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@@ -117,3 +117,4 @@ soap_dispenser/soap_dispenser_2/visual/model_normalized_3.obj filter=lfs diff=lf
 cupcake/cupcake_15/visual/model_normalized_1.obj filter=lfs diff=lfs merge=lfs -text
 cupcake/cupcake_17/visual/model_normalized_1.obj filter=lfs diff=lfs merge=lfs -text
 soap_dispenser/soap_dispenser_2/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+cupcake/cupcake_3/visual/model_normalized_1.obj filter=lfs diff=lfs merge=lfs -text

bread/bread_0/collision/model_normalized_collision_0.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_1.obj

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+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_10.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_11.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_12.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_13.obj

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+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_14.obj

@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_15.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_16.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_17.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_18.obj

@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_19.obj

@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_2.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_20.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_21.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_22.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+f 64 30 2
+f 64 2 45

bread/bread_0/collision/model_normalized_collision_23.obj

@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.43638090 0.16867440 -0.00186985
+v 0.44965578 0.16777074 -0.16090140
+v 0.38576775 0.27836284 -0.04564050
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+f 49 43 42
+f 49 42 44

bread/bread_0/collision/model_normalized_collision_24.obj

@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.25812789 -0.40683110 -0.03040338
+v 0.43509954 -0.21519775 -0.14457609
+v 0.41831159 -0.21308796 -0.00297777
+v 0.26515153 -0.22037813 0.00282287
+v 0.26476682 -0.22008478 -0.26753609
+v 0.25972199 -0.39457237 -0.00159753
+v 0.39875065 -0.28316473 -0.07586448
+v 0.25592031 -0.37487882 -0.20030185
+v 0.42292091 -0.21457401 -0.17317341
+v 0.43332238 -0.21354987 -0.04567183
+v 0.32478031 -0.35689437 -0.03279436
+v 0.25919181 -0.27514363 -0.25870745
+v 0.32508953 -0.35624383 -0.14787904
+v 0.36351509 -0.21652124 -0.22534394
+v 0.40035489 -0.28240170 -0.08634880
+v 0.39839251 -0.25306908 -0.00674669
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bread/bread_0/collision/model_normalized_collision_25.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.26583268 0.00282287
+v 0.26515153 -0.26583268 -0.13354077
+v 0.26515153 0.23416733 0.00282287
+v 0.00757577 0.23416733 0.00282287
+v 0.00757577 -0.26583268 -0.13354077
+v 0.00757577 0.23416733 -0.13354077
+v 0.00757577 -0.26583268 0.00282287
+v 0.26515153 0.23416733 -0.13354077
+f 1 2 3
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+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6

bread/bread_0/collision/model_normalized_collision_26.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757577 -0.00825692 0.01797438
+v 0.00757577 -0.00825692 -0.11838926
+v 0.00757577 0.35537945 0.01797438
+v -0.24701241 0.37754297 0.03108308
+v -0.23484847 -0.00825692 -0.11838926
+v -0.23484847 -0.00825692 0.01797438
+v -0.25628194 0.37803072 -0.13484376
+v 0.00757577 0.35537945 -0.11838926
+f 1 2 3
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+f 6 5 1
+f 6 1 4
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+f 7 6 4
+f 7 5 6
+f 8 3 2
+f 8 2 7
+f 8 7 4
+f 8 4 3

bread/bread_0/collision/model_normalized_collision_27.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757577 -0.37189329 0.01797438
+v 0.00757577 -0.37189329 -0.17899532
+v 0.00757577 -0.25068116 -0.17899532
+v -0.23484847 -0.25068116 0.01797438
+v -0.24496303 -0.38687057 0.02140991
+v 0.00757577 -0.25068116 0.01797438
+v -0.23821989 -0.37792965 -0.18319813
+v -0.23484847 -0.25068116 -0.17899532
+f 1 2 3
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+f 6 3 4
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+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 3
+f 8 3 7

bread/bread_0/collision/model_normalized_collision_28.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08333335 -0.26583268 -0.13354077
+v 0.08340815 -0.26595161 -0.25257460
+v 0.08422315 0.09826548 -0.24974148
+v 0.00757577 0.09780369 -0.13354077
+v 0.00742264 -0.26618022 -0.25226379
+v 0.08333335 0.09780369 -0.13354077
+v 0.00757577 -0.26583268 -0.13354077
+v 0.00821450 0.09750723 -0.24489289
+f 1 2 3
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+f 6 1 3
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+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5

bread/bread_0/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.14462056 -0.13354077
+v 0.26515153 -0.14462056 -0.19414683
+v 0.26515153 0.09780369 -0.13354077
+v 0.08333335 0.09780369 -0.13354077
+v 0.07952387 -0.14643079 -0.24807740
+v 0.08333335 -0.14462056 -0.13354077
+v 0.26515153 0.09780369 -0.19414683
+v 0.07596706 0.09324761 -0.24781534
+f 1 2 3
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+f 6 5 1
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 6 4
+f 8 5 6
+f 8 7 5
+f 8 4 7

bread/bread_0/collision/model_normalized_collision_3.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24267633 0.21186741 0.15713604
+v 0.27068093 0.25463011 -0.23350006
+v 0.28905869 0.34687835 -0.00020153
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+v 0.14393941 0.23416733 -0.19414683
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+v 0.01477493 0.21050661 0.22182838
+v 0.26515153 0.23416733 0.00282287
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bread/bread_0/collision/model_normalized_collision_30.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01604920 -0.26272524 0.21147894
+v 0.00760483 -0.25165203 -0.24969735
+v 0.00757577 -0.00825692 0.16948954
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+v -0.23781866 -0.25355222 0.17736610
+v -0.23359169 -0.00973107 -0.24137412
+v 0.00976027 -0.00988757 -0.24010623
+v -0.23306452 -0.25195742 -0.24590308
+v 0.00757577 -0.00825692 0.00282287
+f 1 3 4
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+f 8 1 5
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+f 8 4 6
+f 9 7 4
+f 9 4 3
+f 9 3 7

bread/bread_0/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757577 -0.00825692 0.16948954
+v 0.00757577 -0.00825692 0.01797438
+v 0.00778223 0.22858848 0.19465878
+v -0.23741932 0.22184610 0.17486203
+v -0.25171174 -0.00356891 0.22296945
+v 0.00757577 0.21901581 0.01797438
+v -0.23484847 -0.00825692 0.01797438
+v -0.23484847 0.21901581 0.01797438
+f 1 2 3
+f 5 1 3
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+f 6 3 2
+f 7 2 1
+f 7 1 5
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+f 8 4 3
+f 8 3 6
+f 8 6 7
+f 8 7 5
+f 8 5 4

bread/bread_0/collision/model_normalized_collision_4.obj

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+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_5.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_6.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_7.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_8.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
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bread/bread_0/collision/model_normalized_collision_9.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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+v 0.25000002 -0.25068116 0.00282287
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bread/bread_0/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="bread_20">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11999999999999998 0.11999999999999998 0.11999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11999999999999998 0.11999999999999998 0.11999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11999999999999998 0.11999999999999998 0.11999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11999999999999998 0.11999999999999998 0.11999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11999999999999998 0.11999999999999998 0.11999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11999999999999998 0.11999999999999998 0.11999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11999999999999998 0.11999999999999998 0.11999999999999998" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11999999999999998 0.11999999999999998 0.11999999999999998" refquat="1.0 0.0 0.0 0.0"/>
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+      <site rgba="0 0 0 0" size="0.005" pos="1.8000000023832283e-09 0.0001579002000000018 -0.03245274" name="bottom_site"/>
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bread/bread_0/visual/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 5.60786300
+map_Kd material_0.jpeg

bread/bread_1/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="bread_58">
+  <asset>
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+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.211" texture="image0" specular="0.5" shininess="0.25"/>
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+  <worldbody>
+    <body>
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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="-0.0004456242000000005 -0.00011563999999999909 -0.03614537500000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0004456242000000005 -0.00011563999999999909 0.0364089152" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03798799340000001 0.06933610180000001 0.00013177010000000323" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bread/bread_10/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="bread_38">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.135 0.135 0.135" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="TextureAtlas_1001" texture="image0" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="TextureAtlas_1001"/>
+        <geom solimp="0.998 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"/>
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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"/>
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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="0.00019433250000000139 -0.0001859456250000019 -0.033642217349999996" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00019433250000000139 -0.0001859456250000019 0.032360048100000004" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0554424966 0.06637941225 -0.0006410846249999996" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bread/bread_11/model.xml

@@ -0,0 +1,85 @@
+<mujoco model="bread_47">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.13499999999999998 0.13499999999999998 0.13499999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.13499999999999998 0.13499999999999998 0.13499999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.13499999999999998 0.13499999999999998 0.13499999999999998" refquat="1.0 0.0 0.0 0.0"/>
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bread/bread_13/model.xml

@@ -0,0 +1,81 @@
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+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12999999999999998 0.12999999999999998 0.12999999999999998" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="plu1" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </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="plu1"/>
+        <geom solimp="0.998 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="9.71067384239718e-05 -0.00017723482887195853 -0.021130717399999995" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="9.71067384239718e-05 -0.00017723482887195853 0.020734244699999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.06415137835255884 0.06170681964397298 -0.00019823634999999976" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bread/bread_14/collision/model_normalized_collision_0.obj

@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.14098424 -0.30714045 0.01219653
+v 0.26347611 -0.16192079 -0.21127524
+v 0.26515150 -0.00463497 0.01306373
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+v 0.22813517 -0.27432498 -0.05991146
+v -0.11137715 -0.31178590 0.01208038
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bread/bread_14/collision/model_normalized_collision_1.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.14216149 -0.00528506 0.24877515
+v 0.20454544 0.05597109 0.14942736
+v 0.22126537 0.16958215 0.18271285
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bread/bread_14/collision/model_normalized_collision_10.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.06718936 -0.28029358 0.14355684
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bread/bread_14/collision/model_normalized_collision_11.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.39852380 -0.13712508 -0.16649376
+v 0.44898728 0.08812883 -0.19951053
+v 0.41253388 0.14603479 -0.17983295
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+v 0.44339936 0.08412530 -0.20680319
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+v 0.33861280 -0.10396642 -0.22601050
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bread/bread_14/collision/model_normalized_collision_12.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
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bread/bread_14/collision/model_normalized_collision_13.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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bread/bread_14/collision/model_normalized_collision_14.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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