Add standalone OpenFaucet 004 USD axis correction

Preserve the complete original asset folder; correct only USD joint frames to match MJCF axes.

.gitattributes

@@ -61,3 +61,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.usd filter=lfs diff=lfs merge=lfs -text
 omniverse-launcher-linux.AppImage filter=lfs diff=lfs merge=lfs -text
 robots.zip.bak filter=lfs diff=lfs merge=lfs -text
+fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/meshes/textured_objs/new_3.stl filter=lfs diff=lfs merge=lfs -text
+fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/meshes/textured_objs/new_5.stl filter=lfs diff=lfs merge=lfs -text
+fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/meshes/textured_objs/original_5.stl filter=lfs diff=lfs merge=lfs -text
+fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/meshes/textured_objs/original_90.stl filter=lfs diff=lfs merge=lfs -text

fixes/openfaucet-axis-fix/README.md

@@ -0,0 +1,60 @@
+# OpenFaucet 004 USD joint-axis correction
+
+This folder contains the complete OpenFaucet asset 004 from the SIMPLE dataset,
+with the USD joint frames corrected to match the MuJoCo joint axes.
+
+## Layout
+
+```text
+assets/articulated/004/
+├── output_usd/
+│   ├── 004.usd
+│   └── configuration/
+│       ├── 004_base.usd
+│       ├── 004_physics.usd
+│       └── 004_sensor.usd
+├── output_mjcf/
+│   ├── 004.xml
+│   └── meshes/textured_objs/
+└── ... original metadata, meshes and supporting files
+```
+
+All 101 original files are included. Only `output_usd/004.usd` differs from
+the original archive. The MJCF, collision meshes, visual meshes, and USD
+configuration layers retain their original bytes. `asset_manifest.json`
+records original and current SHA-256 hashes for each file.
+
+Source: dataset `USC-PSI-Lab/SIMPLE`, revision
+`1ce0fa3956706b408df2c7c0e26b0298aa7411fd`, `assets_articulated.zip`.
+Reported SIMPLE code revision: `6d10628794d9c7de4596b4f2afb2c054a637c2bc`.
+
+## Change and validation
+
+The patch sets both joints' `physics:localRot0` and `physics:localRot1`
+to frames whose Y axes match the corresponding MJCF motion axes in common
+coordinates. The zero pose, mesh positions, joint anchors, names, limits,
+and qpos convention are preserved. Existing qpos-by-name synchronization
+can continue without an additional motion mapping.
+
+The maximum bidirectional nearest-vertex distance over 327 CPU configurations
+decreased from 31.059327 mm to 0.000081 mm. The 120 video frames were also
+checked using the actual Isaac PhysX link poses; the patched asset's maximum
+distance to MuJoCo collision vertices was 0.000071 mm.
+
+`validation/mesh_validation.json` contains the numerical results.
+`validation/openfaucet_original_mujoco_fixed.mp4` shows original Isaac USD
+(left), native MuJoCo collision geometry (center), and patched Isaac USD
+(right), with matching camera projection and target qpos. The Isaac frames
+were rendered on L20. This clip sweeps 0 to 1.2 rad and 0 to -0.05 m;
+the wider numerical scan is reported separately.
+
+## Apply
+
+Copy this folder's `assets/articulated/004/` over the corresponding folder
+in your local extracted SIMPLE assets. Keep `output_usd/configuration/`
+beside `004.usd` and `output_mjcf/meshes/` beside `004.xml` so relative
+references resolve.
+
+This is a separate corrected asset bundle. Publishing this folder does not
+replace the original `assets_articulated.zip`, which SIMPLE's automatic
+asset downloader uses.

fixes/openfaucet-axis-fix/asset_manifest.json

@@ -0,0 +1,620 @@
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+  "repo_type": "dataset",
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fixes/openfaucet-axis-fix/assets/articulated/004/004_scaled_015.urdf

@@ -0,0 +1,125 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_af708fe6eac1bc9450da8b99982a3057">
+	<link name="base" />
+	<link name="link_0">
+		<visual name="switch_2">
+			<origin xyz="0.00021325983070135055 0.00012657275550549433 0.02980021161972236" />
+			<geometry>
+				<mesh filename="textured_objs/original_90.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.00021325983070135055 0.00012657275550549433 0.02980021161972236" />
+			<geometry>
+				<mesh filename="textured_objs/original_90.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_0" type="revolute">
+		<origin xyz="-0.00021325983070135055 -0.00012657275550549433 -0.02980021161972236" />
+		<axis xyz="0 1 -0.2" />
+		<child link="link_0" />
+		<parent link="link_2" />
+		<limit lower="-1.5707963267948966" upper="1.5707963267948966" />
+	</joint>
+	<link name="link_1">
+		<visual name="other_leaf_12">
+			<origin xyz="0.0017635280178889508 0.008354003959414035 0.06748204606312751" />
+			<geometry>
+				<mesh filename="textured_objs/original_98.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0017635280178889508 0.008354003959414035 0.06748204606312751" />
+			<geometry>
+				<mesh filename="textured_objs/original_98.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_1" type="prismatic">
+		<origin xyz="-0.0017635280178889508 -0.008354003959414035 -0.06748204606312751" />
+		<axis xyz="0 -1 0.27" />
+		<child link="link_1" />
+		<parent link="link_2" />
+		<limit lower="-0.061199999999999984" upper="0.02519999999999999" />
+	</joint>
+	<link name="link_2">
+		<visual name="vertical_support_8">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<visual name="surface_base_10">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_97.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<visual name="tube_5">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<visual name="head_6">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<visual name="mouth_7">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<visual name="mouth_7">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_97.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj" scale="0.15 0.15 0.15" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0.0 0.0 0.0" />
+		<child link="link_2" />
+		<parent link="base" />
+	</joint>
+</robot>

fixes/openfaucet-axis-fix/assets/articulated/004/004_scaled_03.urdf

@@ -0,0 +1,125 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="partnet_af708fe6eac1bc9450da8b99982a3057">
+	<link name="base" />
+	<link name="link_0">
+		<visual name="switch_2">
+			<origin xyz="0.0004265196614027011 0.00025314551101098865 0.05960042323944472" />
+			<geometry>
+				<mesh filename="textured_objs/original_90.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0004265196614027011 0.00025314551101098865 0.05960042323944472" />
+			<geometry>
+				<mesh filename="textured_objs/original_90.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_0" type="revolute">
+		<origin xyz="-0.0004265196614027011 -0.00025314551101098865 -0.05960042323944472" />
+		<axis xyz="0 1 -0.2" />
+		<child link="link_0" />
+		<parent link="link_2" />
+		<limit lower="-1.5707963267948966" upper="1.5707963267948966" />
+	</joint>
+	<link name="link_1">
+		<visual name="other_leaf_12">
+			<origin xyz="0.0035270560357779017 0.01670800791882807 0.13496409212625501" />
+			<geometry>
+				<mesh filename="textured_objs/original_98.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0035270560357779017 0.01670800791882807 0.13496409212625501" />
+			<geometry>
+				<mesh filename="textured_objs/original_98.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_1" type="prismatic">
+		<origin xyz="-0.0035270560357779017 -0.01670800791882807 -0.13496409212625501" />
+		<axis xyz="0 -1 0.27" />
+		<child link="link_1" />
+		<parent link="link_2" />
+		<limit lower="-0.12239999999999997" upper="0.05039999999999998" />
+	</joint>
+	<link name="link_2">
+		<visual name="vertical_support_8">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<visual name="surface_base_10">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_97.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<visual name="tube_5">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<visual name="head_6">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<visual name="mouth_7">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<visual name="mouth_7">
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_97.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0 0.0 0.0" />
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj" scale="0.3 0.3 0.3" />
+			</geometry>
+		</collision>
+	</link>
+	<joint name="articulate_joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0.0 0.0 0.0" />
+		<child link="link_2" />
+		<parent link="base" />
+	</joint>
+</robot>

fixes/openfaucet-axis-fix/assets/articulated/004/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.194755, -0.986755, -0.646136], "max": [0.199105, 0.530604, 0.856076]}

fixes/openfaucet-axis-fix/assets/articulated/004/link_and_joint.txt

@@ -0,0 +1,10 @@
+links: 
+base
+link_0
+link_1
+link_2
+
+joints: 
+joint_name: joint_0 joint_type: revolute parent_link: link_2 child_link: link_0
+joint_name: joint_1 joint_type: prismatic parent_link: link_2 child_link: link_1
+joint_name: joint_2 joint_type: fixed parent_link: base child_link: link_2

fixes/openfaucet-axis-fix/assets/articulated/004/meta.json

@@ -0,0 +1 @@
+{"model_id": "af708fe6eac1bc9450da8b99982a3057", "anno_id": "1011", "user_id": "zhouwenxian", "time_in_sec": "562", "version": "4", "model_cat": "Faucet"}

fixes/openfaucet-axis-fix/assets/articulated/004/mobility.urdf

@@ -0,0 +1,125 @@
+<?xml version="1.0" ?>
+<robot name="partnet_af708fe6eac1bc9450da8b99982a3057">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-2">
+			<origin xyz="0.0014217322046756703 0.0008438183700366288 0.19866807746481574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0014217322046756703 0.0008438183700366288 0.19866807746481574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.0014217322046756703 -0.0008438183700366288 -0.19866807746481574"/>
+		<axis xyz="0 1 -0.2"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-1.5707963267948966" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="other_leaf-12">
+			<origin xyz="0.011756853452593006 0.055693359729426906 0.44988030708751675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.011756853452593006 0.055693359729426906 0.44988030708751675"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.011756853452593006 -0.055693359729426906 -0.44988030708751675"/>
+		<axis xyz="0 -1 0.27"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.4079999999999999" upper="0.16799999999999993"/>
+	</joint>
+	<link name="link_2">
+		<visual name="vertical_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="surface_base-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tube-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mouth-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mouth-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>

fixes/openfaucet-axis-fix/assets/articulated/004/mobility_v2.json

@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"switch","parts":[{"id":2,"name":"switch","children":[]}],"jointData":{"axis":{"origin":[-0.0014217322046756703,-0.0008438183700366288,-0.19866807746481574],"direction":[0,1,-0.2]},"limit":{"a":-90,"b":90,"noLimit":false}}},{"id":1,"parent":2,"joint":"slider","name":"other_leaf","parts":[{"id":12,"name":"other_leaf","children":[]}],"jointData":{"axis":{"origin":[-0.011756853452593006,-0.055693359729426906,-0.44988030708751675],"direction":[0,1,-0.27]},"limit":{"a":0.4079999999999999,"b":-0.16799999999999993,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":-1,"joint":"static","name":"vertical_support","parts":[{"id":8,"name":"vertical_support","children":[]},{"id":10,"name":"surface_base","children":[]},{"id":5,"name":"tube","children":[]},{"id":6,"name":"head","children":[]},{"id":7,"name":"mouth","children":[]}],"jointData":{}}]

fixes/openfaucet-axis-fix/assets/articulated/004/output_mjcf/004.xml

@@ -0,0 +1,76 @@
+<mujoco model="partnet_af708fe6eac1bc9450da8b99982a3057">
+  <default>
+    <default class="robot">
+      <default class="visual">
+        <geom contype="0" conaffinity="0" group="2" />
+      </default>
+      <default class="collision">
+        <geom contype="0" conaffinity="1" group="3" density="30"/>
+      </default>
+    </default>
+  </default>
+
+  <compiler angle="radian" meshdir="." balanceinertia="true" />
+
+  <visual>
+    <global offwidth="3840" offheight="2160" />
+  </visual>
+
+  <worldbody>
+    <body name="articulate_base" childclass="robot" pos="0 0 0.0969">
+      <body name="link_2" quat="0.5 0.5 -0.5 -0.5">
+        <geom name="link_2_collision_0" type="mesh" mesh="collision_new_5_1" class="collision" />
+        <geom name="link_2_collision_1" type="mesh" mesh="collision_original_97_1" class="collision" />
+        <geom name="link_2_collision_2" type="mesh" mesh="collision_new_0_1" class="collision" />
+        <geom name="link_2_collision_3" type="mesh" mesh="collision_new_3_1" class="collision" />
+        <geom name="link_2_collision_4" type="mesh" mesh="collision_original_3_1" class="collision" />
+        <geom name="link_2_collision_5" type="mesh" mesh="collision_original_5_1" class="collision" />
+        <geom name="link_2_visual_0" type="mesh" mesh="link_2_merged_link_1_1" material="new_5_material-0" class="visual" pos="0 0 0" />
+        <body name="link_0" pos="-0.00021325983070135055 -0.00012657275550549433 -0.02980021161972236">
+          <joint name="articulate_joint_0" type="hinge" range="-1.5707963267948966 1.5707963267948966" axis="0 1 -0.2" damping="0.2" frictionloss="0.3" armature="0.05"/>
+          <geom name="link_0_collision" pos="0.00021325983070135055 0.00012657275550549433 0.02980021161972236" type="mesh" mesh="collision_original_90_1" class="collision" />
+          <geom name="link_0_visual" pos="0.00021325983070135055 0.00012657275550549433 0.02980021161972236" type="mesh" mesh="link_0_original_90_1" material="new_5_material-0" class="visual" />
+        </body>
+        <body name="link_1" pos="-0.0017635280178889508 -0.008354003959414035 -0.06748204606312751">
+          <joint name="articulate_joint_1" type="slide" range="-0.061199999999999984 0.02519999999999999" axis="0 -1 0.27" damping="0.5" frictionloss="0.5" armature="0.05"/>
+          <geom name="link_1_collision" pos="0.0017635280178889508 0.008354003959414035 0.06748204606312751" type="mesh" mesh="collision_original_98_1" class="collision" />
+          <geom name="link_1_visual" pos="0.0017635280178889508 0.008354003959414035 0.06748204606312751" type="mesh" mesh="link_1_original_98_1" material="new_5_material-0" class="visual" />
+        </body>
+      </body>
+      <!-- <freejoint name="floating_base" /> -->
+    </body>
+
+  </worldbody>
+
+  <asset>
+    <material name="new_5_material-0" rgba="1 1 1 1" />
+    <mesh name="link_0_original_90" file="meshes/textured_objs/original_90.obj" />
+    <mesh name="link_0_original_90_1" file="meshes/textured_objs/original_90.obj" scale="0.15 0.15 0.15" />
+    <mesh name="link_1_original_98" file="meshes/textured_objs/original_98.obj" />
+    <mesh name="link_1_original_98_1" file="meshes/textured_objs/original_98.obj" scale="0.15 0.15 0.15" />
+    <mesh name="collision_new_5.stl" file="meshes/textured_objs/new_5.stl" />
+    <mesh name="collision_new_5_1" file="meshes/textured_objs/new_5.stl" scale="0.15 0.15 0.15" />
+    <mesh name="collision_original_97.stl" file="meshes/textured_objs/original_97.stl" />
+    <mesh name="collision_original_97_1" file="meshes/textured_objs/original_97.stl" scale="0.15 0.15 0.15" />
+    <mesh name="collision_new_0.stl" file="meshes/textured_objs/new_0.stl" />
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