Add files using upload-large-folder tool

bagel/bagel_0/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="more_bagel_7">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="HQ.004" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00025043750000000033 -0.0004016190000000003 -0.015416398999999997" name="bottom_site"/>
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+      <site rgba="0 0 0 0" size="0.005" pos="0.049281621 0.046576369000000006 8.386199999999983e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bagel/bagel_1/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="bagel_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
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+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
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+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
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bagel/bagel_2/model.xml

@@ -0,0 +1,81 @@
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+    <material name="Bagel" texture="image0" specular="0.5" shininess="0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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="0.0002774484 0.00016531860000000068 -0.025306856400000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0002774484 0.00016531860000000068 0.025828314000000005" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05376015240000001 0.059246652000000004 0.0002607288000000008" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bagel/bagel_3/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="more_bagel_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="bubl_hi" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="bubl_hi"/>
+        <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="0.0004258956000000015 -0.00019023479999999874 -0.017697608400000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0004258956000000015 -0.00019023479999999874 0.017356768800000002" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05216938320000001 0.05880494040000001 -0.00017041980000000016" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bagel/bagel_4/collision/model_normalized_collision_0.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.45200787 -0.00827077 0.10653630
+v 0.48017937 -0.01377153 -0.06017440
+v 0.40261219 0.24020878 -0.06528636
+v 0.15805283 0.22252299 0.14063190
+v 0.18209812 -0.00856357 -0.01206103
+v 0.38892293 0.23332597 0.10168513
+v 0.21243466 -0.00856564 0.09316543
+v 0.19214017 -0.00824503 -0.05568736
+v 0.16623109 0.23484849 -0.05918334
+v 0.44100842 0.09511141 0.09531228
+v 0.18224238 -0.00857189 0.01489130
+v 0.16283709 0.08918060 -0.03977262
+v 0.45997195 0.09999404 -0.06267457
+v 0.19705789 -0.00855129 0.06812880
+v 0.15148613 0.09874324 0.01652369
+v 0.16394870 0.10666380 0.06839225
+f 6 4 1
+f 7 2 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 10 6 1
+f 10 1 2
+f 11 5 2
+f 12 9 8
+f 12 8 5
+f 13 10 2
+f 13 2 3
+f 13 3 6
+f 13 6 10
+f 14 11 2
+f 14 2 7
+f 14 7 4
+f 15 4 9
+f 15 9 12
+f 15 11 14
+f 15 12 5
+f 15 5 11
+f 16 15 14
+f 16 14 4
+f 16 4 15

bagel/bagel_4/collision/model_normalized_collision_1.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.22240758 -0.39454559 0.10005459
+v 0.23894082 -0.38156799 0.10237166
+v 0.04759319 -0.32405192 0.16677175
+v -0.26287767 -0.13882527 0.14658361
+v -0.15742860 -0.16450370 0.10082202
+v 0.23881950 -0.26272535 0.15278088
+v -0.22544927 -0.39665235 0.10247034
+v 0.16248912 -0.37883851 0.13407055
+v 0.03172206 -0.20898073 0.10353062
+v 0.07430103 -0.29763029 0.16614095
+v -0.27247850 -0.26311711 0.15218908
+v -0.27626080 -0.36190606 0.11577231
+v 0.21928658 -0.37448345 0.11842594
+v 0.11870848 -0.39371256 0.13480953
+v 0.20782523 -0.31852513 0.14859095
+v 0.25056759 -0.27171903 0.14892345
+v -0.21640488 -0.13675528 0.12598356
+v -0.27389139 -0.14419671 0.14999634
+v 0.07325920 -0.32348478 0.16680989
+v -0.13440815 -0.39333068 0.13378464
+v 0.19045879 -0.38929602 0.11901869
+v 0.21836665 -0.38818753 0.10842914
+v 0.22170582 -0.34798727 0.13343091
+v 0.21935515 -0.30631758 0.14930767
+v -0.27660782 -0.16128033 0.15233271
+v 0.00155557 -0.38043348 0.14973211
+v 0.08607868 -0.37756568 0.14810592
+v -0.19205491 -0.38976308 0.12177366
+v -0.26849560 -0.33239062 0.13448347
+v 0.23489980 -0.37520991 0.11074626
+v 0.23835403 -0.27752053 0.15053247
+v 0.23604456 -0.33435825 0.13500152
+v -0.18052518 -0.33722967 0.15037861
+v -0.22226473 -0.38979729 0.11055505
+v -0.17857691 -0.37807126 0.13462061
+v 0.23530256 -0.36069209 0.12064251
+v -0.20979144 -0.32255187 0.14958287
+v -0.26994558 -0.34936694 0.12530173
+f 7 5 1
+f 9 2 1
+f 9 1 5
+f 12 5 7
+f 14 7 1
+f 16 9 6
+f 16 2 9
+f 17 9 5
+f 17 4 6
+f 17 6 9
+f 17 5 12
+f 18 10 6
+f 18 6 4
+f 18 17 12
+f 18 4 17
+f 19 10 3
+f 19 6 10
+f 20 7 14
+f 21 14 1
+f 21 8 14
+f 22 1 2
+f 22 21 1
+f 22 13 21
+f 23 15 8
+f 23 21 13
+f 23 8 21
+f 24 19 15
+f 24 6 19
+f 25 3 10
+f 25 10 18
+f 25 11 3
+f 25 18 12
+f 25 12 11
+f 26 19 3
+f 26 20 14
+f 27 14 8
+f 27 8 15
+f 27 15 19
+f 27 26 14
+f 27 19 26
+f 28 7 20
+f 29 11 12
+f 30 22 2
+f 30 13 22
+f 31 24 16
+f 31 16 6
+f 31 6 24
+f 32 16 24
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bagel/bagel_4/collision/model_normalized_collision_14.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.14055305 0.21898391 0.13499852
+v 0.15288759 0.27947886 -0.15976508
+v 0.14420182 0.46236536 0.06864113
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+f 38 28 34

bagel/bagel_4/collision/model_normalized_collision_20.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.44470302 -0.13757254 0.09815241
+v 0.46124632 -0.10886574 0.10100459
+v 0.38013492 -0.04800664 0.16627710
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bagel/bagel_4/collision/model_normalized_collision_23.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.21056266 -0.10502719 0.10942863
+v -0.19275752 -0.10301291 -0.09720830
+v -0.14711343 0.11490500 0.02135730
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+v -0.22983043 -0.09917679 -0.13169973
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+v -0.20877421 -0.10366264 -0.11960970
+v -0.22877339 -0.09888176 0.12107343
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+v -0.20937746 0.08863363 -0.12148866
+v -0.23450274 0.10116956 0.12775125
+v -0.22770829 0.14393941 0.01657423
+v -0.19243548 0.08956462 -0.10761277
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+f 15 3 2
+f 15 14 3
+f 15 12 14

bagel/bagel_4/collision/model_normalized_collision_24.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.11192572 -0.16727394 0.05884318
+v -0.09549191 -0.16703677 -0.02793987
+v -0.09555875 -0.16716482 0.03077027
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+v -0.22922466 -0.15996868 -0.14644508
+v -0.18608471 -0.03844700 -0.01332246
+v -0.13027785 -0.16953801 -0.08235053
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+v -0.22983043 -0.09917679 -0.13169973
+v -0.18596864 -0.05788698 0.04055788
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+v -0.20387532 -0.16410229 -0.13780271
+v -0.23363319 -0.11621449 -0.13863661
+v -0.20877421 -0.10366264 -0.11960970
+v -0.22431478 -0.10433136 0.11974811
+v -0.17338128 -0.16505806 -0.12249989
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+f 19 17 7
+f 19 7 15

bagel/bagel_4/collision/model_normalized_collision_3.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.45736944 -0.14076159 -0.05678894
+v 0.45704842 -0.10650311 -0.10525532
+v 0.40261219 0.24020878 -0.06528636
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+f 37 28 34

bagel/bagel_4/collision/model_normalized_collision_30.obj

@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.44100842 0.09511141 0.09531228
+v 0.46731413 0.09798354 -0.04337908
+v 0.46685938 0.13697852 0.02917377
+v 0.38892293 0.23332597 0.10168513
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+v 0.39203858 0.09810764 0.13494648
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bagel/bagel_4/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.44470302 -0.13757254 0.09815241
+v 0.45584404 -0.14440278 -0.05953251
+v 0.48017937 -0.01377153 -0.06017440
+v 0.25985362 -0.00738897 0.13402639
+v 0.26461033 -0.13992983 0.14811764
+v 0.27229169 -0.00757574 -0.05918334
+v 0.45200787 -0.00827077 0.10653630
+v 0.27229169 -0.14393937 -0.05918334
+f 1 2 3
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+f 7 3 6
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 6

bagel/bagel_4/collision/model_normalized_collision_4.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.34892041 -0.02272725 0.01657423
+v -0.19358480 0.05684698 -0.08010263
+v -0.21534027 0.17849033 0.14239626
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+v -0.43319768 0.20258768 -0.08261796
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+v -0.34892041 -0.02272725 -0.07433486
+v -0.40952646 -0.02272725 0.01657423
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+f 10 2 1
+f 10 1 8
+f 11 8 1
+f 11 1 6
+f 11 6 8

bagel/bagel_4/collision/model_normalized_collision_5.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23369859 -0.41877343 0.05701104
+v 0.46749838 -0.16639131 -0.02442016
+v 0.43122528 -0.13561402 0.11046933
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+v 0.27531719 -0.14551867 -0.14923910
+v 0.23751966 -0.32083240 0.13945265
+v 0.37611521 -0.29569544 0.05389761
+v 0.33539724 -0.31510231 -0.12143652
+v 0.40243998 -0.13725895 -0.12289408
+v 0.03230255 -0.19065886 -0.03864797
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bagel/bagel_4/collision/model_normalized_collision_7.obj

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bagel/bagel_4/collision/model_normalized_collision_8.obj

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bagel/bagel_4/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="more_bagel_9">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10500000000000001 0.10500000000000001 0.10500000000000001" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10500000000000001 0.10500000000000001 0.10500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10500000000000001 0.10500000000000001 0.10500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10500000000000001 0.10500000000000001 0.10500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10500000000000001 0.10500000000000001 0.10500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10500000000000001 0.10500000000000001 0.10500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10500000000000001 0.10500000000000001 0.10500000000000001" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.10500000000000001 0.10500000000000001 0.10500000000000001" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.10500000000000001 0.10500000000000001 0.10500000000000001" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10500000000000001 0.10500000000000001 0.10500000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="donut" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.0048374999999963e-05 7.510072500000035e-05 -0.017338946100000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.0048374999999963e-05 7.510072500000035e-05 0.017644692450000003" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05075929215 0.051607610250000005 0.00015287317499999912" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bagel/bagel_5/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="more_bagel_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.1 0.1 0.1" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.052" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.052"/>
+        <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"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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="0.00014452600000000037 -2.0088500000001175e-05 -0.014194979000000003" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00014452600000000037 -2.0088500000001175e-05 0.013759388000000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.043945044 0.049096691 -0.00021779549999999953" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bagel/bagel_6/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="more_bagel_11">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.010" texture="image0" specular="0.5" shininess="1.0"/>
+  </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="material_0.010"/>
+        <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="0.00015847315000000085 4.310899999999397e-06 -0.015465151900000003" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00015847315000000085 4.310899999999397e-06 0.0152370471" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.048047542400000004 0.0542412079 -0.00011405240000000123" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bagel/bagel_7/collision/model_normalized_collision_11.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.24044601 -0.26068290 0.12077401
+v 0.39130099 -0.15955363 -0.06301381
+v 0.39963769 0.11721656 0.03635573
+v 0.23378563 0.10261497 0.10622066
+v 0.23236040 -0.26515153 -0.05801732
+v 0.33395573 -0.00917764 0.10827566
+v 0.34197483 -0.26862977 -0.05910517
+v 0.22756293 -0.26087969 0.12563524
+v 0.23236040 -0.00757576 -0.05801732
+v 0.35776329 0.09779852 0.08256475
+v 0.32837822 -0.21668128 0.09034722
+v 0.27792530 -0.00943319 0.12188445
+v 0.29735205 -0.17079400 0.12200584
+v 0.35357253 -0.00757576 -0.05801732
+v 0.23236040 0.09848485 0.00258874
+v 0.34701293 -0.00858701 0.10139775
+v 0.34759688 -0.14179523 0.09363069
+v 0.32265456 -0.25139478 0.07787482
+v 0.23325669 -0.01254769 0.12148064
+v 0.28038567 -0.21676667 0.12022418
+v 0.30294799 -0.03975233 0.12124837
+v 0.32687372 -0.15344628 0.10670664
+v 0.31237095 -0.19488660 0.10730978
+f 7 5 2
+f 8 7 1
+f 8 5 7
+f 9 2 5
+f 9 5 8
+f 10 3 4
+f 12 10 4
+f 12 6 10
+f 14 3 2
+f 14 2 9
+f 15 4 3
+f 15 14 9
+f 15 3 14
+f 15 9 8
+f 15 8 4
+f 16 10 6
+f 16 3 10
+f 16 6 13
+f 17 11 2
+f 17 2 3
+f 17 3 16
+f 18 7 2
+f 18 2 11
+f 18 1 7
+f 19 12 4
+f 19 4 8
+f 19 8 12
+f 20 13 8
+f 20 8 1
+f 20 18 11
+f 20 1 18
+f 21 12 8
+f 21 8 13
+f 21 13 6
+f 21 6 12
+f 22 17 16
+f 22 16 13
+f 22 11 17
+f 23 20 11
+f 23 13 20
+f 23 22 13
+f 23 11 22

bagel/bagel_7/collision/model_normalized_collision_13.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.36113246 -0.00774632 0.09196233
+v 0.34701293 -0.00858701 0.10139775
+v 0.05364438 -0.00788667 0.00013856
+v 0.03728238 0.10654519 0.04069955
+v 0.35145691 0.09820355 0.08658164
+v 0.12211644 -0.00925331 0.09459249
+v 0.23236040 -0.00757576 0.00258874
+v 0.35776329 0.09779852 0.08256475
+v 0.09068307 -0.01041109 0.06917990
+v 0.20309031 0.09828147 0.10689456
+v 0.03047470 0.10216854 -0.00158047
+v 0.02965296 0.10674096 0.01892741
+v 0.06136785 -0.01015992 0.00979429
+v 0.16052911 -0.01000881 0.10721109
+v 0.08889328 0.10594979 0.07903751
+v 0.28879761 0.08129972 0.10808186
+v 0.03226977 0.08646173 -0.00685214
+v 0.23236040 0.09848485 0.00258874
+v 0.33395573 -0.00917764 0.10827566
+v 0.15964091 0.03533955 0.10743266
+v 0.24569002 0.09618369 0.10658608
+v 0.34641612 0.08156872 0.09131259
+v 0.13014981 0.10039218 0.09281648
+v 0.31578828 0.06194618 0.10567549
+v 0.11897568 0.08029152 0.09089188
+v 0.32982466 0.03365537 0.10518333
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 9 6 4
+f 9 4 3
+f 12 5 8
+f 12 3 4
+f 13 9 3
+f 13 3 7
+f 14 6 9
+f 15 10 5
+f 15 4 6
+f 15 12 4
+f 15 5 12
+f 17 7 3
+f 17 12 11
+f 17 3 12
+f 18 8 7
+f 18 17 11
+f 18 7 17
+f 18 12 8
+f 18 11 12
+f 19 13 7
+f 19 7 2
+f 19 9 13
+f 19 14 9
+f 20 16 10
+f 20 19 16
+f 20 14 19
+f 20 15 6
+f 20 6 14
+f 21 16 5
+f 21 5 10
+f 21 10 16
+f 22 19 2
+f 22 2 5
+f 23 20 10
+f 23 10 15
+f 24 22 5
+f 24 5 16
+f 24 16 19
+f 25 23 15
+f 25 15 20
+f 25 20 23
+f 26 24 19
+f 26 19 22
+f 26 22 24

bagel/bagel_7/collision/model_normalized_collision_22.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.23236040 -0.14393941 -0.05801732
+v 0.23169404 -0.14126735 -0.13480385
+v 0.23236040 0.09848485 -0.05801732
+v 0.08958387 0.10350540 -0.12150739
+v 0.07465048 -0.07738513 -0.11048431
+v 0.23101045 0.09711488 -0.13230657
+v 0.13111690 -0.14563162 -0.13297691
+v 0.12629979 -0.14393941 -0.05801732
+v 0.11573286 0.10140218 -0.13360477
+v 0.06897742 0.08406137 -0.10504090
+v 0.08197946 -0.08442247 -0.11398095
+v 0.06240792 -0.00994300 -0.09026028
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 1 3
+f 8 7 1
+f 8 5 7
+f 9 4 6
+f 9 6 2
+f 9 2 7
+f 10 3 4
+f 10 4 5
+f 11 9 7
+f 11 7 5
+f 11 5 4
+f 11 4 9
+f 12 8 3
+f 12 3 10
+f 12 10 5
+f 12 5 8

bagel/bagel_7/collision/model_normalized_collision_26.obj

@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.37119350 0.22888538 0.01126164
+v 0.36954200 0.22711684 -0.09987637
+v 0.29543467 0.34129642 -0.00212451
+v 0.19419681 0.41915832 -0.02889400
+v 0.20192560 0.23459541 0.09045835
+v 0.26383245 0.37129124 -0.09524534
+v 0.36590847 0.25498182 -0.04122340
+v 0.28731136 0.22889188 0.07906185
+v 0.24670682 0.38839688 -0.02436874
+v 0.20154675 0.23784632 -0.13647195
+v 0.35232858 0.27195396 -0.00656819
+v 0.27580311 0.35969760 -0.08442104
+v 0.29639580 0.27199476 0.06171590
+v 0.20676000 0.41315298 -0.08152354
+v 0.21533038 0.38601452 0.02478319
+v 0.25196809 0.38310121 -0.08425538
+v 0.19444110 0.40332936 0.01155250
+v 0.32294793 0.28212740 -0.12115657
+v 0.31191368 0.29813885 0.03126354
+v 0.36613942 0.25437981 -0.03031725
+v 0.30681564 0.32670025 -0.02710613
+v 0.31220904 0.22953091 0.06983305
+v 0.19973621 0.31004580 0.07680179
+v 0.20795672 0.41240985 -0.03209439
+v 0.19717983 0.39503420 -0.12332100
+v 0.22352599 0.39988230 -0.00646072
+v 0.23799674 0.38474061 -0.11075620
+v 0.34799798 0.23113311 -0.12003729
+v 0.33836788 0.28225435 -0.10583718
+v 0.30828966 0.31264964 0.02126262
+v 0.32462710 0.25644774 0.04855335
+v 0.24851396 0.34081437 0.04753287
+v 0.36770587 0.23772248 0.00729893
+v 0.28301908 0.24725434 0.07581750
+v 0.19796433 0.34585007 0.06101323
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+v 0.36420325 0.24294111 -0.10089088
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bagel/bagel_7/collision/model_normalized_collision_27.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.33103684 -0.28565617 0.00258331
+v 0.40292856 -0.14120317 -0.05223537
+v 0.39617318 -0.15229925 0.03825006
+v 0.33248318 -0.14350099 0.10385027
+v 0.33687112 -0.21894288 -0.10291657
+v 0.38336618 -0.14069738 0.06730575
+v 0.36202599 -0.27276941 -0.06629631
+v 0.33109509 -0.24599402 -0.09500653
+v 0.37374626 -0.16473476 -0.09171888
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+v 0.35248875 -0.24112705 0.04917769
+v 0.39732729 -0.16197945 0.02446418
+v 0.32885739 -0.18501523 0.09982903
+v 0.33140189 -0.28735255 -0.03988505
+v 0.36409508 -0.21226628 0.05199527
+v 0.33866004 -0.26604939 0.04458844
+v 0.36739670 -0.23606743 0.00935714
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+v 0.36977301 -0.14441320 0.08064432
+v 0.33244563 -0.27262794 -0.06812995
+v 0.38038070 -0.14938300 0.06800206
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+v 0.36931551 -0.15198784 0.07952273
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+f 28 25 26

bagel/bagel_7/collision/model_normalized_collision_28.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06650145 -0.00366301 0.01264606
+v 0.08238611 -0.00810449 -0.09966042
+v 0.08222852 0.09945511 -0.11567570
+v 0.03047470 0.10216854 -0.00158047
+v 0.03951565 -0.00944795 -0.08144186
+v 0.05149223 0.07853629 0.01672323
+v 0.08503454 0.03977104 -0.10520264
+v 0.04986441 -0.01003649 -0.00499478
+v 0.04025110 0.10322566 -0.10376523
+v 0.01965441 0.10354907 -0.01972475
+v 0.03785271 0.00845926 -0.02366145
+v 0.01875755 0.10385006 -0.09021786
+f 6 1 3
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+f 8 2 1
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+f 9 2 5
+f 9 4 3
+f 10 8 4
+f 10 4 9
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+f 11 5 8
+f 11 8 10
+f 12 10 9
+f 12 9 5
+f 12 5 10

bagel/bagel_7/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24174816 -0.27588862 0.11338959
+v 0.23236040 -0.26515153 -0.05801732
+v 0.23387827 -0.13940945 0.13475161
+v -0.01364668 -0.09957491 -0.05605526
+v 0.00508767 -0.26515153 -0.05801732
+v 0.23236040 -0.14393941 -0.05801732
+v -0.00231364 -0.26126781 0.13588772
+v 0.00483459 -0.14349724 0.09400116
+f 5 2 1
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+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 7 4 5
+f 8 7 3
+f 8 3 4
+f 8 4 7

bagel/bagel_7/collision/model_normalized_collision_9.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.14430285 0.09116534 0.04277722
+v 0.01563666 0.11884599 -0.09326742
+v 0.01004559 0.23800482 0.06715977
+v -0.21032818 0.23212622 0.06786267
+v -0.20808533 0.09910867 -0.13870305
+v -0.25057235 0.10471313 0.08286207
+v 0.01505398 0.13637329 0.02861452
+v -0.12306482 0.09001946 -0.02591313
+v 0.00432863 0.23452117 -0.13839221
+v -0.25248810 0.09848485 -0.01256277
+v 0.01533002 0.11820819 -0.01737841
+v 0.00998131 0.22553121 0.06269522
+v -0.13216229 0.09850990 -0.10510731
+v 0.00526970 0.19800708 -0.13085949
+v -0.20587344 0.23489620 -0.13850810
+v -0.25236531 0.16356200 0.07018245
+v -0.16767589 0.10156899 -0.13020656
+v -0.02389680 0.23870644 0.06430335
+v -0.25248810 0.15909091 -0.01256277
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+f 19 10 16

bagel/bagel_7/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="more_bagel_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.009" texture="image0" specular="0.5" shininess="1.0"/>
+  </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="material_0.009"/>
+        <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"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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="-0.0006039423499999986 4.4522500000013235e-06 -0.0154652476" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0006039423499999986 4.4522500000013235e-06 0.015202342099999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0470994403 0.05424146970000001 -0.00013145275000000028" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bagel/bagel_7/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 1000.00000000
+map_Kd material_0.jpeg

bagel/bagel_9/model.xml

@@ -0,0 +1,85 @@
+<mujoco model="bagel_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.9569403357322087 0.0 0.29028467725446233 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image1" file="visual/image1.png"/>
+    <material name="Bagel_Finalllllllllllllllllllllllllllllllllllllly_tex0" texture="image0" specular="0.5" shininess="0.0"/>
+    <material name="Bagel_Finalllllllllllllllllllllllllllllllllllllly_tex1" texture="image1" 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="Bagel_Finalllllllllllllllllllllllllllllllllllllly_tex1"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Bagel_Finalllllllllllllllllllllllllllllllllllllly_tex0"/>
+        <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="0.0005614725973644047 0.00010109330000000168 -0.024247925986285626" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0005614725973644047 0.00010109330000000168 0.025012475509750817" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05552801190014766 0.05439708230000001 0.00038227476173259534" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

fish/fish_0/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="more_fish_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
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+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.4999999999999999 0.4999999999999999 -0.49999999999999994 0.49999999999999994"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Textured" texture="image0" specular="0.5" shininess="0.324088709"/>
+  </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="Textured"/>
+        <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"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <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="0.00024519055856339926 4.9095180815938994e-05 -0.010359350970642988" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00024519055856339926 4.9095180815938994e-05 0.010329397903663976" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.02672039684699988 0.08445727173343849 -1.4976533489506649e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

fish/fish_1/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
+v 0.02076539 -0.41191928 0.02638670
+v 0.03327479 -0.38264651 0.02783674
+v 0.01954560 -0.32140850 0.06195866
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+v -0.04330118 -0.26492343 0.04803585
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+v 0.02983835 -0.34848361 0.04767386
+v -0.03782663 -0.36791055 0.02872300
+v 0.00831315 -0.38005935 0.04790552
+v -0.01087320 -0.32203901 0.06491941
+v 0.02790749 -0.37988474 0.03620041
+v 0.04208105 -0.26505157 0.04965380
+v -0.01385505 -0.41413241 0.03036855
+v -0.03149926 -0.33704988 0.05043574
+v 0.02101106 -0.26395404 0.07045553
+v 0.04261340 -0.34069961 0.03500125
+v 0.01586668 -0.40776456 0.03224617
+v -0.02617936 -0.39802835 0.02888802
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+v -0.03604641 -0.26449281 0.05775053
+v -0.04282020 -0.34040300 0.03443958
+v -0.02100694 -0.30675284 0.06435546
+v -0.02010234 -0.36437664 0.04815758
+v 0.03482628 -0.26462096 0.05936849
+v -0.03115283 -0.36554370 0.03858404
+v -0.02029736 -0.39408661 0.03546961
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fish/fish_1/collision/model_normalized_collision_1.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01957570 -0.49104087 -0.02567067
+v 0.03209949 -0.45609914 -0.05848839
+v 0.01373305 -0.40174523 0.03625410
+v -0.02617936 -0.39802835 0.02888802
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+v -0.00684745 -0.46367274 0.00318380
+v 0.03769084 -0.44653706 -0.01335264
+v -0.00787494 -0.49427889 -0.04665590
+v 0.01296899 -0.40105727 -0.08361579
+v 0.00705742 -0.43807987 0.02103468
+v -0.02981834 -0.47057985 -0.01727439
+v 0.02923367 -0.47934258 -0.03212280
+v -0.03330310 -0.42730955 -0.06749364
+v 0.00856549 -0.45525192 -0.06736710
+v -0.04921060 -0.39992706 -0.05016354
+v 0.00684741 -0.46368190 0.00317668
+v -0.00834158 -0.43774553 0.02052096
+v 0.02844307 -0.45486546 -0.00511107
+v -0.03100641 -0.47001164 -0.04967708
+v -0.00769472 -0.49570189 -0.02291928
+v 0.02826106 -0.48007737 -0.02269750
+v 0.00577094 -0.49588911 -0.04635596
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+v 0.03051149 -0.44306620 -0.00102077
+v 0.01769261 -0.45096573 0.00617862
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+v 0.02926104 -0.46641501 -0.05411155
+v -0.01071635 -0.48361157 -0.05325316
+v 0.02017427 -0.48882624 -0.03077770
+v -0.03578446 -0.39834527 0.01609799
+v -0.01974115 -0.42394859 0.02115404
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+v 0.01909909 -0.47883993 -0.05257815
+v -0.04416602 -0.41325651 -0.01547751
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fish/fish_1/collision/model_normalized_collision_10.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.03482628 -0.26462096 0.05936849
+v 0.05357204 -0.26501148 0.01905405
+v 0.04174592 -0.21896973 0.05407549
+v -0.00948908 -0.21783647 0.08383045
+v -0.05383889 -0.26492992 0.01814638
+v 0.00827257 -0.21791938 0.08453137
+v 0.04576847 -0.26457302 0.04477130
+v -0.01378001 -0.26403890 0.07411706
+v 0.05458769 -0.21963398 0.01941544
+v 0.04116763 -0.23347141 0.05365470
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+v -0.00866615 -0.24699930 0.07941171
+v -0.05477934 -0.21959060 0.01872482
+v 0.01091961 -0.26422743 0.07532043
+v -0.03787686 -0.21930447 0.05959514
+v 0.00866550 -0.24695325 0.07942017
+v -0.04678689 -0.21931141 0.04639285
+v -0.04576963 -0.26451052 0.04477471
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+f 10 1 7
+f 11 5 1
+f 11 8 4
+f 12 6 4
+f 12 4 8
+f 13 9 5
+f 13 4 9
+f 14 11 1
+f 14 8 11
+f 14 12 8
+f 14 1 6
+f 15 11 4
+f 16 14 6
+f 16 6 12
+f 16 12 14
+f 17 15 4
+f 17 4 13
+f 17 13 5
+f 18 17 5
+f 18 5 11
+f 18 11 15
+f 18 15 17

fish/fish_1/collision/model_normalized_collision_11.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.04138535 -0.33738662 0.03747043
+v 0.05750952 -0.33952198 -0.03919879
+v 0.05959435 -0.26492512 -0.01249100
+v -0.02725417 -0.26719509 0.06567632
+v -0.04447021 -0.34345713 -0.07042453
+v 0.04576847 -0.26457302 0.04477130
+v 0.05642564 -0.32428372 -0.01306620
+v -0.02034114 -0.34292124 0.05618779
+v 0.01981314 -0.27003970 -0.10464244
+v 0.05574410 -0.26426124 -0.06990408
+v 0.05771986 -0.33943732 -0.02769378
+v -0.05527907 -0.26884175 -0.06437253
+v 0.01340453 -0.34021520 -0.09570822
+v 0.05968676 -0.26465751 -0.05084857
+v 0.01346198 -0.31052577 -0.10005037
+v 0.03287027 -0.33865072 -0.08749037
+v 0.04270652 -0.33844556 -0.07451757
+v 0.03628138 -0.30868152 -0.09055383
+v 0.05640156 -0.32446404 -0.04837220
+v 0.04511267 -0.30870575 -0.07765214
+f 7 6 1
+f 7 3 6
+f 8 5 2
+f 8 6 4
+f 8 1 6
+f 10 6 3
+f 10 4 6
+f 11 7 1
+f 11 3 7
+f 11 8 2
+f 11 1 8
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+f 12 5 8
+f 12 9 5
+f 12 10 9
+f 12 4 10
+f 13 2 5
+f 14 10 3
+f 14 2 10
+f 14 11 2
+f 14 3 11
+f 15 13 5
+f 15 5 9
+f 15 9 13
+f 16 2 13
+f 16 13 9
+f 17 2 16
+f 18 16 9
+f 18 9 10
+f 18 17 16
+f 19 17 10
+f 19 10 2
+f 19 2 17
+f 20 18 10
+f 20 10 17
+f 20 17 18

fish/fish_1/collision/model_normalized_collision_12.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.04745622 -0.31484591 -0.07097496
+v 0.05509648 -0.26937457 -0.06492003
+v -0.05522494 -0.31409695 -0.00252700
+v -0.05762356 -0.26612942 -0.00207126
+v -0.05357015 -0.25867118 -0.08931943
+v 0.01346198 -0.26372323 -0.10666734
+v -0.05916678 -0.26510258 -0.01029572
+v -0.02669010 -0.30774922 -0.09795026
+v -0.06184887 -0.27961945 -0.02703604
+v -0.04521503 -0.30847574 -0.07749393
+v 0.01346198 -0.30835602 -0.10036774
+v -0.03590093 -0.26267773 -0.09859416
+v -0.06240007 -0.26495847 -0.02703604
+v -0.05714677 -0.31017593 -0.01067552
+v -0.05910811 -0.27895265 -0.04966167
+v -0.05996697 -0.26455106 -0.04992282
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 4 2
+f 7 2 5
+f 10 8 1
+f 10 1 3
+f 10 5 8
+f 11 8 6
+f 11 6 1
+f 11 1 8
+f 12 8 5
+f 12 5 6
+f 12 6 8
+f 13 7 5
+f 13 9 4
+f 13 4 7
+f 14 3 4
+f 14 4 9
+f 14 10 3
+f 15 5 10
+f 15 14 9
+f 15 10 14
+f 16 13 5
+f 16 5 15
+f 16 15 9
+f 16 9 13

fish/fish_1/collision/model_normalized_collision_13.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00568388 -0.00668481 0.12385960
+v 0.01308267 0.03782431 0.08107674
+v 0.00000000 0.06163693 0.13045429
+v -0.00708699 0.09627337 0.07093891
+v -0.01355111 0.03740626 0.07998647
+v 0.00598930 0.09626858 0.07198148
+v -0.00589163 -0.00652747 0.12324432
+v 0.00058556 -0.00277755 0.13173514
+v -0.00203689 -0.00205920 0.13022458
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 5 3 4
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 5 1
+f 7 3 5
+f 8 7 1
+f 8 1 3
+f 9 8 3
+f 9 3 7
+f 9 7 8

fish/fish_1/collision/model_normalized_collision_14.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01631543 -0.26618869 0.07268742
+v 0.03482628 -0.26462096 0.05936849
+v 0.00938066 -0.02247765 0.10925238
+v 0.01266426 -0.00764518 0.09623067
+v 0.03306742 -0.00875780 0.05943766
+v 0.00845901 -0.23229934 0.08211261
+v 0.01880589 -0.23183893 0.07699551
+v 0.01091961 -0.26422743 0.07532043
+v 0.01100934 -0.02244851 0.10611070
+v 0.00660801 -0.05054697 0.10579990
+v 0.02301926 -0.00637492 0.07340258
+v 0.03116077 -0.26316619 0.06337414
+v 0.01410934 -0.00847982 0.09144082
+f 5 4 3
+f 7 6 1
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 8 1 6
+f 9 5 3
+f 9 3 2
+f 9 2 5
+f 10 6 3
+f 10 3 4
+f 11 4 5
+f 11 8 6
+f 11 5 8
+f 12 7 1
+f 12 1 2
+f 12 2 3
+f 12 3 7
+f 13 10 4
+f 13 6 10
+f 13 11 6
+f 13 4 11

fish/fish_1/collision/model_normalized_collision_15.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01790273 0.03641029 0.07259229
+v 0.03612423 0.03701663 0.04617984
+v 0.01506905 0.17108892 0.05009997
+v 0.00731624 0.17273260 0.05591561
+v -0.03664759 0.03672408 0.04538874
+v 0.01387864 0.09558637 0.06525940
+v 0.02547326 0.08106591 0.05457482
+v -0.03036991 0.03595438 0.05559740
+v 0.01775723 0.17230915 0.04477354
+v 0.01340518 0.17422889 0.05084614
+v 0.00509549 0.12626427 0.06417676
+v 0.02939973 0.03623074 0.05710096
+v -0.01637951 0.15620971 0.05177683
+v 0.03177126 0.08188325 0.04438176
+v -0.01926586 0.03608729 0.07095550
+v -0.03507694 0.05158641 0.04503764
+v -0.02039360 0.15739120 0.04436398
+v -0.00664344 0.12604662 0.06332041
+v -0.02908287 0.05081534 0.05478202
+v -0.01665676 0.07999818 0.06528947
+f 6 1 3
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+f 14 2 5
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+f 14 7 12
+f 14 9 3
+f 14 3 7
+f 15 1 11
+f 15 12 1
+f 15 8 12
+f 16 5 8
+f 16 14 5
+f 17 10 9
+f 17 16 13
+f 17 9 14
+f 17 14 16
+f 17 13 4
+f 17 4 10
+f 18 11 4
+f 18 4 13
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+f 19 15 13
+f 19 8 15
+f 19 16 8
+f 19 13 16
+f 20 18 13
+f 20 13 15
+f 20 15 18