241375 0.07968436
+v 0.44664938 0.01204239 0.10706198
+v 0.41973256 0.09074129 0.09160596
+v 0.41257924 -0.00040609 0.12263398
+v 0.43704383 0.07261488 -0.08923365
+v 0.43473839 0.10253618 -0.07213574
+v 0.42353863 0.12706083 0.00750025
+v 0.40663994 0.12795929 0.04091302
+v 0.43682453 0.00097872 0.10910738
+v 0.41226524 0.02004261 0.12042920
+v 0.40826916 0.09940349 0.09093071
+v 0.42644771 0.06149223 -0.10086822
+v 0.43286195 0.11607207 -0.05978189
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 3 2
+f 10 4 6
+f 11 8 1
+f 11 5 8
+f 12 2 8
+f 14 3 9
+f 15 7 3
+f 16 6 4
+f 17 5 11
+f 17 4 13
+f 17 16 4
+f 17 11 16
+f 18 12 8
+f 18 8 5
+f 18 5 17
+f 19 9 2
+f 19 2 12
+f 20 13 4
+f 20 9 19
+f 20 17 13
+f 22 3 14
+f 22 15 3
+f 22 21 10
+f 22 14 21
+f 23 7 15
+f 24 6 16
+f 24 15 22
+f 24 22 10
+f 25 16 11
+f 25 23 15
+f 25 11 1
+f 26 19 12
+f 27 17 20
+f 27 26 17
+f 27 19 26
+f 28 14 9
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+f 28 20 4
+f 29 4 10
+f 29 10 21
+f 29 28 4
+f 29 21 14
+f 29 14 28
+f 30 1 7
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+f 30 25 1
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+f 31 24 16
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+f 31 25 15
+f 31 16 25
+f 32 24 10
+f 32 10 6
+f 32 6 24
+f 33 18 17
+f 33 17 26
+f 33 26 12
+f 33 12 18
+f 34 27 20
+f 34 20 19
+f 34 19 27

cucumber/cucumber_0/collision/model_normalized_collision_19.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.16072843 -0.14423676 0.01443184
+v -0.16029022 -0.14136812 -0.03650007
+v -0.18869109 -0.09410855 -0.10231189
+v -0.23046575 -0.09106308 -0.09049989
+v -0.23338644 -0.12450593 -0.04129781
+v -0.16480119 -0.13744766 0.02852735
+v -0.18187611 -0.14221487 0.01399343
+v -0.18381922 -0.12734144 -0.06689984
+v -0.24083876 -0.12189710 0.01886076
+v -0.18483964 -0.13715367 -0.03760210
+v -0.18619095 -0.10475057 -0.09544111
+v -0.22713249 -0.10287702 -0.08797184
+v -0.16312398 -0.13735078 -0.04541882
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 6
+f 9 6 3
+f 9 3 4
+f 9 4 5
+f 9 7 6
+f 9 5 7
+f 10 7 5
+f 10 2 7
+f 10 8 2
+f 10 5 8
+f 12 8 5
+f 12 5 4
+f 12 11 8
+f 12 4 3
+f 12 3 11
+f 13 11 3
+f 13 3 2
+f 13 2 8
+f 13 8 11

cucumber/cucumber_0/collision/model_normalized_collision_2.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26484413 -0.13711372 0.03525773
+v 0.26715299 -0.12216896 -0.07612076
+v 0.26515152 -0.00541726 0.01661124
+v -0.15909091 -0.02056878 0.01661124
+v -0.16029022 -0.14136812 -0.03650007
+v 0.00757576 -0.00541726 -0.05914634
+v 0.00757576 -0.00541726 0.01661124
+v 0.14229296 -0.14947242 0.01669504
+v 0.26515152 -0.00541726 -0.05914634
+v -0.15909091 -0.02056878 -0.04399483
+v 0.14471078 -0.13816587 -0.05735487
+v -0.16072843 -0.14423676 0.01443184
+v -0.09848485 -0.02056878 -0.05914634
+v -0.10135525 -0.14395999 -0.05190899
+f 1 2 3
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 4 6
+f 11 2 8
+f 12 8 1
+f 12 1 4
+f 12 10 5
+f 12 4 10
+f 13 10 6
+f 13 6 2
+f 14 11 8
+f 14 2 11
+f 14 13 2
+f 14 5 10
+f 14 10 13
+f 14 12 5
+f 14 8 12

cucumber/cucumber_0/collision/model_normalized_collision_20.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.33902940 -0.10890511 -0.08608416
+v 0.40535416 -0.05621133 -0.09713593
+v 0.14310461 -0.12136533 -0.08611667
+v 0.18875061 -0.05013067 -0.12845584
+v 0.31162903 -0.08371273 -0.11978388
+v 0.40039173 -0.07943638 -0.08788494
+v 0.37884632 -0.04565500 -0.12149997
+v 0.31670519 -0.10053417 -0.10502294
+v 0.14579033 -0.08589655 -0.11575494
+v 0.29404580 -0.11666915 -0.08147512
+v 0.39500911 -0.04488099 -0.11160945
+v 0.37581043 -0.05370127 -0.11979474
+v 0.14295675 -0.11551472 -0.09596575
+v 0.14440051 -0.07554819 -0.12040213
+v 0.39028666 -0.07030845 -0.10148552
+v 0.19222841 -0.05449333 -0.12763190
+f 3 2 4
+f 6 2 3
+f 7 5 4
+f 8 6 1
+f 10 6 3
+f 10 1 6
+f 10 8 1
+f 11 7 4
+f 11 4 2
+f 12 5 7
+f 12 8 5
+f 12 7 11
+f 13 5 8
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+f 13 10 3
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+f 14 3 4
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+f 14 13 3
+f 14 9 13
+f 15 11 2
+f 15 2 6
+f 15 12 11
+f 15 6 8
+f 15 8 12
+f 16 14 4
+f 16 4 5
+f 16 5 14

cucumber/cucumber_0/collision/model_normalized_collision_21.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.39635499 -0.08638983 0.08639614
+v 0.41620735 -0.06546063 0.09172308
+v 0.29645793 -0.02017173 0.13576283
+v 0.26308252 0.08067419 0.10552088
+v 0.40452655 0.07378016 0.10104198
+v 0.26709874 -0.10819567 0.09662822
+v 0.38232888 -0.04609254 0.12367742
+v 0.41169468 -0.07534946 0.08618405
+v 0.33309700 0.01483835 0.13664916
+v 0.26624178 -0.07554000 0.12237003
+v 0.39394022 -0.08051783 0.09916621
+v 0.39819245 -0.00290790 0.12600049
+v 0.26396591 0.06788419 0.11467545
+v 0.35166332 -0.01498389 0.13306390
+v 0.26575084 -0.09334924 0.11212724
+v 0.40437607 -0.07366246 0.09662626
+v 0.41023349 -0.06227236 0.09801980
+v 0.39220250 0.04648539 0.11829237
+v 0.39614734 0.06392958 0.10882796
+v 0.29727201 0.00407947 0.13398951
+v 0.26655278 0.03712250 0.12127824
+v 0.35333699 0.00597881 0.13357254
+v 0.33483636 -0.08498512 0.10676473
+v 0.38695241 -0.07485333 0.10627170
+v 0.31751740 0.01972880 0.13396368
+f 6 4 1
+f 8 5 2
+f 8 1 4
+f 8 4 5
+f 10 7 3
+f 11 1 8
+f 11 6 1
+f 12 2 5
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+f 14 9 3
+f 14 3 7
+f 14 7 12
+f 15 10 4
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+f 16 8 2
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+f 17 2 12
+f 17 16 2
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+f 19 5 4
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+f 20 3 9
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+f 21 10 3
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+f 21 3 20
+f 22 14 12
+f 22 12 9
+f 22 9 14
+f 23 15 6
+f 23 6 11
+f 24 16 7
+f 24 11 16
+f 24 23 11
+f 24 7 15
+f 24 15 23
+f 25 20 9
+f 25 9 13
+f 25 13 20

cucumber/cucumber_0/collision/model_normalized_collision_22.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.41594120 -0.01297261 0.11532765
+v 0.40151516 -0.00541726 0.01661124
+v 0.41623566 0.12563709 0.02116992
+v 0.26595453 0.14315855 0.01911246
+v 0.26515152 -0.00541726 0.01661124
+v 0.40403722 0.10778001 0.08139779
+v 0.26705710 0.00517753 0.12993525
+v 0.26259762 0.11018354 0.08241499
+v 0.40452655 0.07378016 0.10104198
+v 0.26308252 0.08067419 0.10552088
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 8 4 5
+f 8 6 4
+f 9 7 1
+f 9 1 6
+f 10 8 5
+f 10 5 7
+f 10 7 9
+f 10 9 6
+f 10 6 8

cucumber/cucumber_0/collision/model_normalized_collision_23.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.39358299 0.04830785 -0.11986288
+v 0.41578470 0.07120287 -0.09887713
+v 0.26544839 0.05315807 -0.11551148
+v 0.26800282 0.12685188 -0.05523169
+v 0.38070462 0.09429806 -0.10610361
+v 0.40165180 0.12411255 -0.05544449
+v 0.38956726 0.08875649 -0.10483157
+v 0.28491657 0.04642423 -0.12307184
+v 0.26845461 0.09894112 -0.09530063
+v 0.31291484 0.11412781 -0.08356426
+v 0.39587353 0.11372873 -0.07843870
+v 0.28863467 0.06914210 -0.11646859
+v 0.26095321 0.07916624 -0.10502404
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 1 3
+f 10 4 6
+f 10 9 4
+f 10 5 9
+f 11 6 2
+f 11 2 7
+f 11 7 5
+f 11 10 6
+f 11 5 10
+f 12 5 1
+f 12 1 8
+f 12 9 5
+f 12 8 3
+f 13 3 4
+f 13 4 9
+f 13 12 3
+f 13 9 12

cucumber/cucumber_0/collision/model_normalized_collision_24.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.34453422 -0.06788463 -0.11383412
+v 0.34185714 0.07187117 -0.11250165
+v 0.21838819 0.07477230 -0.09937212
+v 0.21264205 -0.05944778 -0.12577632
+v 0.34517812 0.03487562 -0.13294902
+v 0.33936362 -0.02567547 -0.13629129
+v 0.24570927 0.02912831 -0.13081527
+v 0.22432114 0.05118858 -0.11844792
+v 0.23631658 -0.02058840 -0.13341133
+v 0.26589227 0.07701948 -0.10468660
+v 0.22126985 -0.04919868 -0.12863354
+v 0.22477019 0.06133732 -0.11278214
+v 0.26211767 0.06640907 -0.11179401
+f 1 2 3
+f 4 1 3
+f 5 2 1
+f 6 1 4
+f 6 5 1
+f 7 5 6
+f 8 4 3
+f 8 2 5
+f 8 5 7
+f 9 7 6
+f 9 8 7
+f 9 4 8
+f 10 3 2
+f 11 9 6
+f 11 6 4
+f 11 4 9
+f 12 8 3
+f 12 3 10
+f 13 12 10
+f 13 10 2
+f 13 2 8
+f 13 8 12

cucumber/cucumber_0/collision/model_normalized_collision_25.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.39614734 0.06392958 0.10882796
+v 0.40635850 0.08162210 0.09651842
+v 0.32244112 0.11887081 0.09069620
+v 0.21982382 0.12294253 0.06955674
+v 0.39517669 0.11750926 0.06902882
+v 0.26396591 0.06788419 0.11467545
+v 0.36439181 0.08783624 0.10850458
+v 0.35356039 0.11967846 0.08667312
+v 0.22305785 0.10151890 0.09319976
+v 0.21361678 0.09620942 0.09098574
+v 0.39677482 0.10228335 0.09324767
+v 0.26467718 0.09599808 0.10103100
+v 0.22152621 0.11387670 0.08074382
+v 0.22057123 0.08419850 0.10300968
+v 0.39504116 0.11137408 0.08056040
+f 5 2 1
+f 5 1 4
+f 7 6 1
+f 8 5 4
+f 8 4 3
+f 8 3 7
+f 10 4 1
+f 10 1 6
+f 11 7 1
+f 11 1 2
+f 11 8 7
+f 11 2 5
+f 12 7 3
+f 12 6 7
+f 12 3 9
+f 13 9 3
+f 13 3 4
+f 13 10 9
+f 13 4 10
+f 14 10 6
+f 14 9 10
+f 14 12 9
+f 14 6 12
+f 15 11 5
+f 15 5 8
+f 15 8 11

cucumber/cucumber_0/collision/model_normalized_collision_26.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.09803356 -0.13818985 -0.06113630
+v -0.09669809 -0.09351537 -0.11577602
+v -0.09848485 -0.02056878 -0.04399483
+v -0.23484849 -0.02056878 -0.04399483
+v -0.23761758 -0.10140236 -0.07718609
+v -0.09838862 0.00217001 -0.12465048
+v -0.24334438 -0.11242723 -0.05469831
+v -0.09646576 -0.07677457 -0.12093331
+v -0.14152601 -0.09069707 -0.11658207
+v -0.23053974 -0.01787868 -0.11799091
+v -0.12019697 -0.08765795 -0.11935943
+v -0.22818684 -0.04568903 -0.12013054
+v -0.21518152 -0.08497657 -0.10084249
+v -0.09806318 -0.02074881 -0.13086978
+v -0.23046575 -0.09106308 -0.09049989
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 9 2 1
+f 9 1 5
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 11 8 2
+f 11 2 9
+f 12 5 10
+f 12 11 9
+f 13 12 9
+f 14 8 11
+f 14 11 12
+f 14 6 8
+f 14 12 10
+f 14 10 6
+f 15 13 9
+f 15 9 5
+f 15 5 12
+f 15 12 13

cucumber/cucumber_0/collision/model_normalized_collision_27.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.40403722 0.10778001 0.08139779
+v 0.40311124 0.11792815 -0.06744788
+v 0.36895098 0.14251102 0.01386503
+v 0.28435306 0.14344682 0.03973919
+v 0.26321787 0.11110436 -0.06899340
+v 0.36625183 0.12742089 0.06835729
+v 0.40009350 0.13089303 -0.03883714
+v 0.26259762 0.11018354 0.08241499
+v 0.39448506 0.12907502 0.05211776
+v 0.32611143 0.14399789 0.04329106
+v 0.35074479 0.14499272 -0.03863579
+v 0.25735800 0.12837789 0.06965254
+v 0.37495439 0.14249628 -0.02295764
+v 0.35409296 0.14384418 0.03070503
+v 0.40165180 0.12411255 -0.05544449
+v 0.27303881 0.13218182 -0.05333436
+v 0.27277628 0.14527483 -0.02512542
+v 0.33716203 0.14367144 -0.03932545
+v 0.26987529 0.14418256 0.00365211
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 8 1 6
+f 9 6 1
+f 9 1 7
+f 10 6 9
+f 12 5 8
+f 12 10 4
+f 12 8 6
+f 12 6 10
+f 13 9 7
+f 13 3 9
+f 13 7 11
+f 14 10 9
+f 14 9 3
+f 14 11 10
+f 14 13 11
+f 14 3 13
+f 15 11 7
+f 15 7 2
+f 15 2 11
+f 16 11 2
+f 16 2 5
+f 17 4 10
+f 17 10 11
+f 17 16 5
+f 17 5 12
+f 18 17 11
+f 18 11 16
+f 18 16 17
+f 19 17 12
+f 19 12 4
+f 19 4 17

cucumber/cucumber_0/collision/model_normalized_collision_28.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.02056878 0.01661124
+v -0.09806318 -0.02074881 -0.13086978
+v -0.09848485 0.04003728 0.01661124
+v -0.23484849 0.04003728 0.01661124
+v -0.23484849 -0.02056878 0.01661124
+v -0.09775446 0.03681100 -0.10810868
+v -0.23053974 -0.01787868 -0.11799091
+v -0.23343660 0.03505120 -0.10567438
+v -0.14983155 0.03063730 -0.11794685
+v -0.09813817 0.01620556 -0.11805755
+v -0.22804184 0.01367663 -0.11755673
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 6
+f 9 8 6
+f 10 9 6
+f 10 6 2
+f 10 2 9
+f 11 9 2
+f 11 2 7
+f 11 7 8
+f 11 8 9

cucumber/cucumber_0/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26484413 -0.13711372 0.03525773
+v 0.40181735 -0.09682471 -0.05961064
+v 0.41623566 0.12563709 0.02116992
+v 0.26595453 0.14315855 0.01911246
+v 0.26715299 -0.12216896 -0.07612076
+v 0.40311124 0.11792815 -0.06744788
+v 0.41074903 -0.11125353 0.01036278
+v 0.26321787 0.11110436 -0.06899340
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 6 5
+f 8 4 6

cucumber/cucumber_0/collision/model_normalized_collision_3.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.39418051 -0.11894407 0.01102121
+v 0.38410151 -0.09139836 0.08803500
+v -0.10423442 -0.14491153 0.01768432
+v -0.08919652 -0.01491301 0.13406020
+v 0.38636364 -0.00541726 0.01661124
+v -0.09800377 -0.11173584 0.10574546
+v 0.26575084 -0.09334924 0.11212724
+v 0.39344758 -0.01756303 0.12217059
+v -0.09848485 -0.02056878 0.01661124
+v 0.09418044 -0.08324148 0.12220096
+v 0.00727094 -0.00687207 0.13166109
+v 0.26624178 -0.07554000 0.12237003
+v 0.00757576 -0.00541726 0.01661124
+v 0.00784308 -0.08966124 0.11980296
+v 0.20751076 -0.00972214 0.13570487
+v 0.23236527 -0.01968281 0.13686813
+v 0.23340476 -0.01185366 0.13667679
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 1 5
+f 9 1 3
+f 9 6 4
+f 9 3 6
+f 12 7 2
+f 12 2 8
+f 12 10 7
+f 13 5 1
+f 13 1 9
+f 13 11 5
+f 13 9 4
+f 13 4 11
+f 14 10 4
+f 14 4 6
+f 14 6 7
+f 14 7 10
+f 15 8 5
+f 15 5 11
+f 15 11 4
+f 16 12 8
+f 16 10 12
+f 16 4 10
+f 17 16 8
+f 17 8 15
+f 17 15 4
+f 17 4 16

cucumber/cucumber_0/collision/model_normalized_collision_30.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.10423442 -0.14491153 0.01768432
+v -0.09800377 -0.11173584 0.10574546
+v -0.16455439 -0.11179733 0.09867698
+v -0.15820515 0.12038124 0.00131473
+v -0.09876325 0.12541707 0.01295192
+v -0.16480119 -0.13744766 0.02852735
+v -0.16051952 0.07751588 0.10439162
+v -0.09402957 0.07671252 0.10684236
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 5 4
+f 7 6 3
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 7

cucumber/cucumber_0/collision/model_normalized_collision_31.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.02056878 0.01661124
+v -0.23484849 -0.02056878 -0.04399483
+v -0.24076205 0.06505990 -0.07782382
+v -0.36479562 0.02957431 0.01522237
+v -0.35005438 -0.01995134 0.01516073
+v -0.23484849 0.04003728 0.01661124
+v -0.33961046 -0.01867418 -0.03655526
+v -0.36613436 0.01830118 -0.02997973
+v -0.32896466 0.03426179 -0.03815463
+v -0.33696060 0.03403967 -0.02324373
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 3 7
+f 9 3 8
+f 10 9 8
+f 10 8 4
+f 10 4 3
+f 10 3 9

cucumber/cucumber_0/collision/model_normalized_collision_4.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00931701 -0.01472766 0.13290207
+v 0.14393939 -0.00541726 -0.05914634
+v 0.15255282 0.12057665 0.06409177
+v -0.06706103 0.13112462 0.03819618
+v -0.09848485 -0.02056878 -0.05914634
+v 0.14422413 0.12232754 -0.04571170
+v -0.10146409 0.07864338 0.10762146
+v 0.13897001 0.01435745 0.12332366
+v 0.00757576 -0.02056878 -0.05914634
+v 0.15211968 0.13389239 0.03854522
+v -0.09869082 0.10782260 -0.04723478
+v -0.09351428 0.11634432 0.06916012
+v -0.08919652 -0.01491301 0.13406020
+v -0.04161144 0.08096736 0.10618739
+v -0.03451313 0.12931557 -0.00027756
+v 0.11534712 0.11043762 -0.05371423
+v -0.09739138 0.11649349 -0.04096086
+v -0.09867313 0.05145839 0.11525350
+v 0.10486687 0.13026305 0.00670360
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 3 2
+f 10 2 6
+f 11 5 7
+f 12 10 4
+f 12 3 10
+f 13 8 7
+f 13 1 8
+f 13 9 1
+f 13 5 9
+f 14 8 3
+f 14 7 8
+f 14 12 7
+f 14 3 12
+f 15 4 10
+f 16 6 2
+f 16 2 5
+f 16 5 11
+f 17 11 7
+f 17 7 12
+f 17 12 4
+f 17 4 15
+f 17 15 6
+f 17 16 11
+f 17 6 16
+f 18 13 7
+f 18 7 5
+f 18 5 13
+f 19 15 10
+f 19 10 6
+f 19 6 15

cucumber/cucumber_0/collision/model_normalized_collision_5.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.14364408 -0.12702215 -0.07668530
+v 0.22126985 -0.04919868 -0.12863354
+v 0.14464415 0.11221132 -0.05128369
+v -0.06721772 0.10277656 -0.05041375
+v -0.09297093 -0.04409482 -0.13410215
+v -0.09594373 -0.13265460 -0.07418606
+v 0.19052672 -0.09710198 -0.10625384
+v 0.14765602 0.03011948 -0.12013097
+v -0.09851322 0.09706877 -0.05632427
+v 0.18746437 -0.07581341 -0.12577740
+v -0.09289031 -0.09228912 -0.11922986
+v 0.21987236 -0.00521776 -0.13213274
+v -0.09813817 0.01620556 -0.11805755
+v -0.06404343 0.09780521 -0.05830337
+v 0.14723217 -0.05284339 -0.13368671
+v 0.21264205 -0.05944778 -0.12577632
+v 0.14263104 0.06443666 -0.10243955
+v -0.09656873 -0.02148569 -0.13105607
+v 0.19856904 -0.00938041 -0.13493548
+v -0.05025503 0.06822172 -0.09208496
+v -0.06040778 0.03353708 -0.11535831
+v -0.07583902 -0.00828950 -0.13491634
+v -0.09815061 0.08979741 -0.06542575
+v 0.08174843 0.00366248 -0.13474744
+v -0.02981934 0.05413718 -0.10556147
+v -0.09557026 0.04974573 -0.10467350
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 9 6 4
+f 11 7 1
+f 11 1 6
+f 11 10 7
+f 12 3 2
+f 13 6 9
+f 14 9 4
+f 14 4 3
+f 15 2 10
+f 15 11 5
+f 15 10 11
+f 16 10 2
+f 16 2 7
+f 16 7 10
+f 17 12 8
+f 17 3 12
+f 18 11 6
+f 18 6 13
+f 18 5 11
+f 19 12 2
+f 19 2 15
+f 19 15 5
+f 20 14 3
+f 20 3 17
+f 22 19 5
+f 22 5 18
+f 22 18 13
+f 23 9 14
+f 23 14 20
+f 23 13 9
+f 24 17 8
+f 24 22 21
+f 24 19 22
+f 24 8 12
+f 24 12 19
+f 25 20 17
+f 25 24 21
+f 25 17 24
+f 26 22 13
+f 26 21 22
+f 26 13 23
+f 26 23 20
+f 26 25 21
+f 26 20 25

cucumber/cucumber_0/collision/model_normalized_collision_6.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.11638947 0.03491412 0.12444212
+v -0.09775446 0.03681100 -0.10810868
+v -0.09351428 0.11634432 0.06916012
+v -0.20157401 0.11366288 0.05604728
+v -0.29916485 0.05045004 -0.05779930
+v -0.09739138 0.11649349 -0.04096086
+v -0.21810795 0.08580175 0.09310367
+v -0.09835482 0.03932811 0.12138146
+v -0.23343660 0.03505120 -0.10567438
+v -0.09557026 0.04974573 -0.10467350
+v -0.21800008 0.11505491 0.00297630
+v -0.11037408 0.10228071 0.09235246
+v -0.27613642 0.03687913 0.10008341
+v -0.14321991 0.03405474 0.12507705
+v -0.17657393 0.07179583 -0.08906846
+v -0.11668831 0.11240667 0.07327586
+v -0.20315937 0.09666689 0.08371907
+v -0.10146409 0.07864338 0.10762146
+v -0.26856006 0.10138710 0.02318771
+v -0.24639704 0.03456678 0.11084894
+v -0.22976477 0.04554971 -0.10245281
+v -0.13182956 0.08403988 -0.07596916
+v -0.23176614 0.08888038 -0.06482408
+v -0.24182305 0.10270772 0.06205587
+v -0.10253184 0.10151931 0.09189071
+v -0.17253008 0.07594586 0.10371037
+v -0.27097920 0.07645927 0.08136007
+v -0.21629047 0.11401457 0.02915419
+v -0.12137294 0.10014620 -0.05931404
+v -0.18647605 0.11264670 -0.02236335
+v -0.27708499 0.08987713 -0.03794155
+v -0.14242892 0.04708039 0.11966757
+v -0.27136356 0.08237816 0.06456156
+v -0.27710509 0.04360012 0.09688485
+v -0.13807996 0.09921601 -0.05973692
+v -0.27006024 0.09848889 -0.00797936
+v -0.26109439 0.09492182 -0.03531586
+f 8 1 2
+f 10 6 3
+f 10 2 9
+f 10 8 2
+f 10 3 8
+f 11 4 3
+f 11 3 6
+f 13 5 9
+f 14 9 2
+f 14 2 1
+f 16 12 3
+f 16 3 4
+f 16 4 12
+f 17 12 4
+f 17 7 12
+f 18 8 3
+f 18 1 8
+f 18 14 1
+f 20 13 9
+f 20 9 14
+f 21 15 10
+f 21 10 9
+f 21 9 5
+f 22 6 10
+f 22 10 15
+f 23 15 21
+f 24 17 4
+f 24 7 17
+f 25 18 3
+f 25 3 12
+f 25 12 18
+f 26 18 12
+f 26 12 7
+f 26 20 14
+f 26 7 20
+f 27 24 19
+f 27 7 24
+f 28 4 11
+f 28 11 19
+f 28 24 4
+f 28 19 24
+f 29 22 15
+f 29 6 22
+f 30 11 6
+f 30 6 23
+f 31 5 19
+f 31 23 21
+f 31 21 5
+f 32 26 14
+f 32 14 18
+f 32 18 26
+f 33 27 19
+f 33 19 5
+f 33 5 27
+f 34 27 5
+f 34 5 13
+f 34 13 20
+f 34 20 7
+f 34 7 27
+f 35 23 6
+f 35 6 29
+f 35 29 15
+f 35 15 23
+f 36 31 19
+f 36 19 11
+f 37 30 23
+f 37 23 31
+f 37 11 30
+f 37 36 11
+f 37 31 36

cucumber/cucumber_0/collision/model_normalized_collision_7.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.26760217 0.00910005 0.12880248
+v 0.27500385 0.00126078 -0.13364687
+v 0.26987529 0.14418256 0.00365211
+v 0.15211968 0.13389239 0.03854522
+v 0.14389683 -0.00585545 -0.13288327
+v 0.25735800 0.12837789 0.06965254
+v 0.27303881 0.13218182 -0.05333436
+v 0.19856904 -0.00938041 -0.13493548
+v 0.13897001 0.01435745 0.12332366
+v 0.26852848 0.14265692 0.02872174
+v 0.26095321 0.07916624 -0.10502404
+v 0.14422413 0.12232754 -0.04571170
+v 0.20480020 0.00765110 -0.13188619
+v 0.14280139 0.07806010 0.09999939
+v 0.24228706 0.14581657 0.03177487
+v 0.26211767 0.06640907 -0.11179401
+v 0.24498343 0.14659863 -0.01917020
+v 0.14263104 0.06443666 -0.10243955
+v 0.17969923 0.07476279 -0.10340001
+v 0.18521357 0.13083668 0.06194957
+v 0.14621449 0.12957573 0.00087598
+v 0.22432776 0.09615573 0.09868718
+v 0.17486553 0.04805191 -0.11999943
+v 0.18691721 0.10230601 -0.07556216
+v 0.15255282 0.12057665 0.06409177
+v 0.14492507 0.10255003 0.08099709
+v 0.23096337 0.14423155 -0.01790722
+v 0.22432114 0.05118858 -0.11844792
+v 0.15984369 0.00291172 -0.13149164
+v 0.14765602 0.03011948 -0.12013097
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 10 6 1
+f 10 1 3
+f 13 8 5
+f 13 2 8
+f 14 12 9
+f 15 10 3
+f 15 6 10
+f 16 11 7
+f 16 7 2
+f 17 3 7
+f 17 7 12
+f 17 15 3
+f 17 4 15
+f 18 5 9
+f 18 9 12
+f 19 7 11
+f 19 18 12
+f 20 15 4
+f 20 6 15
+f 22 14 9
+f 22 9 1
+f 22 1 6
+f 22 6 20
+f 23 2 13
+f 23 18 19
+f 23 19 11
+f 23 11 16
+f 24 19 12
+f 24 12 7
+f 24 7 19
+f 25 20 4
+f 26 4 21
+f 26 25 4
+f 26 20 25
+f 26 22 20
+f 26 14 22
+f 26 21 12
+f 26 12 14
+f 27 17 12
+f 27 12 21
+f 27 21 4
+f 27 4 17
+f 28 23 16
+f 28 16 2
+f 28 2 23
+f 29 23 13
+f 29 13 5
+f 29 5 23
+f 30 23 5
+f 30 5 18
+f 30 18 23

cucumber/cucumber_0/collision/model_normalized_collision_8.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.33845555 -0.12258553 -0.05861534
+v 0.45527159 -0.04898869 -0.06637213
+v 0.45657665 0.08073180 -0.06840559
+v 0.33948792 0.08284821 -0.10526620
+v 0.33936362 -0.02567547 -0.13629129
+v 0.39843927 -0.10534163 -0.05274462
+v 0.33591571 -0.11746172 -0.08057251
+v 0.41345692 -0.00743005 -0.11780380
+v 0.33768612 -0.00960261 -0.13486137
+v 0.37479084 -0.08470637 -0.10294934
+v 0.44818304 -0.01678404 -0.08971604
+v 0.41034044 0.04688030 -0.11445041
+v 0.33786518 -0.08574654 -0.10684113
+v 0.44289763 -0.06994780 -0.06758485
+v 0.38664472 -0.09651326 -0.07773077
+v 0.40288324 -0.03059278 -0.11678909
+v 0.41578470 0.07120287 -0.09887713
+v 0.43818526 0.04968768 -0.09930244
+v 0.34006611 0.04891705 -0.12316968
+v 0.43859074 -0.06927698 -0.07131906
+v 0.42762943 -0.01363608 -0.10905005
+v 0.44627978 0.08512708 -0.07347306
+v 0.44906276 0.06213041 -0.08790962
+v 0.45160364 0.07538826 -0.07657052
+v 0.44136136 0.07912084 -0.08138004
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 1 4
+f 7 6 1
+f 9 7 4
+f 11 3 2
+f 12 8 5
+f 12 5 9
+f 13 9 5
+f 13 7 9
+f 13 10 7
+f 13 5 10
+f 14 2 6
+f 14 11 2
+f 15 6 7
+f 15 7 10
+f 15 14 6
+f 15 10 14
+f 16 10 5
+f 16 5 8
+f 17 12 4
+f 18 8 12
+f 19 12 9
+f 19 9 4
+f 19 4 12
+f 20 14 10
+f 20 10 16
+f 21 16 8
+f 21 20 16
+f 21 11 14
+f 21 14 20
+f 21 18 11
+f 21 8 18
+f 22 17 4
+f 22 4 3
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+f 23 18 12
+f 23 12 17
+f 24 22 3
+f 24 3 23
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+f 25 17 22
+f 25 24 23
+f 25 22 24

cucumber/cucumber_0/collision/model_normalized_collision_9.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.14230788 -0.14287502 0.05328369
+v 0.14884596 -0.14792432 0.01821766
+v 0.14312340 -0.09210488 0.11167053
+v -0.23548770 -0.09768387 0.09353992
+v -0.18187611 -0.14221487 0.01399343
+v 0.00757728 -0.11281310 0.11021211
+v 0.14048149 -0.12948606 0.08057600
+v -0.12476315 -0.14132395 0.05357429
+v -0.24083876 -0.12189710 0.01886076
+v 0.00768514 -0.09594962 0.11855446
+v 0.13638968 -0.10161822 0.10948248
+v 0.14229296 -0.14947242 0.01669504
+v 0.04933244 -0.14069227 0.07015041
+v -0.15540183 -0.12340870 0.08220776
+v -0.23048107 -0.12493429 0.01453434
+v -0.21271753 -0.12514999 0.06810724
+v 0.07280305 -0.12894096 0.09108106
+v -0.00214721 -0.14182381 0.06431012
+v -0.23217728 -0.12445533 0.04401250
+v -0.23141155 -0.11157370 0.08123299
+f 7 1 2
+f 7 2 3
+f 9 4 3
+f 10 3 4
+f 10 4 6
+f 11 7 3
+f 11 10 6
+f 11 3 10
+f 12 8 5
+f 12 2 1
+f 13 12 1
+f 14 6 4
+f 15 9 3
+f 15 3 2
+f 15 2 12
+f 15 12 5
+f 15 5 9
+f 16 5 8
+f 16 8 14
+f 17 11 6
+f 17 7 11
+f 17 6 14
+f 17 13 1
+f 17 1 7
+f 18 8 12
+f 18 12 13
+f 18 14 8
+f 18 17 14
+f 18 13 17
+f 19 9 5
+f 19 5 16
+f 20 16 14
+f 20 14 4
+f 20 19 16
+f 20 4 9
+f 20 9 19

cucumber/cucumber_0/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="cucumber_7">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.001" texture="image0" specular="0.5" shininess="0.008385636"/>
+  </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="material.001"/>
+        <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="-0.0002442721499999989 0.00020366595000000237 -0.0231695193" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0002442721499999989 0.00020366595000000237 0.023267582100000003" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0249217671 0.0848161144 4.903139999999958e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

cucumber/cucumber_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 8.38563600
+map_Kd material_0.jpeg

cucumber/cucumber_0/visual/model_normalized_0.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63b6cc5a4113fc5301d641586b83e86b737ebe8322b590f74e47ff00b0af788d
+size 11188850

cucumber/cucumber_1/collision/model_normalized_collision_0.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00233494 -0.12452767 0.00742790
+v 0.10876051 -0.08519933 -0.41634567
+v 0.09707961 -0.10260691 -0.23738380
+v 0.07166740 -0.07908786 0.00592303
+v -0.03228106 -0.09287574 -0.42080289
+v 0.11160104 -0.08752740 -0.23477481
+v 0.02426137 -0.11401345 0.00478865
+v 0.05933223 -0.11247236 -0.39787759
+v 0.09903898 -0.09873462 -0.39796112
+v 0.08660374 -0.08144901 -0.09983852
+v 0.07181120 -0.11282723 -0.20624136
+v 0.06584756 -0.08489828 0.00543866
+v 0.08742465 -0.10108893 -0.41140942
+v -0.02329003 -0.11706845 -0.35335338
+v 0.01879216 -0.11617916 0.01076207
+v 0.08567074 -0.11278002 -0.34047616
+v -0.02249615 -0.10171349 -0.41208593
+v 0.10275583 -0.09186480 -0.41310621
+v -0.04069469 -0.10907448 -0.36075326
+v 0.08701800 -0.11216972 -0.27983365
+v 0.07451072 -0.11294156 -0.38279207
+v -0.00725223 -0.11119312 -0.39802993
+v -0.02049265 -0.11176269 -0.38154243
+f 5 1 4
+f 5 4 2
+f 6 4 3
+f 9 6 3
+f 9 2 6
+f 10 6 2
+f 10 2 4
+f 10 4 6
+f 11 3 7
+f 12 7 3
+f 12 3 4
+f 13 5 2
+f 15 11 7
+f 15 1 11
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+f 15 12 4
+f 15 4 1
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+f 18 13 2
+f 18 2 9
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+f 19 14 1
+f 19 1 5
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+f 20 11 1
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+f 20 16 9
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+f 22 8 14
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+f 23 17 22
+f 23 22 14
+f 23 14 19

cucumber/cucumber_1/collision/model_normalized_collision_1.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02707825 -0.08558965 0.39725366
+v -0.02739713 -0.09801087 0.26522716
+v -0.02428727 0.12879691 0.34240943
+v -0.02729156 0.12358330 0.40583417
+v -0.14859927 0.03286279 0.26473805
+v -0.13491675 -0.04853043 0.26370896
+v -0.13056445 0.00698221 0.38046303
+v -0.02704540 0.06570278 0.26515177
+v -0.09651531 0.10634294 0.34282608
+v -0.09267406 -0.08315472 0.29368394
+v -0.10469602 0.08216868 0.40196138
+v -0.14671226 -0.00726610 0.29246579
+v -0.12092748 0.08957007 0.27012163
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cucumber/cucumber_1/collision/model_normalized_collision_10.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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cucumber/cucumber_1/collision/model_normalized_collision_11.obj

@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
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cucumber/cucumber_1/collision/model_normalized_collision_12.obj

@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
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cucumber/cucumber_1/collision/model_normalized_collision_13.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
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cucumber/cucumber_1/collision/model_normalized_collision_14.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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cucumber/cucumber_1/collision/model_normalized_collision_15.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
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cucumber/cucumber_1/collision/model_normalized_collision_16.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
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+v -0.06634676 -0.11815587 -0.11321483
+v -0.07249995 0.03539975 0.00757599
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+v -0.13005666 -0.06217264 -0.09721605
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cucumber/cucumber_1/collision/model_normalized_collision_17.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01613379 -0.07940681 0.40074514
+v 0.07839855 -0.00359502 0.40723435
+v 0.00060711 -0.03405507 0.48141866
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cucumber/cucumber_1/collision/model_normalized_collision_18.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02951315 -0.12837647 -0.23683610
+v 0.10876051 -0.08519933 -0.41634567
+v 0.11160104 -0.08752740 -0.23477481
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+f 12 6 10

cucumber/cucumber_1/collision/model_normalized_collision_19.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01611968 -0.12282770 -0.35792319
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