Add files using upload-large-folder tool

dtc_objects/dtc_calculator_b0bjxmqcvb_yellow_1/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_calculator_b0bjxmqcvb_yellow_1/model.urdf

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+<robot name="dtc_calculator_b0bjxmqcvb_yellow_1">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.000086 -0.006317 -0.001629" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="-0.000086 -0.006317 -0.001629" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000525" ixy="0.0" ixz="0.0" iyy="0.000664" iyz="0.0" izz="0.000151" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_calculator_b0bjxmqcvb_yellow_1/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png

dtc_objects/dtc_can_toy_b01i0e4pxa_oranges/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_can_toy_b01i0e4pxa_oranges/model.urdf

@@ -0,0 +1,22 @@
+<robot name="dtc_can_toy_b01i0e4pxa_oranges">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.002354 -0.049461 0.000112" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="-0.002354 -0.049461 0.000112" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000361" ixy="0.0" ixz="0.0" iyy="0.000232" iyz="0.0" izz="0.000361" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_can_toy_b01i0e4pxa_oranges/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png

dtc_objects/dtc_can_toy_b01i0e4pxa_peas_1/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_can_toy_b01i0e4pxa_peas_1/model.urdf

@@ -0,0 +1,22 @@
+<robot name="dtc_can_toy_b01i0e4pxa_peas_1">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.001040 -0.049931 -0.000243" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="-0.001040 -0.049931 -0.000243" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000370" ixy="0.0" ixz="0.0" iyy="0.000236" iyz="0.0" izz="0.000369" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_can_toy_b01i0e4pxa_peas_1/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png

dtc_objects/dtc_can_toy_b01mqncexr_jam/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_can_toy_b01mqncexr_jam/model.urdf

@@ -0,0 +1,22 @@
+<robot name="dtc_can_toy_b01mqncexr_jam">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.000270 -0.029847 -0.002411" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="-0.000270 -0.029847 -0.002411" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000125" ixy="0.0" ixz="0.0" iyy="0.000076" iyz="0.0" izz="0.000124" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_can_toy_b01mqncexr_jam/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png

dtc_objects/dtc_can_toy_b09312sfgb_catfood/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_can_toy_b09312sfgb_catfood/model.urdf

@@ -0,0 +1,22 @@
+<robot name="dtc_can_toy_b09312sfgb_catfood">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.000064 -0.040321 -0.000765" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="-0.000064 -0.040321 -0.000765" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000228" ixy="0.0" ixz="0.0" iyy="0.000130" iyz="0.0" izz="0.000228" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_can_toy_b09312sfgb_catfood/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png

dtc_objects/dtc_can_toy_b09312sfgb_peaches/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_can_toy_b09312sfgb_peaches/model.urdf

@@ -0,0 +1,22 @@
+<robot name="dtc_can_toy_b09312sfgb_peaches">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.001103 -0.020307 0.001000" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="-0.001103 -0.020307 0.001000" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000105" ixy="0.0" ixz="0.0" iyy="0.000129" iyz="0.0" izz="0.000106" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_can_toy_b09312sfgb_peaches/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png

dtc_objects/dtc_can_toy_b09b8ptlbd_slicedpeaches/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_can_toy_b09b8ptlbd_slicedpeaches/model.urdf

@@ -0,0 +1,22 @@
+<robot name="dtc_can_toy_b09b8ptlbd_slicedpeaches">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.000515 -0.019101 0.000663" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="0.000515 -0.019101 0.000663" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000145" ixy="0.0" ixz="0.0" iyy="0.000217" iyz="0.0" izz="0.000144" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_can_toy_b09b8ptlbd_slicedpeaches/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png

dtc_objects/dtc_dino_b015czp872_smallgraybrachiosaurus_1/model.urdf

@@ -0,0 +1,22 @@
+<robot name="dtc_dino_b015czp872_smallgraybrachiosaurus_1">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.000397 -0.013593 -0.000700" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="-0.000397 -0.013593 -0.000700" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000113" ixy="0.0" ixz="0.0" iyy="0.000089" iyz="0.0" izz="0.000041" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_dino_b015czp872_smallgraybrachiosaurus_1/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png

dtc_objects/dtc_dino_b015czp872_smallgraybrachiosaurus_1/textured_simplified_vhacd.obj

@@ -0,0 +1,1990 @@
+# https://github.com/mikedh/trimesh
+v -0.00351533 0.02096132 0.02381662
+v -0.00369798 0.02090201 0.02373711
+v -0.00336386 0.02100826 0.02385574
+v -0.00354229 0.02087088 0.02392329
+v -0.00372528 0.02080465 0.02385956
+v -0.00315848 0.02107605 0.02389154
+v -0.00325517 0.02097765 0.02398692
+v -0.00332586 0.02084874 0.02406996
+v -0.00357165 0.02077056 0.02399896
+v -0.00371086 0.02071964 0.02395550
+v -0.00303963 0.02113158 0.02380986
+v -0.00350331 0.02069822 0.02409338
+v -0.00364075 0.02064226 0.02406095
+v -0.00384025 0.02067272 0.02391286
+v -0.00379260 0.02057634 0.02401764
+v -0.00392032 0.02069022 0.02377571
+v -0.00287283 0.02109427 0.02391724
+v -0.00292048 0.02100093 0.02403119
+v -0.00300618 0.02090043 0.02411439
+v -0.00309326 0.02077319 0.02419744
+v -0.00319761 0.02064112 0.02426199
+v -0.00346922 0.02055684 0.02420994
+v -0.00368372 0.02052401 0.02411590
+v -0.00392810 0.02052945 0.02392596
+v -0.00372186 0.02030122 0.02417333
+v -0.00404698 0.02058641 0.02368795
+v -0.00416825 0.02056032 0.02345915
+v -0.00279518 0.02118006 0.02374965
+v -0.00326461 0.02049281 0.02434041
+v -0.00363254 0.02042240 0.02419839
+v -0.00403700 0.02044880 0.02379478
+v -0.00382552 0.02023175 0.02410227
+v -0.00393442 0.02024996 0.02397082
+v -0.00420435 0.02042303 0.02353677
+v -0.00269499 0.02110837 0.02390187
+v -0.00258259 0.02119144 0.02370399
+v -0.00273040 0.02094058 0.02409571
+v -0.00290938 0.02075647 0.02424025
+v -0.00295805 0.02055157 0.02437958
+v -0.00310669 0.02038039 0.02446010
+v -0.00323266 0.02025879 0.02445389
+v -0.00351274 0.02028467 0.02431283
+v -0.00408001 0.02031872 0.02375813
+v -0.00364871 0.02019550 0.02424970
+v -0.00249909 0.02105134 0.02392229
+v -0.00257384 0.02101425 0.02398919
+v -0.00240987 0.02107620 0.02378695
+v -0.00260239 0.02086803 0.02415263
+v -0.00274868 0.02078716 0.02423217
+v -0.00273913 0.02061627 0.02434321
+v -0.00296704 0.02035967 0.02449028
+v -0.00332215 0.02011903 0.02443284
+v -0.00350258 0.02005321 0.02434340
+v -0.00370662 0.02007357 0.02422297
+v -0.00242728 0.02089181 0.02402587
+v -0.00231549 0.02107156 0.02361766
+v -0.00248646 0.02076797 0.02417658
+v -0.00260776 0.02066115 0.02430203
+v -0.00283678 0.02043221 0.02445582
+v -0.00296922 0.02012197 0.02456237
+v -0.00313208 0.02003376 0.02452108
+v -0.00230903 0.02095056 0.02384257
+v -0.00217594 0.02099144 0.02348604
+v -0.00239404 0.02062654 0.02420969
+v -0.00258314 0.02046807 0.02439500
+v -0.00277489 0.02029792 0.02450688
+v -0.00291196 0.01996182 0.02456458
+v -0.00222069 0.02077827 0.02391436
+v -0.00214694 0.02086459 0.02366031
+v -0.00215417 0.02078289 0.02377813
+v -0.00225037 0.02068028 0.02404981
+v -0.00237420 0.02043929 0.02430137
+v -0.00261557 0.02030514 0.02446924
+v -0.00269079 0.02002667 0.02452787
+v -0.00288910 0.01978772 0.02452519
+v -0.00198458 0.02071559 0.02345701
+v -0.00209647 0.02052224 0.02397336
+v -0.00212851 0.02042246 0.02408368
+v -0.00224042 0.02033332 0.02423586
+v -0.00244737 0.02026732 0.02440069
+v -0.00251865 0.02011899 0.02445012
+v -0.00269846 0.01976594 0.02447832
+v -0.00207144 0.02057150 0.02385342
+v -0.00201856 0.02053779 0.02373021
+v -0.00219122 0.02019913 0.02420383
+v -0.00232767 0.02013408 0.02432227
+v -0.00252411 0.01997652 0.02442893
+v -0.00255012 0.01985317 0.02441546
+v -0.00281229 0.01959919 0.02446633
+v -0.00300296 0.01938509 0.02445945
+v -0.00191833 0.02066314 0.02328029
+v -0.00200058 0.02036223 0.02383705
+v -0.00202096 0.02025130 0.02395982
+v -0.00206461 0.02020053 0.02402453
+v -0.00286012 0.01942328 0.02443479
+v -0.00328877 0.01931804 0.02442404
+v -0.00347233 0.01919637 0.02436565
+v -0.00304438 0.01923516 0.02443423
+v -0.00323609 0.01919203 0.02441975
+v -0.00367818 0.01907557 0.02424252
+v -0.00400479 0.01922059 0.02389911
+v -0.00392360 0.01911328 0.02400734
+v -0.00383372 0.01909894 0.02410606
+v -0.00414493 0.01925565 0.02364981
+v -0.00434064 0.01935094 0.02329234
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+v -0.00158482 0.02138630 0.02078999
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+

dtc_objects/dtc_dino_b08n9f269z_redtriceratops/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_dino_b08n9f269z_redtriceratops/model.urdf

@@ -0,0 +1,22 @@
+<robot name="dtc_dino_b08n9f269z_redtriceratops">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.001936 -0.026056 -0.000661" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="0.001936 -0.026056 -0.000661" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000596" ixy="0.0" ixz="0.0" iyy="0.000555" iyz="0.0" izz="0.000136" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_dumbbell_b08bjpymql_pink/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_dumbbell_b08bjpymql_pink/model.urdf

@@ -0,0 +1,22 @@
+<robot name="dtc_dumbbell_b08bjpymql_pink">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.004542 -0.025966 -0.001650" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="0.004542 -0.025966 -0.001650" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000131" ixy="0.0" ixz="0.0" iyy="0.000995" iyz="0.0" izz="0.000996" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_dumbbell_b08bjpymql_pink/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png

dtc_objects/dtc_fakefruit_5902e_clementine/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_fakefruit_5902e_clementine/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png

dtc_objects/dtc_fakefruit_b07dxj6t6j_orange/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_fakefruit_b07dxj6t6j_orange/model.urdf

@@ -0,0 +1,22 @@
+<robot name="dtc_fakefruit_b07dxj6t6j_orange">
+	<link name="_name">
+		<visual>
+			<origin xyz="0.001708 -0.027954 0.002355" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="0.001708 -0.027954 0.002355" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000232" ixy="0.0" ixz="0.0" iyy="0.000294" iyz="0.0" izz="0.000231" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_fakefruit_b07dxj6t6j_orange/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png

dtc_objects/dtc_fakefruit_b09992t572_lemonlarge/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

dtc_objects/dtc_fakefruit_b09992t572_lemonlarge/model.urdf

@@ -0,0 +1,22 @@
+<robot name="dtc_fakefruit_b09992t572_lemonlarge">
+	<link name="_name">
+		<visual>
+			<origin xyz="-0.000522 -0.032690 0.000864" rpy="0 0 0" />
+			<geometry>
+				<mesh filename="textured_simplified.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+			<material name="texture">
+				<color rgba="1.0 1.0 1.0 1.0" />
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<mesh filename="textured_simplified_vhacd.obj" scale="1.0 1.0 1.0" />
+			</geometry>
+		<origin xyz="-0.000522 -0.032690 0.000864" rpy="0 0 0" /></collision>
+		<inertial>
+			<mass value="0.300" />
+			<inertia ixx="0.000328" ixy="0.0" ixz="0.0" iyy="0.000324" iyz="0.0" izz="0.000217" />
+		</inertial>
+	</link>
+</robot>

dtc_objects/dtc_fakefruit_b09992t572_lemonlarge/textured_simplified.obj.mtl

@@ -0,0 +1,5 @@
+newmtl material_0
+Ka 0.2 0.2 0.2
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+map_Kd texture_map.png