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bagged_food/bagged_food_9/collision/model_normalized_collision_0.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.28769298 -0.08349000 -0.23470645
+v 0.38125135 -0.00616778 -0.35787961
+v 0.35977042 -0.01182818 -0.09835263
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+v 0.34496789 -0.03668045 -0.09948443
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+v 0.28891566 -0.01255785 -0.31044592
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+v 0.34118444 0.06067655 -0.35446244
+v 0.36368149 -0.03229836 -0.35725332
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+v 0.30396781 0.07814404 -0.23471553
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+f 23 17 20

bagged_food/bagged_food_9/collision/model_normalized_collision_1.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.16523924 -0.09897808 0.21899781
+v -0.16535753 -0.09662532 -0.23359212
+v -0.16549009 -0.01255785 0.08337240
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+v -0.29667522 -0.08011234 -0.23517580
+v -0.30260344 -0.07431632 0.26520328
+v -0.16448343 -0.10352525 0.17294285
+v -0.16549009 -0.01255785 -0.23471163
+v -0.25662409 -0.08695351 0.26695645
+v -0.33758033 -0.04654239 -0.23176464
+v -0.22261175 -0.10159138 -0.11316767
+v -0.16493273 -0.10295008 -0.18764960
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+v -0.25607905 -0.08748160 0.26302941
+v -0.28059289 -0.08529033 0.15831343
+v -0.26764370 -0.08864777 -0.23416507
+v -0.22271069 -0.10179498 0.09794399
+v -0.29611044 -0.07874582 0.26451622
+v -0.20918293 -0.10168473 -0.15807349
+v -0.17965104 -0.10215308 -0.18792374
+v -0.28073536 -0.08520681 -0.18897109
+v -0.20912296 -0.10140893 0.14305714
+v -0.26694276 -0.08615174 0.26289248
+v -0.19395434 -0.10119035 0.17290265
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bagged_food/bagged_food_9/collision/model_normalized_collision_10.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.31419103 -0.06011713 -0.34992434
+v 0.38993632 -0.01090827 -0.41747176
+v 0.33019188 0.06382166 -0.35459203
+v -0.31271242 0.06444507 -0.34851641
+v -0.39089744 -0.01628988 -0.44936592
+v 0.38125135 -0.00616778 -0.35787961
+v 0.38087358 -0.01610901 -0.44694480
+v -0.32655077 -0.05800458 -0.35277005
+v -0.36797519 0.03716689 -0.42244537
+v 0.35539321 -0.03979114 -0.35605213
+v 0.36676148 0.03985050 -0.35771582
+v 0.38002783 0.01118479 -0.35798250
+v -0.32626547 -0.05523747 -0.36672213
+v 0.33042710 0.06246062 -0.36908282
+v -0.37944330 0.01542121 -0.44760805
+v -0.37339034 0.02362896 -0.35884897
+v 0.36368149 -0.03229836 -0.35725332
+v 0.35563707 -0.03987553 -0.37895775
+v 0.38264521 0.02509007 -0.43962115
+v 0.31762785 -0.05342907 -0.36650861
+v -0.37250992 -0.02610609 -0.42899733
+v -0.39584152 0.00892148 -0.44935903
+v -0.37507367 -0.01628187 -0.35882729
+v -0.35000722 0.05057133 -0.35526456
+v 0.35489691 0.04812219 -0.39989474
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+v -0.39034365 -0.00712992 -0.41946590
+v -0.35096351 0.04680600 -0.38869205
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+v -0.38945718 -0.01503553 -0.43446384
+v -0.38892479 0.01182198 -0.41927754
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bagged_food/bagged_food_9/collision/model_normalized_collision_12.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.16549083 -0.04228873 0.40115640
+v -0.39111602 -0.00010405 0.49991101
+v -0.35277250 0.04680378 0.41435438
+v -0.16543669 0.04317091 0.39886788
+v -0.35944692 -0.03391371 0.39942703
+v -0.16552011 0.00018191 0.49126200
+v -0.38157385 -0.01737243 0.46066718
+v -0.33477838 0.05330210 0.39447060
+v -0.35785675 -0.02866526 0.42485556
+v -0.37558689 0.01284035 0.40434366
+v -0.37521958 -0.01374052 0.40445392
+v -0.36447526 0.03918036 0.40017957
+v -0.38254393 -0.01592080 0.46143429
+v -0.38177895 0.01604975 0.46448960
+v -0.35215295 0.04837841 0.40025410
+v -0.38132835 0.01666788 0.46391939
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+f 15 12 3
+f 15 3 8
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+f 16 14 2
+f 16 2 3
+f 16 3 12
+f 16 12 14

bagged_food/bagged_food_9/collision/model_normalized_collision_14.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.37519582 -0.01030281 0.26562328
+v 0.34146772 -0.04385677 -0.22968797
+v 0.29949229 0.08051009 -0.23477730
+v 0.21303131 0.09150497 0.26108585
+v 0.21318137 -0.01255785 0.26513470
+v 0.33772659 0.06335368 0.26566288
+v 0.34972501 0.02407030 -0.09809941
+v 0.21318137 -0.01255785 -0.23471163
+v 0.26863269 0.09110780 0.18877886
+v 0.36228925 0.03874615 0.26658886
+v 0.31064023 0.07595894 0.26452002
+v 0.35977042 -0.01182818 -0.09835263
+v 0.21227165 0.09521384 -0.23336346
+v 0.34888908 0.04796210 0.14602354
+v 0.25696241 0.09107676 0.23385989
+v 0.37197421 -0.01053147 0.14502835
+v 0.26824088 0.09050288 -0.18867744
+v 0.36564728 0.02435775 0.14617613
+v 0.33250447 0.04995385 -0.08240085
+v 0.33297333 0.06387747 0.13017568
+v 0.22670995 0.09118869 0.26112900
+v 0.25604486 0.09113756 -0.23378496
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bagged_food/bagged_food_9/collision/model_normalized_collision_15.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.38087358 -0.01610901 -0.44694480
+v 0.41135296 -0.00014247 -0.49822118
+v 0.37989075 0.01749826 -0.44654447
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+v -0.41541326 -0.00010469 -0.49826984
+v -0.39089744 -0.01628988 -0.44936592
+v 0.40217074 -0.00580552 -0.46114389
+v 0.39601019 0.00241151 -0.49506027
+v -0.39254901 0.00247272 -0.49142803
+v -0.40667278 -0.00018922 -0.46612342
+v 0.38426361 -0.01498026 -0.45081370
+v 0.40021369 0.00831801 -0.45962049
+v 0.41089315 0.00185176 -0.49640605
+v -0.36141878 0.00198010 -0.49511478
+v -0.40700141 0.00171093 -0.46738800
+v 0.40702179 0.00232471 -0.47738362
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+f 15 5 10
+f 16 13 12
+f 16 12 7
+f 16 7 2
+f 16 2 13

bagged_food/bagged_food_9/collision/model_normalized_collision_19.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.05945185 -0.07183344 0.34030735
+v -0.05932362 -0.05539316 0.37870922
+v -0.35963374 -0.03453030 0.39643966
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+v -0.05975075 0.06273569 0.36013257
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+v -0.35154371 -0.04354502 0.34072440
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+v -0.35978344 -0.03359209 0.39843448
+v -0.11987579 -0.05482898 0.37866040
+v -0.35970279 -0.03436575 0.34154467
+v -0.21115802 0.04579107 0.39299555
+v -0.36477586 0.02810508 0.34145465
+v -0.33139230 -0.05477817 0.35315487
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+f 19 13 8
+f 19 8 3
+f 19 3 13

bagged_food/bagged_food_9/collision/model_normalized_collision_2.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.27135177 -0.08765715 -0.23468816
+v -0.27188402 -0.07990785 -0.30747170
+v -0.27151810 -0.01255785 -0.23471163
+v -0.29979176 0.07522077 -0.15908537
+v -0.37999734 -0.00679417 -0.35798662
+v -0.27151810 -0.01255785 -0.31044592
+v -0.33767609 -0.05360426 -0.35208164
+v -0.35904872 -0.01136918 -0.15899538
+v -0.34970968 0.05078956 -0.35677002
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+v -0.34941567 0.02402483 -0.16038457
+v -0.31424669 -0.06253490 -0.35269116
+v -0.36390965 -0.03184953 -0.35710507
+v -0.37859459 0.01241026 -0.35798522
+v -0.30926430 -0.06927767 -0.18886925
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+v -0.31408848 0.07200235 -0.28044192
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+v -0.30754823 -0.07330643 -0.23556200
+v -0.33058071 -0.05860300 -0.26647876
+v -0.31666819 0.06443141 -0.16066806
+v -0.33088015 0.04854321 -0.16077170
+v -0.33190887 0.06328207 -0.26673053
+v -0.34464287 0.03591551 -0.19119559
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bagged_food/bagged_food_9/collision/model_normalized_collision_20.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.27028168 -0.08857203 0.21903218
+v 0.34519333 -0.04769039 0.14086060
+v 0.34165221 -0.05018739 0.22129905
+v -0.33610913 -0.04393292 0.21704768
+v -0.16461653 -0.10552864 0.14320307
+v 0.27376880 -0.01255785 0.14395984
+v -0.30270638 -0.07435102 0.21968542
+v 0.30708048 -0.07817059 0.14420227
+v -0.33998499 -0.03743050 0.14339367
+v 0.30645141 -0.07718068 0.21983620
+v -0.11942811 -0.10134165 0.21677327
+v 0.19643196 -0.10302837 0.14305727
+v -0.30268060 -0.07433769 0.14400679
+v 0.27022836 -0.09141663 0.14318480
+v -0.16456741 -0.10224993 0.18812974
+v 0.15165164 -0.10194224 0.20310003
+v -0.14940249 -0.10193023 0.20325173
+v 0.12168245 -0.10138941 0.21701116
+v 0.19625497 -0.10131107 0.17328177
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+f 18 16 1
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+f 19 16 12
+f 19 12 1
+f 19 1 16

bagged_food/bagged_food_9/collision/model_normalized_collision_23.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.35415557 -0.04692799 0.34173140
+v 0.36009007 -0.03085915 0.26214823
+v 0.34236924 0.06231424 0.34106118
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+v -0.36477586 0.02810508 0.34145465
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+v 0.31064023 0.07595894 0.26452002
+v 0.37078913 0.03936665 0.34213078
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+v -0.33438344 0.06343117 0.26649224
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+v 0.34041016 0.06282521 0.31090338
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+v -0.29910893 0.07585339 0.32366440
+v 0.36679937 0.03918091 0.31237315
+v -0.34639691 0.04953073 0.26698462
+v -0.31058846 0.07478282 0.30933840
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+f 16 11 15
+f 17 7 2
+f 17 2 12
+f 18 12 8
+f 18 8 3
+f 18 3 9
+f 19 13 3
+f 19 3 8
+f 19 8 13
+f 20 14 6
+f 20 6 15
+f 20 15 11
+f 21 13 8
+f 21 8 16
+f 21 4 13
+f 22 17 12
+f 22 9 7
+f 22 7 17
+f 22 18 9
+f 22 12 18
+f 23 20 11
+f 23 11 14
+f 23 14 20
+f 24 21 16
+f 24 16 15
+f 24 15 4
+f 24 4 21

bagged_food/bagged_food_9/collision/model_normalized_collision_24.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.35683458 -0.03973061 0.39777427
+v 0.37705402 -0.01011446 0.28225289
+v 0.38202950 0.02588391 0.40155624
+v 0.33330694 0.04919995 0.39932878
+v 0.33463685 -0.05831862 0.26512472
+v 0.33772659 0.06335368 0.26566288
+v 0.33478897 -0.03549574 0.41305982
+v 0.38561422 -0.02006961 0.40255330
+v 0.36228925 0.03874615 0.26658886
+v 0.34041016 0.06282521 0.31090338
+v 0.32952418 0.06678294 0.26529870
+v 0.37859021 0.03222880 0.40146576
+v 0.33410658 -0.04476475 0.39476203
+v 0.37900158 0.00997736 0.28171159
+v 0.35030284 -0.04367185 0.26677209
+v 0.32925256 0.06624855 0.30922038
+v 0.36860608 -0.01964014 0.26637103
+v 0.37597051 0.02254818 0.31318362
+v 0.37803533 -0.01569747 0.31338917
+v 0.36259673 -0.03061928 0.28227768
+f 8 7 1
+f 8 3 7
+f 8 1 5
+f 11 10 6
+f 11 6 9
+f 12 7 3
+f 12 4 7
+f 12 10 4
+f 12 6 10
+f 12 9 6
+f 13 5 1
+f 13 1 7
+f 14 8 2
+f 14 3 8
+f 15 8 5
+f 16 4 10
+f 16 10 11
+f 16 11 5
+f 16 5 13
+f 16 13 7
+f 16 7 4
+f 17 11 9
+f 17 5 11
+f 17 15 5
+f 17 14 2
+f 17 9 14
+f 18 12 3
+f 18 9 12
+f 18 14 9
+f 18 3 14
+f 19 17 2
+f 19 2 8
+f 20 19 8
+f 20 8 15
+f 20 15 17
+f 20 17 19

bagged_food/bagged_food_9/collision/model_normalized_collision_25.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.16763298 -0.10517538 0.14581623
+v -0.16814786 -0.10791878 0.08434066
+v -0.17032890 0.10829362 0.08507475
+v -0.26984540 0.09089347 0.14446901
+v -0.33998499 -0.03743050 0.14339367
+v -0.16970347 0.10586909 0.14685358
+v -0.30268060 -0.07433769 0.14400679
+v -0.34217199 -0.03507069 0.08538514
+v -0.27100909 0.09068523 0.08336655
+v -0.30340791 -0.07558466 0.08336281
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+f 6 4 5
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+f 6 2 3
+f 7 2 1
+f 7 6 5
+f 7 1 6
+f 8 5 4
+f 9 3 2
+f 9 8 4
+f 9 4 3
+f 10 7 5
+f 10 5 8
+f 10 2 7
+f 10 9 2
+f 10 8 9

bagged_food/bagged_food_9/collision/model_normalized_collision_29.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.21298251 -0.10144432 -0.15881370
+v 0.21307707 -0.09501403 -0.23388531
+v 0.21245618 0.10117599 -0.15855036
+v 0.12224088 0.10703123 -0.15881149
+v 0.12188656 -0.10766307 -0.15774322
+v 0.21227165 0.09521384 -0.23336346
+v 0.18229915 -0.10204657 -0.18791276
+v 0.12217228 -0.09749746 -0.23373433
+v 0.19649844 -0.10317794 -0.15771336
+v 0.19637660 -0.10195576 -0.17275996
+v 0.12205583 0.09717461 -0.23276407
+v 0.12186863 -0.10288984 -0.20175085
+v 0.15200999 -0.10198478 -0.20178851
+f 1 2 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 8 6 2
+f 9 1 3
+f 9 3 5
+f 9 5 7
+f 10 7 2
+f 10 2 1
+f 10 9 7
+f 10 1 9
+f 11 5 4
+f 11 4 6
+f 11 6 8
+f 12 11 8
+f 12 5 11
+f 12 8 2
+f 13 7 5
+f 13 5 12
+f 13 12 2
+f 13 2 7

bagged_food/bagged_food_9/collision/model_normalized_collision_3.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.21135052 -0.10147070 0.14302657
+v 0.21149723 -0.10169266 -0.15759152
+v 0.21253448 0.10201664 0.14371137
+v -0.16532412 0.10633859 0.14384584
+v -0.16461653 -0.10552864 0.14320307
+v 0.12205583 0.09717461 -0.23276407
+v 0.12186863 -0.10288984 -0.20175085
+v 0.21245618 0.10117599 -0.15855036
+v -0.16535753 -0.09662532 -0.23359212
+v 0.12217228 -0.09749746 -0.23373433
+v -0.11943213 0.10726010 -0.15710185
+v -0.16493273 -0.10295008 -0.18764960
+v -0.16524576 0.09599510 -0.23280200
+v -0.07431404 -0.10136362 -0.21664007
+v 0.12168102 0.10721583 -0.15724667
+v -0.07423490 0.10676492 -0.17211946
+v -0.16430566 0.10759839 -0.11252177
+v 0.07656221 -0.10132651 -0.21660758
+v -0.14975616 -0.10200315 -0.20193122
+v 0.18158591 0.10737871 -0.08276871
+v 0.07648719 0.10680367 -0.17219835
+v 0.16656337 0.10755354 -0.11272061
+v 0.15138448 0.10716961 0.14292053
+v 0.18170518 0.10754995 0.08290392
+v 0.16652012 0.10701572 0.12776403
+v -0.14938051 0.10733541 0.14293019
+v -0.16428406 0.10720790 0.12798467
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 9 5 4
+f 10 2 7
+f 10 8 2
+f 10 6 8
+f 12 7 5
+f 12 5 9
+f 13 10 9
+f 13 6 10
+f 13 9 4
+f 14 9 10
+f 14 7 12
+f 15 8 6
+f 16 13 11
+f 16 6 13
+f 17 13 4
+f 17 11 13
+f 18 14 10
+f 18 10 7
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+f 20 3 8
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+f 21 6 16
+f 21 16 11
+f 21 11 15
+f 22 20 8
+f 22 8 15
+f 22 15 11
+f 22 11 17
+f 23 4 3
+f 24 3 20
+f 24 20 22
+f 24 22 17
+f 25 24 23
+f 25 23 3
+f 25 3 24
+f 26 24 17
+f 26 4 23
+f 26 23 24
+f 27 26 17
+f 27 17 4
+f 27 4 26

bagged_food/bagged_food_9/collision/model_normalized_collision_30.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.36787481 0.03011493 0.38794193
+v -0.30161127 0.07701618 0.31042260
+v -0.30104727 0.04617560 0.39410899
+v -0.33210541 0.06101056 0.38058506
+v -0.33859142 0.06296522 0.31067856
+v -0.30533808 0.06363485 0.36341875
+v -0.36467302 0.04078155 0.38705824
+v -0.33968081 0.06002782 0.36928589
+v -0.36167516 0.03261182 0.31060849
+v -0.30405086 0.05384983 0.38139245
+v -0.35275533 0.04929708 0.38484084
+v -0.31814981 0.07159269 0.31053559
+v -0.36416762 0.02787753 0.32633569
+v -0.35988565 0.03934888 0.32654755
+v -0.34874047 0.05147193 0.31125094
+f 6 3 2
+f 6 2 4
+f 7 1 3
+f 8 4 2
+f 8 5 7
+f 9 2 3
+f 9 1 7
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 7 3
+f 11 3 4
+f 11 8 7
+f 11 4 8
+f 12 8 2
+f 12 5 8
+f 12 9 5
+f 12 2 9
+f 13 9 3
+f 13 3 1
+f 13 1 9
+f 14 9 7
+f 15 14 7
+f 15 7 5
+f 15 5 9
+f 15 9 14

bagged_food/bagged_food_9/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.25662409 -0.08695351 0.26695645
+v -0.25813765 -0.09044117 0.22046143
+v -0.25618547 0.09217528 0.21962280
+v -0.29870067 0.08038942 0.26463246
+v -0.30260344 -0.07431632 0.26520328
+v -0.25593959 0.08879168 0.26460815
+v -0.30270638 -0.07435102 0.21968542
+v -0.29837392 0.08144281 0.21954418
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
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+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7

bagged_food/bagged_food_9/collision/model_normalized_collision_4.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.38462543 0.02116442 0.40084621
+v 0.38484461 0.02047151 0.38627056
+v 0.34236924 0.06231424 0.34106118
+v -0.30108784 0.07360456 0.34031782
+v -0.37408105 0.01674421 0.40204128
+v 0.35556835 0.04892759 0.38948148
+v 0.37426684 0.04020511 0.40138524
+v 0.03142301 0.01420140 0.44441292
+v 0.37564740 0.03054664 0.34148349
+v 0.31438429 0.06100578 0.36195069
+v 0.34247652 0.06134552 0.35429096
+v -0.37177867 0.01608530 0.38728302
+v -0.35215295 0.04837841 0.40025410
+v 0.37078913 0.03936665 0.34213078
+v 0.35889490 0.04835858 0.33738782
+v -0.16553147 0.01463089 0.44476217
+v -0.36467302 0.04078155 0.38705824
+v 0.03135196 0.03148235 0.42002152
+v -0.36447526 0.03918036 0.40017957
+v -0.35275533 0.04929708 0.38484084
+f 7 1 2
+f 8 2 1
+f 8 1 7
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+f 11 7 3
+f 11 6 7
+f 11 10 6
+f 11 3 4
+f 11 4 10
+f 12 2 8
+f 12 9 2
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+f 13 6 10
+f 14 7 2
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+f 15 4 3
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+f 17 12 5
+f 17 4 12
+f 18 13 8
+f 18 8 6
+f 18 6 13
+f 19 16 13
+f 19 5 16
+f 19 17 5
+f 19 13 17
+f 20 17 13
+f 20 13 4
+f 20 4 17

bagged_food/bagged_food_9/collision/model_normalized_collision_5.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.26904552 -0.08852640 -0.23402677
+v 0.33513643 -0.05123323 -0.22850400
+v -0.27151810 -0.01255785 -0.23471163
+v 0.01627221 0.08209512 -0.29587709
+v 0.28766072 -0.08113849 -0.27984916
+v 0.09200650 0.03288272 -0.23471163
+v -0.26764370 -0.08864777 -0.23416507
+v 0.28769298 -0.08349000 -0.23470645
+v 0.28891566 -0.01255785 -0.28015220
+v 0.01627221 0.03288272 -0.23471163
+v 0.24406790 -0.08563756 -0.27819337
+v -0.27151810 -0.01255785 -0.28015220
+v 0.09273975 0.08304952 -0.29614036
+v 0.26947331 -0.08651290 -0.26321940
+v -0.26839101 -0.08529940 -0.27822021
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 2 5
+f 10 3 2
+f 10 2 6
+f 10 4 3
+f 11 1 7
+f 12 3 4
+f 13 9 5
+f 13 6 2
+f 13 2 9
+f 13 10 6
+f 13 4 10
+f 14 11 5
+f 14 5 1
+f 14 1 11
+f 15 7 3
+f 15 3 12
+f 15 11 7
+f 15 5 11
+f 15 12 4
+f 15 13 5
+f 15 4 13

bagged_food/bagged_food_9/collision/model_normalized_collision_6.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.03177941 -0.06262824 0.36228012
+v 0.03138274 -0.05302700 0.38352545
+v -0.16610884 -0.06155866 0.36102294
+v -0.16630621 0.06191905 0.35902605
+v 0.03171336 0.06291728 0.36017760
+v -0.16552011 0.00018191 0.49126200
+v -0.16542243 -0.05209381 0.38308031
+v 0.03147245 -0.00019883 0.48807833
+v 0.03142701 0.00024171 0.48930785
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 1 5
+f 9 6 2
+f 9 2 1
+f 9 1 8
+f 9 8 5
+f 9 5 6

bagged_food/bagged_food_9/collision/model_normalized_collision_7.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.33735301 -0.04737075 0.25921615
+v -0.25637125 -0.01255785 -0.23471163
+v -0.25637125 -0.01255785 0.21969413
+v -0.29870067 0.08038942 0.26463246
+v -0.34941567 0.02402483 -0.16038457
+v -0.25402923 0.09347725 -0.17367778
+v -0.33758033 -0.04654239 -0.23176464
+v -0.36126194 0.02539761 0.26681949
+v -0.25418023 0.09334543 0.20369179
+v -0.29667642 0.08039672 -0.23495863
+v -0.36593808 -0.01024499 0.26664404
+v -0.26643344 0.09083298 0.20407699
+v -0.25618547 0.09217528 0.21962280
+v -0.33438344 0.06343117 0.26649224
+v -0.25608361 0.09047591 -0.23455840
+v -0.35904872 -0.01136918 -0.15899538
+v -0.26510758 0.09031404 -0.17378600
+v -0.30969541 0.07630460 0.26457088
+v -0.34639691 0.04953073 0.26698462
+v -0.31666819 0.06443141 -0.16066806
+v -0.34372426 0.03754026 -0.05104329
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 7 2 1
+f 9 3 6
+f 10 7 5
+f 10 2 7
+f 11 1 4
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+f 12 10 4
+f 13 4 3
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+f 13 12 4
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+f 15 10 6
+f 15 6 2
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+f 16 8 5
+f 16 5 7
+f 16 7 11
+f 17 12 6
+f 17 6 10
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+f 18 14 4
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+f 19 11 4
+f 19 4 14
+f 19 8 11
+f 19 5 8
+f 20 14 10
+f 20 10 5
+f 20 19 14
+f 21 20 5
+f 21 5 19
+f 21 19 20

bagged_food/bagged_food_9/collision/model_normalized_collision_8.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.29983856 -0.07872701 0.26414617
+v 0.35929552 -0.01889695 -0.23362082
+v 0.37519582 -0.01030281 0.26562328
+v 0.21318137 -0.01255785 0.14395984
+v 0.21307707 -0.09501403 -0.23388531
+v 0.35911913 -0.01065460 -0.15888002
+v 0.33281119 -0.05957885 0.05349504
+v 0.21294779 -0.10125544 0.14384077
+v 0.21318137 -0.01255785 -0.23471163
+v 0.37197421 -0.01053147 0.14502835
+v 0.33833220 -0.04865115 -0.23621192
+v 0.33570347 -0.05739946 0.26562588
+v 0.26904552 -0.08852640 -0.23402677
+v 0.21147478 -0.10355573 -0.11279306
+v 0.36692011 -0.01899498 0.14553779
+v 0.30978412 -0.07327422 -0.23602560
+v 0.35030284 -0.04367185 0.26677209
+v 0.31073856 -0.07375239 0.26523280
+v 0.21169634 -0.10346309 0.09794617
+v 0.28301390 -0.08480565 -0.21870903
+v 0.34849815 -0.04420210 0.14517689
+v 0.36860608 -0.01964014 0.26637103
+v 0.27012116 -0.08908929 0.20406849
+v 0.28434966 -0.08547649 0.20394795
+v 0.22564742 -0.10195284 0.09788736
+v 0.22518462 -0.10188599 -0.11291452
+f 1 3 4
+f 8 1 4
+f 9 6 2
+f 9 4 3
+f 9 3 6
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 9 2
+f 14 4 9
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+f 14 5 13
+f 15 11 2
+f 15 2 3
+f 16 5 9
+f 16 9 11
+f 16 13 5
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+f 18 7 12
+f 18 16 7
+f 18 1 16
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+f 19 8 4
+f 19 4 14
+f 20 13 16
+f 21 11 15
+f 21 17 7
+f 21 7 11
+f 22 18 17
+f 22 3 1
+f 22 1 18
+f 22 17 21
+f 22 21 15
+f 22 15 3
+f 23 1 8
+f 24 20 16
+f 24 16 1
+f 24 1 23
+f 25 23 8
+f 25 8 19
+f 25 19 14
+f 25 24 23
+f 26 25 14
+f 26 14 13
+f 26 13 20
+f 26 20 24
+f 26 24 25

cheese/cheese_0/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="cheese_7">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.10999999999999996 0.10999999999999996 0.10999999999999996" refquat="1.0 0.0 0.0 0.0"/>
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cheese/cheese_1/model.xml

@@ -0,0 +1,84 @@
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+  </worldbody>
+</mujoco>

cheese/cheese_2/model.xml

@@ -0,0 +1,86 @@
+<mujoco model="cheese_0">
+  <asset>
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+    <material name="rampShader7" specular="0.5" shininess="0.15999998099999999" rgba="0.457286 0.273404 0.020344 1.0"/>
+    <material name="standardSurface2" specular="0.5" shininess="0.15999998099999999" rgba="0.899123 0.661652 0.003272 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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cheese/cheese_3/model.xml

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cheese/cheese_4/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="cheese_5">
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cheese/cheese_5/model.xml

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cheese/cheese_6/model.xml

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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.012115794128060015 -0.007905932445888057 -0.03447665505704203" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.012115794128060015 -0.007905932445888057 0.0385621205914991" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04018140782263485 0.04435439725846625 0.0020427327672285322" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

cheese/cheese_7/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="cheese_9">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10999999999999999 0.10999999999999999 0.10999999999999999" refquat="-1.0 0.0 0.0 -1.6653345369377348e-16"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Cheese_0002" 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="Cheese_0002"/>
+        <geom solimp="0.998 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="-0.00046610080000000103 1.4967699999998695e-05 -0.03421097569999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00046610080000000103 1.4967699999998695e-05 0.03470033819999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04377399729999999 0.05417680949999999 0.00024468125000000004" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

cheese/cheese_8/collision/model_normalized_collision_10.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.31781370 -0.12617953 0.06343635
+v -0.31785847 -0.12623843 -0.08197143
+v -0.32574452 0.01543774 0.10245561
+v -0.43296657 0.02212780 0.07726416
+v -0.39993199 -0.04688317 0.03410490
+v -0.32573905 0.01495629 -0.09950807
+v -0.33955255 -0.07352122 0.09487711
+v -0.32534870 -0.12076777 0.06124218
+v -0.42665495 0.01735207 -0.09674925
+v -0.31929718 -0.11439783 0.08578187
+v -0.41194515 0.01799213 0.09870884
+v -0.32531187 -0.12064451 -0.07947684
+v -0.42866020 -0.00379409 -0.03841232
+v -0.43438383 0.02107576 -0.08227101
+v -0.32230555 -0.11749555 -0.09322437
+v -0.32458638 -0.07389478 0.09594761
+v -0.32889923 -0.10859796 0.08382166
+v -0.42915455 -0.00417324 0.02004907
+v -0.39934992 -0.04674855 -0.05226701
+v -0.36943132 -0.07679693 0.06064618
+v -0.38564575 -0.04721745 0.08607598
+v -0.41350813 -0.01867857 0.06126306
+v -0.41753427 -0.00592433 -0.09124310
+v -0.36864568 -0.07631561 -0.07980201
+v -0.42559236 0.01837379 0.09137702
+v -0.36595166 -0.05565747 0.09313368
+v -0.42724359 0.00990641 0.07551557
+v -0.42866444 0.00870419 -0.08097453
+v -0.39901160 -0.03400355 -0.09124965
+v -0.33043681 -0.11040796 -0.09258289
+v -0.40749102 -0.00835227 0.09283095
+v -0.41458862 -0.00399561 0.08831418
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 8 2 1
+f 10 1 3
+f 11 3 4
+f 12 8 5
+f 12 2 8
+f 14 4 6
+f 14 6 9
+f 15 9 6
+f 15 6 2
+f 15 2 12
+f 16 10 3
+f 16 7 10
+f 16 11 7
+f 16 3 11
+f 17 8 1
+f 17 1 10
+f 18 14 13
+f 18 4 14
+f 19 12 5
+f 19 18 13
+f 19 5 18
+f 20 5 8
+f 20 8 17
+f 21 20 17
+f 21 5 20
+f 22 18 5
+f 22 5 21
+f 23 14 9
+f 24 12 19
+f 25 11 4
+f 26 7 11
+f 26 10 7
+f 26 21 17
+f 26 17 10
+f 27 4 18
+f 27 18 22
+f 27 25 4
+f 28 23 19
+f 28 19 13
+f 28 13 14
+f 28 14 23
+f 29 23 9
+f 29 24 19
+f 29 19 23
+f 30 15 12
+f 30 12 24
+f 30 24 29
+f 30 29 9
+f 30 9 15
+f 31 11 25
+f 31 26 11
+f 31 21 26
+f 32 27 22
+f 32 22 21
+f 32 25 27
+f 32 31 25
+f 32 21 31

cheese/cheese_8/collision/model_normalized_collision_11.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.12500058 -0.22959692 0.06340840
+v 0.18727321 -0.20677581 -0.06866113
+v 0.16661085 -0.22448832 -0.00939170
+v 0.18750638 -0.20742552 0.07945725
+v 0.12879007 -0.21239569 -0.09969102
+v 0.16594872 -0.22429378 0.04745628
+v 0.17408726 -0.21191221 0.08091241
+v 0.17151886 -0.20564666 -0.09650600
+v 0.12463126 -0.22768757 -0.06652549
+v 0.18306742 -0.21096687 0.07532725
+v 0.13303545 -0.22641425 0.06829446
+v 0.15446317 -0.22625435 -0.04790456
+v 0.12663708 -0.21896871 -0.09740480
+v 0.16965672 -0.21558870 0.07647630
+v 0.16667452 -0.20861895 -0.09378460
+f 3 2 4
+f 6 1 3
+f 7 4 5
+f 8 5 4
+f 8 4 2
+f 10 6 3
+f 10 3 4
+f 11 7 5
+f 11 5 1
+f 11 1 6
+f 12 3 1
+f 12 1 9
+f 12 2 3
+f 13 9 1
+f 13 1 5
+f 13 5 8
+f 13 12 9
+f 14 6 10
+f 14 11 6
+f 14 7 11
+f 14 10 4
+f 14 4 7
+f 15 8 2
+f 15 2 12
+f 15 13 8
+f 15 12 13

cheese/cheese_8/collision/model_normalized_collision_12.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.23494172 0.01526716 0.10106546
+v -0.23440289 0.01489741 -0.10206438
+v -0.23491853 0.24675542 0.10286183
+v -0.35612989 0.24627334 0.10354022
+v -0.35602444 0.01495435 -0.09877720
+v -0.28004608 0.24649528 -0.09715146
+v -0.35604749 0.01543988 0.10241361
+v -0.35606060 0.01495832 0.00578509
+v -0.23466597 0.24547122 -0.09838233
+v -0.35596891 0.24619070 -0.09626548
+v -0.31038009 0.22680457 -0.09992032
+v -0.34036644 0.06080002 -0.09972303
+v -0.32543094 0.18145711 -0.09989767
+v -0.34033472 0.09053410 -0.09965869
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 8 7 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 10 5 4
+f 10 4 6
+f 10 6 9
+f 11 10 9
+f 11 9 2
+f 12 2 5
+f 13 11 2
+f 13 2 12
+f 13 10 11
+f 14 13 12
+f 14 12 5
+f 14 5 10
+f 14 10 13

cheese/cheese_8/collision/model_normalized_collision_13.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.40143024 0.10598142 0.09410290
+v 0.40147092 0.10588831 -0.09913778
+v 0.40132525 0.24587568 0.09446597
+v 0.00726340 0.24552976 0.09911687
+v 0.00753254 0.10584440 -0.10690244
+v 0.38578030 0.16692812 0.09599065
+v 0.00757359 0.10595161 0.09505027
+v 0.38553019 0.24241477 -0.10004484
+v 0.38549343 0.23978489 0.09606358
+v 0.32553341 0.10634124 0.09618936
+v 0.40131592 0.24407874 -0.09614893
+v 0.40096398 0.15145595 -0.09972319
+v 0.00766248 0.24503140 -0.10378234
+v 0.37068092 0.24623919 0.09520058
+v 0.05386027 0.10607829 0.09651675
+v 0.35564509 0.12153125 0.09597071
+v 0.38575424 0.10615532 -0.09975378
+v 0.40100508 0.24166300 -0.09957387
+v 0.00755501 0.13702994 0.09664886
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 4 5
+f 9 6 3
+f 9 4 6
+f 10 6 4
+f 11 3 2
+f 12 5 8
+f 13 8 5
+f 13 5 4
+f 13 11 8
+f 14 9 3
+f 14 4 9
+f 14 13 4
+f 14 3 11
+f 14 11 13
+f 15 10 4
+f 15 7 1
+f 15 1 10
+f 16 10 1
+f 16 1 6
+f 16 6 10
+f 17 12 2
+f 17 2 5
+f 17 5 12
+f 18 11 2
+f 18 2 12
+f 18 12 8
+f 18 8 11
+f 19 15 4
+f 19 4 7
+f 19 7 15

cheese/cheese_8/collision/model_normalized_collision_15.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.13954412 -0.22516372 0.07548054
+v 0.17446125 -0.21287735 0.06652451
+v 0.17248379 -0.20769919 0.08390565
+v -0.09842121 -0.20993246 0.08432892
+v -0.09709918 -0.23270116 0.05910737
+v 0.11054550 -0.22907402 0.08093423
+v 0.16903243 -0.21396552 0.08084664
+v 0.13902473 -0.22572109 0.06252052
+v 0.16958277 -0.21547794 0.06355125
+v -0.03663051 -0.23449073 0.07829095
+v -0.09557698 -0.22876281 0.07473659
+v -0.09952269 -0.21901777 0.08091020
+v -0.09733421 -0.22003413 0.08059739
+f 3 2 4
+f 6 3 4
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 1 6
+f 9 5 4
+f 9 4 2
+f 9 8 5
+f 9 1 8
+f 9 7 1
+f 9 2 7
+f 10 6 4
+f 10 8 6
+f 10 5 8
+f 11 5 10
+f 12 10 4
+f 12 4 5
+f 12 5 11
+f 13 12 11
+f 13 11 10
+f 13 10 12

cheese/cheese_8/collision/model_normalized_collision_16.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.08306310 -0.24155350 0.06436124
+v 0.09177178 -0.24487117 0.00560268
+v 0.08388484 -0.21476047 0.08522048
+v -0.09952269 -0.21901777 0.08091020
+v -0.09480346 -0.24108583 0.00613169
+v 0.08283994 -0.24652613 0.00586199
+v -0.06581766 -0.24085032 0.05396395
+v -0.10429543 -0.23897789 0.00548692
+v -0.09425712 -0.23829527 0.04789666
+v -0.09709918 -0.23270116 0.05910737
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 6 1
+f 7 5 6
+f 8 3 2
+f 8 6 5
+f 8 2 6
+f 8 4 3
+f 9 8 5
+f 9 5 7
+f 10 9 7
+f 10 7 4
+f 10 4 8
+f 10 8 9

cheese/cheese_8/collision/model_normalized_collision_17.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.41666666 0.18162499 0.02093660
+v -0.41662038 0.18161753 -0.09803287
+v -0.41673972 0.24701433 0.02110657
+v -0.49865250 0.24503705 0.02019290
+v -0.49350241 0.18319460 0.02011943
+v -0.41652302 0.24579663 -0.09545004
+v -0.48143017 0.18301545 -0.09293052
+v -0.41674843 0.24677602 -0.02453681
+v -0.49026276 0.18348989 -0.05245908
+v -0.48765948 0.24270831 -0.09025140
+v -0.49091277 0.24355841 -0.08190728
+v -0.49014593 0.23133908 -0.08139708
+v -0.48951533 0.19852560 -0.06630721
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 1 2
+f 6 3 1
+f 7 2 5
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 9 7 5
+f 9 5 4
+f 10 6 2
+f 10 2 7
+f 11 4 6
+f 11 6 10
+f 11 9 4
+f 12 11 10
+f 12 10 7
+f 12 9 11
+f 13 12 7
+f 13 7 9
+f 13 9 12

cheese/cheese_8/collision/model_normalized_collision_18.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.08306310 -0.24155350 0.06436124
+v 0.13321208 -0.23209734 -0.04094808
+v 0.13303545 -0.22641425 0.06829446
+v 0.08388484 -0.21476047 0.08522048
+v 0.08294090 -0.24358922 -0.03774940
+v 0.10941503 -0.24003153 0.03456435
+v 0.09043961 -0.24154443 -0.04371967
+v 0.09286463 -0.23911255 0.06387275
+v 0.10922469 -0.23957578 -0.02335167
+v 0.09451241 -0.24142920 -0.03740537
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 2 3
+f 6 1 5
+f 7 5 4
+f 7 4 2
+f 8 6 3
+f 8 3 1
+f 8 1 6
+f 9 6 5
+f 9 2 6
+f 10 7 2
+f 10 2 9
+f 10 9 5
+f 10 5 7

cheese/cheese_8/collision/model_normalized_collision_19.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.33599759 -0.11562117 0.08108049
+v 0.34090014 -0.12139448 -0.03966773
+v 0.34357781 -0.01778586 -0.09858462
+v 0.23479690 -0.01525549 0.09335255
+v 0.23459720 -0.12096021 0.08889894
+v 0.34073747 -0.01509198 0.09100822
+v 0.23597248 -0.12213780 -0.09911587
+v 0.23484849 -0.01534471 -0.03966946
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 8 7 5
+f 8 5 4

cheese/cheese_8/collision/model_normalized_collision_2.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.09557698 -0.22876281 0.07473659
+v -0.09561714 -0.22702922 -0.09578553
+v -0.09898909 -0.13617768 0.09032265
+v -0.23472519 -0.13596319 0.09289851
+v -0.22462892 -0.19438035 -0.05240429
+v -0.09733421 -0.22003413 0.08059739
+v -0.09841051 -0.13620951 -0.10444099
+v -0.15207587 -0.22333371 -0.05201343
+v -0.20933802 -0.19397062 0.07484918
+v -0.23001594 -0.17412052 -0.09914918
+v -0.22608438 -0.18071435 0.08181707
+v -0.15144612 -0.22371603 0.04816829
+v -0.09781434 -0.22292528 -0.10083071
+v -0.23452804 -0.13620714 -0.10082142
+v -0.20981826 -0.19330343 -0.09144728
+v -0.22459656 -0.19452971 0.03353113
+v -0.14041666 -0.21613450 0.07869256
+v -0.15150413 -0.20968117 -0.10104931
+v -0.19734034 -0.20823879 -0.03795911
+v -0.22683099 -0.18282217 -0.09350024
+v -0.19748411 -0.20917786 0.01983401
+v -0.13928739 -0.22483017 0.05987906
+v -0.11026530 -0.22433145 -0.09577476
+v -0.16682255 -0.20842247 -0.09503118
+v -0.21259623 -0.18523882 -0.09862065
+v -0.11019375 -0.22607791 0.07395708
+v -0.16780168 -0.20969705 0.07347315
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 7 4 3
+f 8 2 1
+f 12 8 1
+f 13 7 2
+f 14 10 4
+f 14 4 7
+f 16 9 11
+f 16 10 5
+f 16 11 4
+f 16 4 10
+f 17 6 4
+f 17 4 11
+f 17 1 6
+f 17 11 9
+f 18 10 14
+f 18 14 7
+f 18 7 13
+f 19 15 8
+f 19 5 15
+f 20 15 5
+f 20 5 10
+f 21 12 9
+f 21 9 16
+f 21 16 5
+f 21 5 19
+f 21 19 8
+f 21 8 12
+f 22 12 1
+f 22 9 12
+f 23 18 13
+f 23 13 2
+f 23 2 8
+f 24 8 15
+f 24 15 18
+f 24 23 8
+f 24 18 23
+f 25 18 15
+f 25 15 20
+f 25 20 10
+f 25 10 18
+f 26 22 1
+f 26 1 17
+f 26 17 22
+f 27 22 17
+f 27 17 9
+f 27 9 22

cheese/cheese_8/collision/model_normalized_collision_21.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23482964 -0.10616801 0.09551023
+v -0.23484848 -0.10625380 -0.03966946
+v -0.23494172 0.01526716 0.10106546
+v -0.32574452 0.01543774 0.10245561
+v -0.33710887 -0.11772721 -0.04078101
+v -0.32720079 0.01511673 -0.09947237
+v -0.23460720 -0.09000378 0.09668498
+v -0.32368215 -0.10362683 0.08935472
+v -0.23484848 0.01495832 -0.03966946
+v -0.32392167 -0.08810952 0.09403796
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 8 5 1
+f 9 6 3
+f 9 2 6
+f 9 7 2
+f 9 3 7
+f 10 8 1
+f 10 1 4
+f 10 4 5
+f 10 5 8

cheese/cheese_8/collision/model_normalized_collision_22.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.35604749 0.01543988 0.10241361
+v -0.35602444 0.01495435 -0.09877720
+v -0.35602866 0.12101940 -0.09896705
+v -0.41634623 0.12116212 0.10581259
+v -0.43480316 0.00564997 0.02245348
+v -0.35604921 0.12114878 0.10645302
+v -0.41194515 0.01799213 0.09870884
+v -0.41664532 0.01493231 -0.09864536
+v -0.41661571 0.12104671 -0.09753713
+f 5 2 1
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 9 8 5
+f 9 5 4
+f 9 3 8
+f 9 6 3
+f 9 4 6

cheese/cheese_8/collision/model_normalized_collision_23.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09177178 -0.24487117 0.00560268
+v 0.08333334 -0.15170834 0.00578509
+v 0.08331243 -0.15142083 0.09028366
+v -0.09886481 -0.15137868 0.08969018
+v -0.10429543 -0.23897789 0.00548692
+v 0.08301275 -0.21089248 0.08574851
+v -0.09848484 -0.15170834 0.00578509
+v -0.09842121 -0.20993246 0.08432892
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 5 1
+f 8 1 6
+f 8 6 4
+f 8 4 5

cheese/cheese_8/collision/model_normalized_collision_24.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.08283994 -0.24652613 0.00586199
+v 0.08294090 -0.24358922 -0.03774940
+v 0.08333334 -0.15170834 0.00578509
+v -0.09848484 -0.15170834 0.00578509
+v -0.09479541 -0.23998678 -0.02364995
+v 0.00757577 -0.15170834 -0.03966946
+v -0.09480346 -0.24108583 0.00613169
+v -0.07983505 -0.24098900 -0.03646781
+v 0.08333334 -0.15170834 -0.03966946
+v -0.09743456 -0.23694566 -0.03907625
+v -0.09848484 -0.15170834 -0.03966946
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 9 6 3
+f 9 3 2
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 10 2 8
+f 10 9 2
+f 10 6 9
+f 11 10 4
+f 11 4 6
+f 11 6 10

cheese/cheese_8/collision/model_normalized_collision_25.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.35606060 0.12101893 0.02093660
+v -0.35602866 0.12101940 -0.09896705
+v -0.35598724 0.24675636 0.02106484
+v -0.41673972 0.24701433 0.02110657
+v -0.41666666 0.12101893 0.00578509
+v -0.35596891 0.24619070 -0.09626548
+v -0.41666666 0.12101893 0.02093660
+v -0.41652302 0.24579663 -0.09545004
+v -0.41661571 0.12104671 -0.09753713
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 4 6
+f 8 6 2
+f 9 5 4
+f 9 4 8
+f 9 8 2
+f 9 2 5

cheese/cheese_8/collision/model_normalized_collision_26.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00757577 -0.15170834 0.00578509
+v 0.00756857 -0.15148093 -0.10420781
+v 0.00757577 -0.01534471 0.00578509
+v -0.09848484 -0.01534471 0.00578509
+v -0.09848484 -0.15170834 -0.00936643
+v 0.00728738 -0.01529482 -0.10710019
+v -0.09848484 -0.15170834 0.00578509
+v 0.00757577 -0.01534471 -0.00936643
+v -0.09821132 -0.01527534 -0.10686440
+v -0.09835575 -0.15099898 -0.10380917
+f 1 3 4
+f 5 2 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 2 6
+f 8 1 2
+f 8 3 1
+f 9 4 3
+f 9 3 6
+f 9 6 2
+f 10 5 4
+f 10 4 9
+f 10 9 2
+f 10 2 5

cheese/cheese_8/collision/model_normalized_collision_27.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.25854497 -0.17741928 0.00841435
+v -0.09841051 -0.13620951 -0.10444099
+v -0.09848484 -0.13655683 0.00578509
+v -0.23484848 -0.01534471 0.00578509
+v -0.23442632 -0.01524796 -0.10218599
+v -0.09848484 -0.01534471 0.00578509
+v -0.23452804 -0.13620714 -0.10082142
+v -0.09821132 -0.01527534 -0.10686440
+v -0.23437089 -0.12119259 -0.10114591
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 3 2
+f 8 5 6
+f 9 7 5
+f 9 5 8
+f 9 8 2
+f 9 2 7

cheese/cheese_8/collision/model_normalized_collision_28.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00808172 -0.15148625 0.08801823
+v 0.00757577 -0.15170834 0.00578509
+v 0.00757577 -0.01534471 0.00578509
+v -0.23496393 -0.01487920 0.10017960
+v -0.25854497 -0.17741928 0.00841435
+v 0.00791971 -0.01513388 0.09162444
+v -0.23472519 -0.13596319 0.09289851
+v -0.23484848 -0.01534471 0.00578509
+v -0.08482130 -0.01451280 0.09579048
+v -0.09886481 -0.15137868 0.08969018
+v -0.17437120 -0.09042255 0.09581565
+v -0.23460720 -0.09000378 0.09668498
+v -0.09848484 -0.15170834 0.00578509
+v -0.09906449 -0.05990321 0.09547040
+v -0.12936794 -0.07523587 0.09578017
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 8 3 2
+f 8 5 4
+f 9 6 3
+f 9 8 4
+f 9 3 8
+f 10 7 5
+f 10 5 1
+f 11 10 1
+f 11 7 10
+f 12 4 5
+f 12 5 7
+f 12 11 4
+f 12 7 11
+f 13 8 2
+f 13 2 5
+f 13 5 8
+f 14 1 6
+f 14 6 9
+f 14 9 4
+f 15 11 1
+f 15 1 14
+f 15 14 4
+f 15 4 11

cheese/cheese_8/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23440315 -0.15090974 0.08704329
+v 0.23478046 -0.15163012 -0.09833668
+v 0.23474427 -0.01480073 -0.10131438
+v 0.00791971 -0.01513388 0.09162444
+v 0.00808172 -0.15148625 0.08801823
+v 0.23479690 -0.01525549 0.09335255
+v 0.00728738 -0.01529482 -0.10710019
+v 0.00756857 -0.15148093 -0.10420781
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 5
+f 8 5 7

cheese/cheese_8/collision/model_normalized_collision_4.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.41194515 0.01799213 0.09870884
+v -0.41664532 0.01493231 -0.09864536
+v -0.41662038 0.18161753 -0.09803287
+v -0.48149834 0.17966986 0.08706609
+v -0.45988999 0.05391980 0.00539258
+v -0.41634623 0.12116212 0.10581259
+v -0.44344711 0.02443808 0.03420965
+v -0.48143017 0.18301545 -0.09293052
+v -0.41666666 0.18162499 0.02093660
+v -0.46541789 0.13960107 0.09978801
+v -0.44336370 0.02418624 -0.03841146
+v -0.42341927 0.02002405 0.09463003
+v -0.47347847 0.11073159 0.06263210
+v -0.44805133 0.18147948 0.10532110
+v -0.49243364 0.18330372 0.03475975
+v -0.44639025 0.13638839 0.10456781
+v -0.45751146 0.08185689 -0.09166961
+v -0.44647575 0.06631470 0.09516962
+v -0.45844156 0.06696889 0.06200014
+v -0.46357340 0.11093707 0.09492095
+v -0.48713802 0.18218730 0.06516870
+v -0.49053211 0.16830868 -0.03833632
+v -0.43270148 0.02182622 -0.09138954
+v -0.47371259 0.09741429 -0.03842649
+v -0.43223193 0.03808792 0.09550103
+v -0.47347599 0.09735072 0.03389691
+v -0.42988671 0.02380950 0.08958204
+v -0.49071354 0.16850547 0.03424107
+v -0.49213518 0.18328758 -0.03846171
+v -0.45977128 0.05399784 -0.00898953
+v -0.47375105 0.11205866 -0.06591586
+v -0.45845669 0.06685353 -0.06660693
+v -0.44266319 0.04007218 0.07559748
+v -0.47404491 0.14046557 -0.09151529
+v -0.44348781 0.03916672 -0.08090014
+f 1 2 3
+f 8 3 2
+f 9 6 1
+f 9 1 3
+f 11 7 5
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+f 12 7 2
+f 12 2 1
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+f 14 4 10
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+f 16 10 1
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+f 17 8 2
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+f 20 13 19
+f 21 4 14
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+f 21 13 4
+f 23 17 2
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+f 26 19 13
+f 26 5 19
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+f 27 7 12
+f 27 12 25
+f 27 25 18
+f 28 21 15
+f 28 13 21
+f 28 26 13
+f 28 15 22
+f 28 22 24
+f 28 24 26
+f 29 22 15
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+f 29 15 3
+f 29 3 8
+f 30 11 5
+f 30 5 24
+f 31 24 22
+f 32 30 24
+f 32 11 30
+f 32 31 17
+f 32 24 31
+f 33 19 7
+f 33 7 27
+f 33 27 18
+f 33 18 19
+f 34 31 22
+f 34 22 8
+f 34 8 17
+f 34 17 31
+f 35 23 11
+f 35 11 32
+f 35 32 17
+f 35 17 23

cheese/cheese_8/collision/model_normalized_collision_5.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.23176719 -0.19178005 -0.03915262
+v -0.22870475 -0.18611595 -0.08190537
+v -0.23484848 0.01495832 -0.03966946
+v -0.32720079 0.01511673 -0.09947237
+v -0.33710887 -0.11772721 -0.04078101
+v -0.23440289 0.01489741 -0.10206438
+v -0.26117306 -0.17502622 -0.03906247
+v -0.32506551 -0.10545895 -0.09776137
+v -0.25648201 -0.16650468 -0.09295087
+v -0.24007933 -0.17976242 -0.08169240
+v -0.24323271 -0.18528125 -0.03863699
+v -0.31018099 -0.04540636 -0.09984496
+v -0.23001594 -0.17412052 -0.09914918
+v -0.25954261 -0.15761556 -0.09838431
+v -0.24339265 -0.17065273 -0.09614744
+f 1 2 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 8 5 4
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+f 10 2 1
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+f 11 7 1
+f 11 1 3
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+f 12 4 6
+f 13 6 2
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+f 15 13 2
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+f 15 9 14