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@@ -155,3 +155,5 @@ new_bottle_of_shampoo/new_bottle_of_shampoo_2/visual/lvvkhx__base_link__ior.exr
 new_bottle_of_cologne/new_bottle_of_cologne_0/visual/lyipur__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_gingerbread/new_gingerbread_0/visual/hxkcxs__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 coffee_cup/coffee_cup_13/visual/model_normalized_1.obj filter=lfs diff=lfs merge=lfs -text
+coffee_cup/coffee_cup_13/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+coffee_cup/coffee_cup_6/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text

coffee_cup/coffee_cup_13/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_1.obj

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+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_10.obj

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+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_11.obj

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+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_12.obj

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+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_13.obj

@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_14.obj

@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_15.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_16.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_17.obj

@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_18.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_19.obj

@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_2.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_20.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_21.obj

@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_22.obj

@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_23.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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+f 32 20 5
+f 32 5 30

coffee_cup/coffee_cup_13/collision/model_normalized_collision_24.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.27755387 -0.14463832 0.26619119
+v 0.26949089 -0.08303147 0.00956167
+v 0.31257206 -0.01212683 0.26550375
+v 0.27350729 0.08456691 0.24776396
+v 0.24916811 -0.14527040 0.26590732
+v 0.28861384 0.07559098 0.14539907
+v 0.30154589 -0.08395844 0.26690725
+v 0.24971992 -0.13076974 0.00827687
+v 0.28750436 -0.01344841 0.26141551
+v 0.28150965 -0.01209862 0.00801878
+v 0.30188305 0.07544847 0.25168571
+v 0.28608911 -0.12719585 0.26703401
+v 0.25762619 -0.15020388 0.14355555
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+v 0.28228675 -0.05432862 0.05524430
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+v 0.28118986 -0.11064518 0.17672552
+v 0.25284352 -0.12505118 0.00988417
+v 0.26142794 -0.14386143 0.14512220
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+v 0.28115674 -0.08244174 0.10089147
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+v 0.29663020 0.07420231 0.20687887
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+v 0.29635597 -0.08245633 0.22209558
+v 0.29755122 -0.04009664 0.16127125
+v 0.29716230 -0.05427783 0.17648708
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+f 28 22 27

coffee_cup/coffee_cup_13/collision/model_normalized_collision_25.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.17889296 -0.01422227 0.40945872
+v 0.23340802 0.18876444 0.36763511
+v -0.09948206 0.21269333 0.41517369
+v -0.19465970 0.22997467 0.36663417
+v -0.17094533 -0.00401531 0.40724082
+v 0.18329705 0.14762438 0.41922593
+v 0.18023593 -0.00406531 0.40684638
+v -0.15263969 0.17998451 0.41898827
+v 0.22102049 0.08331112 0.41612469
+v 0.20945809 0.06353459 0.40028250
+v -0.16908235 -0.01410669 0.40986142
+f 3 2 4
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+f 8 4 5
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+f 9 2 6
+f 10 9 1
+f 10 1 2
+f 10 2 9
+f 11 9 6
+f 11 6 8
+f 11 8 5
+f 11 5 1
+f 11 1 9

coffee_cup/coffee_cup_13/collision/model_normalized_collision_26.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.19712700 0.03368022 -0.43546512
+v 0.19387942 0.03314621 -0.49994937
+v 0.17402988 0.15015576 -0.41571638
+v 0.05544559 0.19139263 -0.44689074
+v 0.08805868 0.10884809 -0.45523825
+v 0.10691345 0.16691171 -0.49949008
+v 0.19799676 0.11103167 -0.43000933
+v 0.16441745 0.03332106 -0.45642219
+v 0.07427471 0.18778363 -0.43539541
+v 0.05519834 0.19053911 -0.49957662
+v 0.18856488 0.13060972 -0.41840893
+v 0.16266485 0.11284426 -0.49949008
+v 0.17922897 0.03644952 -0.49800279
+v 0.13343459 0.06343862 -0.45547194
+v 0.05763361 0.15378286 -0.45619918
+v 0.08423788 0.19122800 -0.43653973
+v 0.17212561 0.14872772 -0.42906787
+v 0.17825700 0.08600178 -0.49949008
+v 0.06433266 0.17174367 -0.49720668
+v 0.16718866 0.15742386 -0.41733556
+v 0.07989030 0.18174529 -0.49903195
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+f 21 10 16
+f 21 20 6
+f 21 16 20

coffee_cup/coffee_cup_13/collision/model_normalized_collision_27.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.10184948 -0.28089692 0.14446195
+v 0.16365192 -0.16344471 -0.23479842
+v 0.19428719 -0.19370091 0.14151449
+v 0.10335902 -0.17890172 0.14393942
+v 0.10025491 -0.23226896 -0.23388942
+v 0.10335902 -0.16375020 0.00757578
+v 0.15508504 -0.25540706 0.14597829
+v 0.09808842 -0.27076919 0.05485694
+v 0.18325090 -0.18256291 0.00449333
+v 0.12369766 -0.19500724 -0.23911496
+v 0.17171782 -0.24441773 0.14546171
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+v 0.11039804 -0.26604431 0.05551359
+v 0.09802679 -0.24131948 -0.17249968
+v 0.15588232 -0.19909615 -0.23327254
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+v 0.09763037 -0.25533127 -0.06629917
+v 0.11007262 -0.25026793 -0.06560827
+v 0.16895888 -0.22614703 0.00960164
+v 0.13819477 -0.25053932 0.04053331
+v 0.15123279 -0.22094619 -0.11090976
+v 0.11002271 -0.23614496 -0.17177165
+v 0.15155235 -0.20717570 -0.20197001
+v 0.15180629 -0.23597425 -0.00488306
+v 0.12370264 -0.23548651 -0.12617066
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+f 25 12 22
+f 25 22 16
+f 25 16 20

coffee_cup/coffee_cup_13/collision/model_normalized_collision_28.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.16908235 -0.01410669 0.40986142
+v -0.17094533 -0.00401531 0.40724082
+v -0.17537680 0.16000933 0.43116810
+v -0.25990265 0.15421307 0.45423463
+v -0.30195603 -0.01209468 0.37165732
+v -0.24039685 -0.01668006 0.46480794
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+v -0.19984700 0.15456522 0.45436910
+v -0.30445165 -0.01514484 0.46475438
+v -0.25974797 0.15412283 0.37128436
+v -0.29735781 0.09109134 0.45257542
+v -0.28909157 0.08856271 0.37326834
+v -0.30446819 -0.00020695 0.46163978
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+f 11 4 10
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+f 13 11 5
+f 13 5 9
+f 13 9 11

coffee_cup/coffee_cup_13/collision/model_normalized_collision_29.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.14648114 -0.20597641 -0.23436353
+v 0.19808192 -0.11204862 -0.42842437
+v 0.17790848 -0.16371570 -0.32299373
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+v 0.16873015 -0.13429080 -0.36032832
+v 0.20610568 -0.13658324 -0.27760433
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+v 0.18050032 -0.14363273 -0.23949048
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+v 0.18086042 -0.13840468 -0.42794042
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+v 0.21068689 -0.13956496 -0.23283154
+v 0.15588232 -0.19909615 -0.23327254
+v 0.14113349 -0.19857382 -0.30899198
+v 0.21198278 -0.11175630 -0.33913939
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+v 0.17750969 -0.14966387 -0.39860844
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+v 0.17482569 -0.14505765 -0.42983353
+v 0.19229812 -0.12231702 -0.42711713
+v 0.16396856 -0.17773451 -0.32300098
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+v 0.18654725 -0.12914898 -0.43024819
+v 0.15362717 -0.18175509 -0.35405627
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+f 25 21 13
+f 25 13 22

coffee_cup/coffee_cup_13/collision/model_normalized_collision_3.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.10486847 -0.23101458 -0.23371081
+v -0.10335609 -0.17013261 -0.49957662
+v -0.10300461 0.21763056 -0.33918547
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+v -0.14247885 -0.17937251 -0.42748929
+v -0.18245764 -0.08049481 -0.49957662
+v -0.21354438 -0.13790772 -0.23246167
+v -0.11555086 -0.20917748 -0.35389843
+v -0.11423704 0.21211250 -0.33837051
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+v -0.10415431 -0.21492686 -0.35475125
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+v -0.19814987 0.15625104 -0.24739383
+v -0.24164859 0.05910289 -0.27795759
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_30.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01275889 -0.19904414 -0.44701471
+v 0.17907910 -0.11827126 -0.43706963
+v -0.17771544 -0.09232875 -0.44705397
+v 0.01239921 0.19906688 -0.44696231
+v 0.17215149 0.06112691 -0.46302086
+v -0.17518063 0.09702818 -0.44702953
+v 0.11536203 -0.17406284 -0.43653973
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+v 0.18729896 0.06633333 -0.44704697
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+v -0.03345043 -0.19681973 -0.44699491
+v 0.16569634 -0.10956332 -0.46197658
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+v 0.05540759 0.19126146 -0.46204013
+v 0.05544559 0.19139263 -0.44689074
+v -0.12477961 -0.13437747 -0.46104616
+v -0.16350302 -0.08494936 -0.46302086
+v 0.01239077 0.19893062 -0.46211252
+v -0.03342873 -0.19668479 -0.46214527
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+f 19 11 16
+f 19 17 13
+f 19 16 17

coffee_cup/coffee_cup_13/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18888919 0.15781387 -0.10447470
+v 0.17709972 0.14790526 -0.23907632
+v 0.15480864 0.19223219 -0.09958316
+v -0.13765450 0.20585091 -0.10136713
+v -0.12391371 0.12412859 -0.09848483
+v 0.14519110 0.18020436 -0.23418481
+v -0.16327726 0.16448049 -0.24129840
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_4.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_5.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_6.obj

@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_7.obj

@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_8.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/collision/model_normalized_collision_9.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_13/visual/model_normalized_0.obj

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+oid sha256:b2674199eb43970d2d8ad2baf29528968ca041cc8161bce49829e3e742c44d78
+size 25279670

coffee_cup/coffee_cup_17/collision/model_normalized_collision_0.obj

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coffee_cup/coffee_cup_17/collision/model_normalized_collision_1.obj

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coffee_cup/coffee_cup_17/collision/model_normalized_collision_10.obj

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+# https://github.com/mikedh/trimesh
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coffee_cup/coffee_cup_17/collision/model_normalized_collision_11.obj

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coffee_cup/coffee_cup_17/collision/model_normalized_collision_12.obj

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coffee_cup/coffee_cup_17/collision/model_normalized_collision_13.obj

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+v 0.22487944 -0.15616816 0.37171726
+v 0.14689595 -0.22038305 0.40066520
+v 0.24282734 -0.01263139 0.47333570
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+v 0.24059958 -0.14096902 0.32479359
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+v 0.24027951 -0.04259804 0.47439928
+v 0.18394864 -0.20971991 0.32479359
+v 0.16782181 -0.19365254 0.46051173
+v 0.25649187 -0.11105960 0.32479359
+v 0.17100099 -0.18211954 0.26642093
+f 8 3 7
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+f 28 5 21
+f 28 25 5
+f 28 9 25

coffee_cup/coffee_cup_17/collision/model_normalized_collision_14.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.02934064 -0.24746401 0.26578986
+v -0.02898748 -0.22883500 -0.09735027
+v -0.03021799 -0.15003446 0.26515154
+v -0.21065792 -0.13415062 0.26526630
+v -0.14277174 -0.21356771 0.17242432
+v -0.19124690 -0.13028521 -0.09780670
+v -0.19692540 -0.15286382 0.26658612
+v -0.02860924 -0.24026335 0.02421061
+v -0.04523814 -0.19911266 -0.10156152
+v -0.21510424 -0.12846228 0.11491113
+v -0.12715813 -0.19347608 -0.09667407
+v -0.07041500 -0.23891591 0.26647266
+v -0.08617923 -0.24091718 0.17242490
+v -0.12639979 -0.15992895 -0.10042329
+v -0.20054474 -0.12877692 -0.02151497
+v -0.21356802 -0.14277205 0.17242490
+v -0.16595836 -0.16595867 -0.06618397
+v -0.09724548 -0.20936221 -0.09675159
+v -0.15438488 -0.19568353 0.26657166
+v -0.04360714 -0.23875252 0.02435220
+v -0.21983575 -0.13097641 0.17242490
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+v -0.13802551 -0.19420329 -0.02075014
+v -0.18388991 -0.13943692 -0.09692177
+v -0.18176736 -0.18176705 0.17242432
+v -0.05536999 -0.22411184 -0.09684495
+v -0.09627422 -0.22268603 0.02465342
+v -0.13902957 -0.20797069 0.10051737
+v -0.05485239 -0.23757173 0.03968344
+v -0.11140152 -0.22264045 0.10041566
+v -0.07005421 -0.22258488 -0.06639315
+v -0.08503982 -0.23719396 0.13062933
+f 7 3 4
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+f 13 8 1
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+f 32 13 27
+f 32 27 31
+f 32 31 29
+f 32 29 13

coffee_cup/coffee_cup_17/collision/model_normalized_collision_15.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01514881 -0.24008007 0.00765667
+v 0.12385566 -0.16489479 -0.35468973
+v 0.16470640 0.13058415 0.00538875
+v 0.01523656 0.10754131 0.00757577
+v 0.01523656 0.09238979 -0.35606060
+v 0.11381909 -0.21171846 0.00906050
+v 0.02055157 -0.18717104 -0.35922261
+v 0.01359183 -0.22475674 -0.15757418
+v 0.15524809 0.10771968 -0.35752012
+v 0.01523656 0.10754131 -0.23484848
+v 0.08612267 -0.22502510 0.00912666
+v 0.13188747 -0.20205652 0.00848135
+v 0.01372368 -0.21090816 -0.27928185
+v 0.15347769 0.12142757 -0.23616653
+v 0.05511614 -0.22272682 -0.11186163
+v 0.08656609 -0.18715519 -0.35541177
+v 0.02858984 -0.22324607 -0.15743263
+v 0.09606516 -0.20682085 -0.12678652
+v 0.12305960 -0.17907079 -0.24802516
+v 0.05543461 -0.20861435 -0.25571444
+v 0.08530366 -0.22234882 -0.02091563
+v 0.09839752 -0.18090661 -0.35492529
+v 0.02872095 -0.20939088 -0.27917776
+v 0.09670746 -0.19287871 -0.25571444
+v 0.12663450 -0.19217044 -0.11168785
+f 6 3 4
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+f 11 4 1
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+f 24 12 6
+f 24 6 18
+f 24 22 19
+f 25 24 19
+f 25 19 12
+f 25 12 24

coffee_cup/coffee_cup_17/collision/model_normalized_collision_16.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02123126 -0.20901404 0.00401987
+v 0.02055157 -0.18717104 -0.35922261
+v 0.01523656 -0.01367081 0.00757577
+v -0.10597557 -0.01367081 0.00757577
+v -0.12301175 -0.17092537 0.00595880
+v -0.09082405 -0.01367081 -0.35606060
+v -0.10754156 -0.15538355 -0.35765222
+v 0.01523656 -0.01367081 -0.35606060
+v 0.02059028 -0.20270768 -0.10166052
+v -0.12124916 -0.15361321 -0.23629811
+v -0.10597557 -0.01367081 -0.23484848
+f 5 1 3
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+f 7 1 5
+f 7 6 2
+f 8 6 3
+f 8 2 6
+f 8 1 2
+f 8 3 1
+f 9 7 2
+f 9 2 1
+f 9 1 7
+f 10 7 5
+f 10 5 4
+f 11 10 4
+f 11 4 6
+f 11 6 7
+f 11 7 10

coffee_cup/coffee_cup_17/collision/model_normalized_collision_17.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.04046177 -0.25463680 0.49875735
+v 0.21674455 -0.12198223 0.46276598
+v -0.04641142 -0.21377754 0.49967446
+v 0.15280222 -0.12236324 0.44412306
+v 0.09912318 -0.24297812 0.44488260
+v 0.16699962 -0.13176533 0.49017837
+v 0.14118729 -0.20942251 0.49679334
+v 0.19901996 -0.15500428 0.46022182
+v -0.04413226 -0.25970925 0.46111051
+v 0.21183448 -0.12020879 0.48743553
+v 0.09757486 -0.23647010 0.48856516
+v 0.15916525 -0.14278387 0.49295770
+v 0.08359839 -0.23973464 0.49860720
+v 0.12798666 -0.22517077 0.46025481
+v 0.05594437 -0.25625763 0.46051066
+v -0.04030622 -0.25468435 0.49875735
+v -0.04667472 -0.21469911 0.46159231
+v 0.19632521 -0.15379630 0.48931520
+v 0.19505014 -0.15065848 0.49135748
+v 0.12558883 -0.22177830 0.48798378
+v 0.18268998 -0.17155447 0.49274323
+v 0.11148915 -0.23577291 0.44855785
+v 0.07453313 -0.25204661 0.44650999
+v 0.05480709 -0.25331521 0.48883042
+v 0.18047775 -0.13610952 0.49109537
+f 6 4 3
+f 8 5 4
+f 8 4 2
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+f 10 4 6
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+f 12 3 7
+f 12 10 6
+f 13 7 3
+f 13 3 1
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+f 15 1 9
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+f 24 1 15
+f 24 15 23
+f 24 11 13
+f 24 23 5
+f 24 5 11
+f 25 19 10
+f 25 10 12
+f 25 12 19

coffee_cup/coffee_cup_17/collision/model_normalized_collision_18.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.18748782 -0.18101635 0.40467406
+v 0.22474097 -0.01956527 0.26160893
+v 0.16697774 -0.01493795 0.43347936
+v -0.12121977 -0.01497756 0.43290984
+v -0.13448599 -0.18156784 0.26386690
+v -0.12112708 -0.01367081 0.26515154
+v -0.12801460 -0.17315870 0.46203975
+v 0.16069714 -0.16024877 0.26562632
+v 0.14548589 -0.15809496 0.46223627
+v 0.15937393 -0.14085414 0.46220755
+v 0.16698303 -0.10508536 0.44286978
+f 1 2 3
+f 6 3 2
+f 6 4 3
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+f 7 5 1
+f 7 4 5
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 7 1
+f 10 9 1
+f 10 3 4
+f 10 4 7
+f 10 7 9
+f 11 10 1
+f 11 1 3
+f 11 3 10

coffee_cup/coffee_cup_17/collision/model_normalized_collision_19.obj

@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.10597557 -0.01367081 0.25000002
+v -0.10597557 -0.01367081 0.00757577
+v -0.10062521 0.21868446 0.00863803
+v -0.10587819 0.22857019 0.12880723
+v -0.24803798 -0.01270995 0.25069916
+v -0.15962217 0.18991599 0.25081027
+v -0.24025098 0.01488017 0.00919111
+v -0.16875492 0.18253515 0.25151101
+v -0.11837047 0.19147490 0.24839559
+v -0.22476821 0.08701250 0.00928763
+v -0.24054645 -0.01194894 0.00916343
+v -0.24176374 0.05727363 0.25120945
+v -0.15458834 0.19889530 0.13055685
+v -0.21356802 0.14277144 0.17242432
+v -0.24059820 0.08722028 0.17242477
+v -0.12956653 0.21612157 0.13012051
+v -0.15486589 0.18408413 0.00930383
+v -0.21185826 0.12969923 0.25127657
+v -0.23860564 0.05630743 0.05487015
+v -0.22359496 0.09758134 0.03985623
+v -0.17967404 0.16926358 0.07025204
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+v -0.20894446 0.12815059 0.05495489
+v -0.11246929 0.21246013 0.00929468
+v -0.21032364 0.14060240 0.13074562
+f 1 2 3
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+f 31 29 14
+f 31 14 27
+f 31 27 29

coffee_cup/coffee_cup_17/collision/model_normalized_collision_2.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.10597557 0.09238979 0.00757577
+v -0.09082405 0.07723828 -0.44930656
+v -0.09082405 0.07723828 -0.23484848
+v -0.10062521 0.21868446 0.00863803
+v -0.22335150 0.09121580 0.00794952
+v -0.08423862 0.18605681 -0.38539884
+v -0.19617763 0.14006317 0.00948328
+v -0.19740493 0.07276058 -0.29441075
+v -0.20472832 0.07500202 -0.23413656
+v -0.09931190 0.21621292 -0.02140426
+v -0.21146149 0.11433652 0.00923481
+v -0.11246929 0.21246013 0.00929468
+v -0.18222488 0.07275182 -0.49058581
+v -0.11022478 0.16486836 -0.47564061
+v -0.16486659 0.11022309 -0.47567336
+v -0.16696638 0.16696613 -0.05096989
+v -0.08544040 0.17316676 -0.49848352
+v -0.19314920 0.12780859 -0.09649234
+v -0.17782015 0.08225983 -0.48983530
+v -0.13835701 0.19757139 0.00950397
+v -0.14923876 0.12370175 -0.49698699
+v -0.16194921 0.08282769 -0.49714257
+v -0.12202015 0.15066244 -0.49690098
+v -0.16589519 0.09912591 -0.49848352
+v -0.09831400 0.15194019 -0.49534782
+v -0.17804627 0.07527924 -0.49869938
+v -0.09725605 0.16688858 -0.49848352
+f 1 3 4
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+f 10 3 6
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+f 27 26 24
+f 27 17 26
+f 27 24 21
+f 27 21 23

coffee_cup/coffee_cup_17/collision/model_normalized_collision_20.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.21203077 -0.01384068 0.47566247
+v -0.07593142 0.18286133 0.41635913
+v -0.08582207 0.20147785 0.46802989
+v -0.07151038 0.24627394 0.46809657
+v -0.23046308 0.10159402 0.42984987
+v -0.24883044 -0.01289429 0.43060722
+v -0.19433140 0.15455902 0.46815537
+v -0.12699961 0.22749163 0.42890304
+v -0.24316364 0.05792154 0.42966345
+v -0.20675087 -0.01252682 0.43858809
+v -0.13789668 0.21315510 0.46809717
+v -0.07343674 0.25219005 0.43069196
+v -0.19926696 0.15835785 0.42938788
+v -0.22485425 0.09909283 0.46873603
+v -0.08520947 0.24181334 0.46809657
+v -0.09752494 0.24410841 0.42916329
+v -0.23904442 0.05670242 0.45933200
+v -0.24081695 0.02984933 0.47143729
+v -0.09639908 0.24211668 0.44396115
+v -0.24282586 -0.01264714 0.47333713
+v -0.12587387 0.22550007 0.44370097
+f 1 2 3
+f 1 3 4
+f 3 2 4
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+f 9 2 6
+f 10 6 2
+f 10 2 1
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+f 12 4 2
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+f 16 2 8
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+f 20 18 6
+f 20 6 1
+f 20 1 18
+f 21 8 11
+f 21 11 19
+f 21 19 16
+f 21 16 8

coffee_cup/coffee_cup_17/collision/model_normalized_collision_21.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02898748 -0.22883500 -0.09735027
+v 0.02101044 -0.19168787 -0.28372776
+v 0.01523656 -0.13488294 -0.15909090
+v -0.20059017 -0.11364954 -0.09727734
+v -0.11251051 -0.17927217 -0.27905035
+v -0.03021799 -0.13488294 -0.09848484
+v 0.01359183 -0.22475674 -0.15757418
+v -0.12715813 -0.19347608 -0.09667407
+v -0.17676951 -0.11709402 -0.27991961
+v -0.02855261 -0.20940790 -0.27917893
+v -0.05527908 -0.20866194 -0.25571444
+v -0.19436595 -0.12549379 -0.09662071
+v -0.11780482 -0.15281782 -0.28286390
+v -0.18479510 -0.11330745 -0.24872463
+v -0.15014544 -0.15014574 -0.27877606
+v 0.01372368 -0.21090816 -0.27928185
+v -0.01328168 -0.22338062 -0.17259689
+v -0.09657482 -0.19294919 -0.25571444
+v -0.09724548 -0.20936221 -0.09675159
+v -0.08259907 -0.19516096 -0.27910726
+v -0.19935443 -0.11299288 -0.11229850
+v -0.12250454 -0.17859855 -0.25571447
+v -0.15304191 -0.16373456 -0.17224549
+v -0.18039574 -0.12143616 -0.24801667
+v 0.01345028 -0.22336365 -0.17259517
+v -0.05536999 -0.22411184 -0.09684495
+v -0.09593224 -0.20689072 -0.12679389
+v -0.12650151 -0.19224033 -0.11169522
+v -0.13741790 -0.17830715 -0.15702420
+v -0.17020972 -0.12548595 -0.27928813
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