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Assets/robocasa/data/objects/aigen_objs/condiment/condiment_0/model.xml

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+<mujoco model="condiment_9">
+  <asset>
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Assets/robocasa/data/objects/aigen_objs/condiment/condiment_1/model.xml

@@ -0,0 +1,86 @@
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+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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_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_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_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_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_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_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_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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_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_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_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_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+  </worldbody>
+</mujoco>

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
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+v 0.09447002 0.02065507 0.23484848
+v 0.13992457 -0.13086008 0.09848484
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Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_1.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.06482022 -0.07087594 0.49565053
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+v 0.12477306 0.12671568 0.50757575
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+v 0.13992457 0.08126113 0.49242423
+v 0.07931851 0.12671568 0.50757575
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Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_10.obj

@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.04901548 0.08126113 0.24999999
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+v 0.03386396 0.12671568 0.24999999
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Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_11.obj

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+f 31 15 30

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_12.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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+v -0.08734816 -0.19146614 -0.41666668
+v -0.01159058 -0.20661765 -0.28030304
+v -0.04189361 -0.20661765 -0.43181819
+v -0.08734816 -0.19146614 -0.44696970
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+f 20 5 19

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_13.obj

@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.10962154 -0.10055705 0.44696969
+v 0.12477306 -0.03995099 0.28030302
+v 0.10962154 0.05095810 0.50757575
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+f 40 36 18
+f 40 5 36

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_14.obj

@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.11874235 -0.05556298 0.18998035
+v -0.07219664 0.08126113 0.18939393
+v -0.11765119 0.05095810 0.26515151
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+f 46 33 3
+f 46 3 45

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_15.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02674210 -0.14601159 0.18939393
+v 0.00352279 -0.12998002 0.18896922
+v 0.00363001 -0.10450984 0.26583142
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+v -0.13280270 -0.00964796 0.23484848
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+v -0.08734816 -0.14601159 0.15909090
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+v -0.11765119 -0.11570856 0.17424242
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+f 33 7 24

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_16.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.07128673 -0.05420606 0.49641253
+v -0.07219664 -0.03995099 0.26515151
+v -0.07117499 0.05054096 0.49775320
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+v -0.11765119 -0.05510250 0.28030302
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+v -0.11765119 0.05095810 0.49242423
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+v -0.09297228 -0.05044980 0.26213585
+v -0.11765119 0.03580659 0.26515151
+v -0.11765119 0.02065507 0.50757575
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+f 18 14 11
+f 18 11 4
+f 18 4 14

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_17.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.17206536 0.03384234 0.05079613
+v 0.18133331 0.03519991 -0.44651620
+v 0.18537912 0.08126113 -0.34090910
+v 0.13265863 0.11769019 0.00731415
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+v 0.17022760 0.09641265 -0.03787880
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+v 0.13992457 0.09641265 -0.44696970
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+v 0.15507609 0.03580659 0.05303029
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+v 0.18043643 0.03793964 -0.44909666
+v 0.17022760 0.11156416 -0.44696970
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+f 18 17 9
+f 18 12 17

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_18.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01878238 0.08023768 -0.48224498
+v 0.07792969 0.15641160 -0.48281780
+v 0.08605684 0.16900281 -0.44816525
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+v -0.10249967 0.17217023 -0.49242425
+v -0.08734816 0.18732174 -0.47727274
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+f 28 9 17

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_19.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.05676923 0.05098590 0.49883388
+v -0.03820573 0.10029265 0.26221374
+v -0.04189361 0.11156416 0.49242423
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+v -0.07261669 0.08173243 0.25016943
+v -0.05704513 0.11156416 0.26515151
+v -0.05704513 0.11156416 0.49242423
+v -0.07219664 0.05095810 0.26515151
+v -0.10249967 0.12671568 0.41666666
+v -0.10249967 0.06610962 0.26515151
+v -0.06324760 0.08880325 0.25286074
+v -0.07972849 0.07284104 0.25316989
+v -0.10090303 0.03534405 0.38619224
+f 6 3 2
+f 9 8 1
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+f 11 4 3
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+f 14 8 2
+f 14 2 3
+f 14 12 8
+f 14 3 12
+f 15 1 8
+f 15 13 1
+f 15 7 4
+f 15 12 7
+f 15 8 12
+f 16 15 4
+f 17 16 10
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+f 24 22 17
+f 24 5 22
+f 25 20 1
+f 25 1 13
+f 25 5 20
+f 25 22 5
+f 25 13 15
+f 25 15 22

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_2.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.07931851 -0.17631462 0.08333332
+v 0.17022760 -0.08540553 -0.23484849
+v 0.17022760 -0.08540553 0.06818181
+v 0.15352931 -0.05469133 0.09809579
+v 0.06416699 -0.14601159 -0.21969698
+v 0.17022760 -0.05510250 0.09848484
+v 0.12477306 -0.14601159 0.09848484
+v 0.09447002 -0.17631462 -0.23484849
+v 0.04776087 -0.17221807 0.05152596
+v 0.16637082 -0.05416587 -0.23452353
+v 0.15507609 -0.11570856 -0.23484849
+v 0.17022760 -0.07025402 0.09848484
+v 0.06857741 -0.15493448 0.08622600
+v 0.10962154 -0.16116311 0.06818181
+v 0.13992457 -0.05510250 0.08333332
+v 0.06416699 -0.17631462 0.08333332
+v 0.06212522 -0.17235644 -0.23501947
+v 0.10789828 -0.12827469 0.09777648
+v 0.09447002 -0.17631462 -0.20454546
+v 0.13992457 -0.05510250 -0.09848486
+v 0.04744062 -0.17220263 -0.03805291
+v 0.13992457 -0.07025402 -0.23484849
+f 6 3 2
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+f 19 14 1
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+f 21 9 5
+f 21 5 17
+f 21 17 16
+f 21 16 9
+f 22 17 5
+f 22 10 2
+f 22 2 17
+f 22 20 10
+f 22 5 20

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_20.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.04189361 -0.19146614 0.00757575
+v 0.02087964 -0.18777585 -0.27945657
+v 0.00369260 -0.17751661 0.00757903
+v -0.12045864 -0.13389824 0.05466204
+v -0.10249967 -0.17631462 -0.23484849
+v -0.10249967 -0.13086008 -0.23484849
+v -0.09238647 -0.15272960 0.05623695
+v -0.07219664 -0.19146614 -0.08333334
+v -0.02674210 -0.16116311 0.00757575
+v -0.12387931 -0.13572097 -0.23353396
+v -0.08623257 -0.15831803 0.05169158
+v -0.10955183 -0.14167615 0.05699193
+v -0.06923401 -0.17914811 -0.28084574
+v 0.01817041 -0.18834970 -0.28047998
+v -0.11765119 -0.16116311 0.05303029
+v 0.02033602 -0.18489129 -0.23456444
+v -0.07283413 -0.17728909 -0.28029849
+v -0.10249967 -0.17631462 -0.11363637
+v -0.05704513 -0.19146614 -0.00757577
+f 1 2 3
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+f 17 10 6
+f 17 14 13
+f 17 6 14
+f 18 15 5
+f 18 5 8
+f 18 8 15
+f 19 15 8
+f 19 8 1
+f 19 1 15

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_21.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.06416699 -0.19146614 -0.47727274
+v 0.13992457 -0.13086008 -0.49242425
+v 0.14293511 -0.11836082 -0.44758282
+v -0.14697964 -0.11498719 -0.44683556
+v -0.14795422 -0.13086008 -0.49242425
+v 0.13450842 -0.11054343 -0.48158683
+v 0.05984497 -0.17953379 -0.44493133
+v 0.12477306 -0.16116311 -0.44696970
+v 0.00356093 -0.16116311 -0.50757577
+v -0.14795422 -0.11570856 -0.49242425
+v -0.07219664 -0.19146614 -0.47727274
+v 0.12477306 -0.16116311 -0.47727274
+v 0.13992457 -0.14601159 -0.44696970
+v 0.10962154 -0.16116311 -0.49242425
+v -0.14795422 -0.14601159 -0.44696970
+v 0.00356093 -0.13086008 -0.50757577
+v -0.02674210 -0.16116311 -0.50757577
+v 0.03386396 -0.19146614 -0.49242425
+v 0.13992457 -0.14601159 -0.47727274
+v -0.10249967 -0.17631462 -0.49242425
+v -0.06767373 -0.17812400 -0.44487782
+v -0.02674210 -0.13086008 -0.50757577
+v -0.13280270 -0.16116311 -0.46212122
+v -0.05704513 -0.19146614 -0.49242425
+v -0.14795422 -0.14601159 -0.46212122
+v -0.13280270 -0.16116311 -0.44696970
+f 6 3 2
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+f 14 9 2
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+f 25 23 15
+f 25 15 5
+f 25 5 23
+f 26 21 15
+f 26 15 23
+f 26 23 11
+f 26 11 21

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_22.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.03386396 -0.19146614 0.06818181
+v 0.05239983 -0.16834833 0.05565037
+v 0.05051803 -0.11978928 0.19137724
+v -0.09087744 -0.12045790 0.14636464
+v -0.09259317 -0.15475378 0.00757641
+v -0.02674210 -0.14601159 0.18939393
+v 0.06416699 -0.16116311 0.14393939
+v 0.00318663 -0.17755660 0.00740512
+v 0.04901548 -0.11570856 0.15909090
+v -0.02857392 -0.12521076 0.19337461
+v -0.05704513 -0.19146614 0.05303029
+v 0.03386396 -0.19146614 0.05303029
+v 0.03386396 -0.16116311 0.15909090
+v -0.07219664 -0.14601159 0.00757575
+v 0.06782820 -0.13963811 0.13192046
+v -0.07219664 -0.11570856 0.12878787
+v 0.04901548 -0.14601159 0.18939393
+v -0.08734816 -0.14601159 0.14393939
+v -0.04189361 -0.19146614 0.00757575
+v 0.06416699 -0.16116311 0.12878787
+v 0.04776087 -0.17221807 0.05152596
+v 0.04901548 -0.17631462 0.11363635
+v -0.04189361 -0.16116311 0.15909090
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+v 0.06608552 -0.13438552 0.14565586
+v -0.09354652 -0.12533950 0.13279651
+v -0.08734816 -0.17631462 0.06818181
+v -0.08734816 -0.17631462 0.00757575
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+v -0.02674210 -0.19146614 0.06818181
+v -0.07219664 -0.17631462 0.09848484
+v -0.08734816 -0.16116311 0.11363635
+v -0.05704513 -0.19146614 0.02272726
+v -0.02674210 -0.16116311 0.00757575
+v -0.04189361 -0.17631462 0.11363635
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+f 34 29 8
+f 34 8 14
+f 34 14 24
+f 34 24 29
+f 35 30 23
+f 35 23 31
+f 35 31 11
+f 35 11 30

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_23.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.17022760 -0.11570856 -0.44696970
+v 0.18537912 -0.07025402 -0.47727274
+v 0.18537912 0.08126113 -0.44696970
+v 0.10823119 0.15488835 -0.44665044
+v 0.12403899 -0.11433943 -0.48300031
+v 0.12477306 0.15701871 -0.49242425
+v 0.17243383 -0.06585003 -0.44549253
+v 0.15507609 -0.11570856 -0.49242425
+v 0.14293511 -0.11836082 -0.44758282
+v 0.18537912 0.05095810 -0.49242425
+v 0.17022760 0.11156416 -0.44696970
+v 0.10962154 0.15701871 -0.49242425
+v 0.17022760 -0.10055705 -0.49242425
+v 0.10962154 0.12671568 -0.44696970
+v 0.11659619 0.14849484 -0.44553796
+v 0.13434134 -0.12464459 -0.46288801
+v 0.17022760 0.11156416 -0.47727274
+v 0.17022760 -0.11570856 -0.46212122
+v 0.18537912 -0.05510250 -0.49242425
+v 0.10922714 0.08059959 -0.48285851
+v 0.15507609 0.12671568 -0.49242425
+v 0.18537912 0.08126113 -0.47727274
+v 0.17022760 0.09641265 -0.49242425
+f 1 2 3
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+f 21 10 6
+f 21 6 11
+f 21 11 17
+f 22 17 3
+f 22 3 10
+f 22 21 17
+f 23 22 10
+f 23 10 21
+f 23 21 22

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_24.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.12477306 0.02065507 0.24999999
+v 0.14958697 0.02031248 0.14215716
+v 0.13992457 0.11156416 0.14393939
+v 0.07931851 0.15701871 0.14393939
+v 0.04901548 0.09641265 0.18939393
+v 0.04727595 0.15028847 0.12648877
+v 0.06416699 0.11156416 0.26515151
+v 0.15507609 0.05095810 0.17424242
+v 0.09447002 0.02065507 0.21969696
+v 0.13992457 0.11156416 0.12878787
+v 0.04901548 0.12671568 0.12878787
+v 0.10962154 0.14186720 0.14393939
+v 0.04441760 0.09806982 0.26163490
+v 0.04567819 0.14585504 0.13937865
+v 0.15507609 0.02065507 0.17424242
+v 0.10962154 0.06610962 0.26515151
+v 0.10402172 0.01974665 0.26391061
+v 0.15507609 0.06610962 0.14393939
+v 0.07931851 0.15701871 0.12878787
+v 0.12477306 0.02065507 0.15909090
+v 0.13540787 0.07917692 0.12732546
+v 0.10962154 0.08126113 0.24999999
+v 0.07931851 0.11156416 0.24999999
+v 0.04901548 0.08126113 0.23484848
+v 0.12477306 0.03580659 0.24999999
+v 0.10303071 0.02212271 0.26670491
+v 0.15507609 0.06610962 0.15909090
+v 0.10962154 0.14186720 0.12878787
+v 0.10962154 0.08126113 0.12878787
+v 0.10962154 0.12671568 0.17424242
+v 0.07931851 0.03580659 0.26515151
+v 0.05440745 0.09120393 0.26751836
+v 0.12477306 0.11156416 0.17424242
+v 0.07931851 0.03580659 0.24999999
+f 11 9 5
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+f 33 3 30
+f 34 31 24
+f 34 24 9
+f 34 9 31

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_25.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.04906663 0.17238677 0.05315665
+v 0.05080066 0.17653058 -0.15893392
+v 0.04539476 0.17592437 0.04794026
+v -0.07219664 0.18732174 0.05303029
+v -0.05704513 0.15701871 -0.15909092
+v 0.04548290 0.17873474 -0.15942461
+v -0.08793693 0.15803092 0.05353500
+v -0.08734816 0.18732174 -0.15909092
+v -0.04189361 0.15701871 0.05303029
+v -0.08734816 0.18732174 -0.05303031
+v -0.09079335 0.16189258 -0.15855854
+v -0.04189361 0.15701871 0.03787878
+f 1 2 3
+f 1 3 4
+f 5 2 1
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+f 6 4 3
+f 6 2 5
+f 7 1 4
+f 8 6 5
+f 8 4 6
+f 9 7 5
+f 9 1 7
+f 10 7 4
+f 10 4 8
+f 11 8 5
+f 11 5 7
+f 11 10 8
+f 11 7 10
+f 12 9 5
+f 12 5 1
+f 12 1 9

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_26.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.06568823 0.08382884 0.46132916
+v 0.06583079 0.08304570 0.26577063
+v 0.03386396 0.12671568 0.28030302
+v -0.02674210 0.12671568 0.35606060
+v -0.04189361 0.08126113 0.29545454
+v 0.04901548 0.11156416 0.46212120
+v 0.03386396 0.08126113 0.46212120
+v -0.03820573 0.10029265 0.26221374
+v 0.01871245 0.12671568 0.37121211
+v 0.06416699 0.11156416 0.28030302
+v 0.06136157 0.08789601 0.46581520
+v -0.04193755 0.10119999 0.46252232
+v 0.04441760 0.09806982 0.26163490
+v -0.04785564 0.09395424 0.27031234
+v -0.04189361 0.12671568 0.28030302
+v 0.03386396 0.12671568 0.34090908
+v -0.01159058 0.12671568 0.37121211
+v 0.06416699 0.11156416 0.38636363
+v 0.01730241 0.10473655 0.26322476
+v 0.05923019 0.08956658 0.26278272
+v -0.04189361 0.12671568 0.31060605
+f 7 5 2
+f 7 2 1
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+f 17 4 12
+f 18 6 1
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+f 20 2 8
+f 20 8 13
+f 20 13 10
+f 20 10 2
+f 21 15 14
+f 21 14 12
+f 21 12 4
+f 21 4 15

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_27.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.08734816 -0.16116311 0.09848484
+v -0.08623257 -0.15831803 0.05169158
+v -0.08734816 -0.10055705 0.14393939
+v -0.16866450 -0.00983139 0.08579507
+v -0.16310573 -0.11570856 0.05303029
+v -0.08734816 -0.13086008 0.05303029
+v -0.08734816 -0.14601159 0.14393939
+v -0.11765119 -0.16116311 0.05303029
+v -0.08734816 -0.10055705 0.12878787
+v -0.17692850 -0.00958183 0.05246704
+v -0.14795422 -0.08540553 0.14393939
+v -0.10249967 -0.14601159 0.14393939
+v -0.17565394 -0.01023930 0.05539660
+v -0.17825725 -0.08540553 0.05303029
+v -0.13813057 -0.05725915 0.14616859
+v -0.10249967 -0.16116311 0.09848484
+v -0.14795422 -0.11570856 0.11363635
+v -0.16310573 -0.07025402 0.12878787
+v -0.13280270 -0.11570856 0.14393939
+v -0.14795422 -0.13086008 0.08333332
+v -0.17825725 -0.07025402 0.08333332
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+v -0.16310573 -0.10055705 0.09848484
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+v -0.11765119 -0.16116311 0.06818181
+v -0.16310573 -0.11570856 0.06818181
+v -0.17825725 -0.08540553 0.06818181
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+f 29 14 28
+f 29 24 18
+f 29 18 21

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_28.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.05080066 0.17653058 -0.15893392
+v 0.06668225 0.17811734 -0.44783223
+v 0.06416699 0.20247326 -0.37121213
+v -0.04189361 0.20247326 -0.17424243
+v -0.07371617 0.17521274 -0.44751220
+v 0.01871245 0.20247326 -0.17424243
+v 0.06433585 0.17251681 -0.23484421
+v -0.07234254 0.17248170 -0.15903760
+v -0.05704513 0.20247326 -0.44696970
+v 0.03386396 0.20247326 -0.23484849
+v 0.04548290 0.17873474 -0.15942461
+v 0.04901548 0.20247326 -0.44696970
+v -0.05704513 0.20247326 -0.32575758
+v 0.06416699 0.20247326 -0.41666668
+f 6 3 4
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+f 12 2 9
+f 13 8 4
+f 13 4 9
+f 13 9 5
+f 13 5 8
+f 14 12 3
+f 14 3 2
+f 14 2 12

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_29.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.08734816 -0.19146614 -0.25000001
+v -0.06807952 -0.18055081 -0.41595840
+v -0.07184562 -0.17552307 -0.23497716
+v -0.14339971 -0.11242640 -0.23581224
+v -0.16310573 -0.13086008 -0.43181819
+v -0.11765119 -0.11570856 -0.34090910
+v -0.10249967 -0.17631462 -0.23484849
+v -0.06771376 -0.17812731 -0.24965811
+v -0.11765119 -0.17631462 -0.44696970
+v -0.11765119 -0.11570856 -0.23484849
+v -0.15371899 -0.10814838 -0.43120777
+v -0.16310573 -0.13086008 -0.32575758
+v -0.07219664 -0.16116311 -0.41666668
+v -0.08734816 -0.19146614 -0.41666668
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+v -0.15175221 -0.10747521 -0.32807999
+v -0.14697964 -0.11498719 -0.44683556
+v -0.11765119 -0.17631462 -0.32575758
+v -0.09483925 -0.16486825 -0.44473632
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+v -0.10950839 -0.15366838 -0.44857345
+v -0.14222098 -0.12215713 -0.44836346
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+f 23 20 17
+f 23 17 22

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_3.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.16450252 -0.07081952 0.05351194
+v -0.14805118 -0.06932502 -0.48443932
+v -0.14795422 -0.05510250 0.00757575
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+v -0.19340876 0.03580659 -0.47727274
+v -0.14646301 0.08017070 -0.48537118
+v -0.16181320 -0.07608740 0.00615980
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+v -0.15649447 0.08557719 -0.09627797
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+v -0.17825725 0.08126113 -0.49242425
+v -0.19340876 -0.07025402 -0.43181819
+v -0.17825725 0.08126113 -0.09848486
+v -0.19340876 0.06610962 -0.43181819
+v -0.19340876 -0.03995099 -0.47727274
+v -0.19340876 -0.02479947 0.05303029
+v -0.19340876 -0.07025402 -0.37121213
+v -0.16764761 0.06236486 0.04994041
+v -0.19340876 0.05095810 -0.46212122
+v -0.19340876 -0.05510250 -0.46212122
+f 1 3 4
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+f 20 12 5
+f 20 5 15
+f 21 16 10
+f 21 10 13
+f 21 13 16

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_30.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.12621926 -0.11718512 -0.48185913
+v 0.02250815 0.15901831 -0.48624796
+v -0.13359740 -0.11653019 -0.47950182
+v 0.01692090 0.15670829 -0.48912017
+v 0.12527543 0.08246110 -0.48424165
+v -0.13418915 0.11289075 -0.48076267
+v -0.14805118 -0.06932502 -0.48443932
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+v -0.14646301 0.08017070 -0.48537118
+v -0.15099879 0.08309730 -0.48316704
+v -0.13050247 -0.11283973 -0.48104519
+v 0.10727131 0.13900842 -0.48125622
+v 0.08029404 0.15841345 -0.48181514
+v -0.11624178 0.12503755 -0.48182337
+v -0.13165250 0.10911651 -0.48241439
+v -0.14803036 -0.07070440 -0.48428632
+v 0.07792969 0.15641160 -0.48281780
+f 8 5 1
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+f 17 10 11
+f 18 12 7
+f 18 3 12
+f 18 13 3
+f 18 7 13
+f 19 15 14
+f 19 4 15
+f 19 14 5
+f 19 5 4

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_31.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.04901548 -0.19146614 0.05303029
+v 0.07016534 -0.17212867 -0.30929010
+v 0.06539374 -0.16368450 -0.03777802
+v 0.00356093 -0.16116311 0.02272726
+v 0.01835092 -0.18947018 -0.31065199
+v 0.04901548 -0.16116311 -0.31060607
+v 0.05239983 -0.16834833 0.05565037
+v 0.06416699 -0.19146614 -0.18939395
+v 0.00357014 -0.17961327 0.04811188
+v 0.00330487 -0.18673272 -0.23512760
+v 0.05865031 -0.17773892 -0.31152607
+v 0.00354742 -0.17757437 0.05347700
+v 0.00356093 -0.16116311 -0.00757577
+v 0.02100677 -0.18898137 -0.31031464
+v 0.01976286 -0.17581025 0.05596170
+f 6 3 2
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+f 8 3 1
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+f 13 10 4
+f 13 4 6
+f 13 6 10
+f 14 11 8
+f 14 8 5
+f 14 5 11
+f 15 12 1
+f 15 1 7
+f 15 7 12

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_4.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.17022760 -0.05510250 0.11363635
+v 0.18537912 -0.03995099 0.05303029
+v 0.17022760 0.05095810 0.12878787
+v 0.10962154 0.15701871 0.09848484
+v 0.09447002 0.12671568 0.00757575
+v 0.10149392 0.12072615 0.13249549
+v 0.18537912 -0.03995099 0.06818181
+v 0.13992457 -0.05510250 0.08333332
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+v 0.17022760 -0.03995099 0.12878787
+v 0.16678527 -0.05387557 0.05277080
+v 0.18537912 0.05095810 0.06818181
+v 0.13992457 0.14186720 0.00757575
+v 0.14319747 -0.05650829 0.12996546
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+v 0.17022760 0.09641265 0.06818181
+v 0.12477306 0.14186720 0.11363635
+v 0.15507609 0.11156416 0.09848484
+v 0.15507609 0.12671568 0.05303029
+v 0.13992457 0.14186720 0.06818181
+v 0.15507609 0.12671568 0.03787878
+v 0.12477306 0.15701871 0.05303029
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+f 37 35 29
+f 37 29 4
+f 37 4 35

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_5.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.16764761 0.06236486 0.04994041
+v -0.07219664 0.15701871 -0.44696970
+v -0.08261751 0.16374898 0.04846397
+v -0.10249967 0.17217023 0.05303029
+v -0.16310573 0.12671568 -0.46212122
+v -0.08734816 0.18732174 -0.44696970
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+v -0.14795422 0.14186720 0.05303029
+v -0.06754912 0.17483840 -0.16062343
+v -0.13280270 0.14186720 -0.49242425
+v -0.09585643 0.14703372 0.07930051
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+v -0.17825725 0.08126113 0.05303029
+v -0.10249967 0.18732174 -0.41666668
+v -0.11765119 0.15701871 0.08333332
+v -0.06800290 0.17846498 -0.44519108
+v -0.08734816 0.18732174 -0.15909092
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+v -0.13280270 0.15701871 0.05303029
+v -0.14795422 0.12671568 0.08333332
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+v -0.17825725 0.09641265 -0.47727274
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+v -0.14795422 0.14186720 -0.47727274
+v -0.10249967 0.18732174 -0.32575758
+v -0.13883781 0.10574836 0.08031381
+v -0.11811720 0.11179360 -0.48209064
+v -0.12543051 0.11902405 0.08608703
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+f 35 19 7
+f 35 7 26
+f 35 26 33

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_6.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.16236489 -0.05817058 0.05834687
+v 0.20053063 -0.00964796 -0.43181819
+v 0.18537912 -0.03995099 0.05303029
+v 0.17134487 0.03597143 0.05321778
+v 0.16471300 0.03497550 -0.48443500
+v 0.20053063 0.02065507 -0.38636365
+v 0.17190177 -0.07090985 -0.41666356
+v 0.15507609 -0.02479947 0.05303029
+v 0.20053063 -0.02479947 -0.38636365
+v 0.17206536 0.03384234 0.05079613
+v 0.18537912 0.03580659 -0.49242425
+v 0.18537912 -0.05510250 -0.12878789
+v 0.15507609 -0.05510250 -0.32575758
+v 0.20053063 -0.02479947 -0.41666668
+v 0.20053063 0.02065507 -0.43181819
+v 0.17057042 -0.07038368 -0.44700345
+v 0.15507609 -0.02479947 -0.21969698
+v 0.18537912 0.02065507 -0.49242425
+v 0.16566339 0.02126791 -0.48388689
+v 0.15507609 -0.03995099 -0.32575758
+f 1 3 4
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+f 19 5 18
+f 20 17 5
+f 20 5 13
+f 20 13 17

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_7.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.13814123 0.11032571 0.00759289
+v 0.15156176 0.10969695 -0.44649218
+v 0.12477306 0.17217023 -0.37121213
+v 0.04901548 0.18732174 0.06818181
+v 0.04901548 0.15701871 -0.23484849
+v 0.09447002 0.17217023 0.05303029
+v 0.15507609 0.14186720 -0.37121213
+v 0.10962154 0.11156416 -0.28030304
+v 0.05108997 0.16353708 0.08646540
+v 0.07572165 0.16492649 -0.47969370
+v 0.09447002 0.18732174 -0.32575758
+v 0.15507609 0.12671568 -0.29545455
+v 0.13992457 0.15701871 -0.44696970
+v 0.13992457 0.14186720 -0.09848486
+v 0.14552557 0.10141693 -0.29634625
+v 0.04757332 0.16676601 0.08131165
+v 0.06416699 0.18732174 0.06818181
+v 0.06513147 0.15905695 0.08431717
+v 0.10962154 0.11156416 0.00757575
+v 0.07923543 0.14182534 -0.48260201
+v 0.06125153 0.18082893 -0.44584511
+v 0.15507609 0.14186720 -0.43181819
+v 0.13992457 0.15701871 -0.35606061
+v 0.12477306 0.15701871 -0.09848486
+v 0.12477306 0.11156416 -0.44696970
+v 0.04633313 0.18084454 -0.23535870
+v 0.10962154 0.15701871 -0.49242425
+v 0.09447002 0.18732174 -0.46212122
+v 0.10727131 0.13900842 -0.48125622
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Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_8.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.11448443 -0.14141880 0.05042008
+v -0.13050247 -0.11283973 -0.48104519
+v -0.13186014 -0.07021579 -0.48304830
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+v -0.17825725 -0.08540553 0.05303029
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+f 16 8 13

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/collision/model_normalized_collision_9.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.06416699 -0.11570856 0.49242423
+v 0.08436860 -0.07449699 0.31129689
+v 0.07574821 -0.06585658 0.49402271
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+v 0.07931851 -0.10055705 0.49242423
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+v -0.02674210 -0.11570856 0.50757575
+v -0.07219664 -0.10055705 0.26515151
+v -0.10249967 -0.07025402 0.26515151
+v -0.10249967 -0.08540553 0.49242423
+v -0.08734816 -0.10055705 0.49242423
+v -0.04189361 -0.11570856 0.26515151
+v 0.03386396 -0.11570856 0.50757575
+v -0.08734816 -0.10055705 0.28030302
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+v 0.06416699 -0.10055705 0.50757575
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Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/model.xml

@@ -0,0 +1,86 @@
+<mujoco model="condiment_2">
+  <asset>
+    <texture file="/home/abhiram03/Desktop/mimicgen/robosuite-kitchen/robosuite/models/assets/textures/ceramic.png" name="tex-condiment_2" type="2d"/>
+    <material name="condiment_2" reflectance="0.5" texrepeat="1 1" texture="tex-condiment_2" texuniform="false"/>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
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+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
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+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
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+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
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+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="0.1950903220161283 0.0 0.0 0.9807852804032303"/>
+    <texture type="2d" name="551af1b40a05_condiment__3d_asset_texture_kd" file="visual/551af1b40a05_condiment__3d_asset_texture_kd.png"/>
+    <material name="Material_0" texture="551af1b40a05_condiment__3d_asset_texture_kd" specular="0.5" shininess="0.5"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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_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_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_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_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_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_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_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom class="region" name="reg_bbox" type="box" pos="1.880791669062465e-06 -7.140127193027452e-05 -1.0999999938698934e-09" size="0.02243840425887076 0.023135022227158 0.0558333336"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_2/visual/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 1.00000000
+map_Kd material_0.jpeg

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_3/model.xml

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+  <asset>
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+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11000000000000001 0.11000000000000001 0.11000000000000001" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="8bbb7d14be88_condiment__3d_asset_texture_kd" file="visual/8bbb7d14be88_condiment__3d_asset_texture_kd.png"/>
+    <material name="Material_0" texture="8bbb7d14be88_condiment__3d_asset_texture_kd" specular="0.5" shininess="0.5"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
+v 0.03653298 -0.20503064 -0.31060606
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+v 0.11229055 -0.11412155 -0.23484848
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+v 0.05168449 -0.20503064 -0.47727272
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+v -0.02356201 -0.18493095 -0.27996751
+v 0.06683601 -0.17472761 -0.50757575
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+v 0.09713904 -0.18987913 -0.47727272
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Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_1.obj

@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.16851601 -0.00791134 0.21748090
+v 0.17289661 -0.00806095 0.14393938
+v 0.09713904 0.17375722 0.20454544
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+v -0.05437611 0.18890874 0.18939393
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Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_10.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.08467914 -0.17472761 0.20454544
+v -0.08441020 -0.17412379 0.14379176
+v -0.08467914 -0.00806095 0.26515150
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+v -0.09983066 -0.12927307 0.26515150
+v -0.17558823 -0.11412155 0.14393938
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+v -0.19073974 -0.00806095 0.20454544
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+v -0.14528520 -0.11412155 0.23484847
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+v -0.17558823 -0.11412155 0.17424241
+v -0.14528520 -0.14442458 0.18939393
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+f 36 34 35
+f 36 35 14
+f 36 14 30

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_11.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.05168449 -0.12927307 0.50757574
+v 0.12744206 -0.09897004 0.26515150
+v 0.11229055 -0.08381853 0.50757574
+v 0.08237175 -0.06910439 0.49970009
+v 0.00622995 -0.08381853 0.40151513
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+v 0.00643524 -0.08437006 0.49760125
+v 0.06683601 -0.12927307 0.49242422
+v 0.05218614 -0.13050914 0.26594476
+v 0.12744206 -0.08381853 0.28030302
+v 0.11229055 -0.06866701 0.50757574
+v 0.09713904 -0.12927307 0.28030302
+v 0.08198752 -0.11412155 0.50757574
+v 0.00611337 -0.12389735 0.40150660
+v 0.12744206 -0.09897004 0.28030302
+v 0.05168449 -0.08381853 0.26515150
+v 0.09713904 -0.12927307 0.26515150
+v 0.00566146 -0.12002667 0.49665908
+v 0.09600364 -0.06792921 0.34061927
+v 0.12065371 -0.07948289 0.26029345
+f 6 5 4
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+f 20 10 2
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+f 20 17 9
+f 20 9 16
+f 20 16 19
+f 20 19 6
+f 20 6 10

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_12.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.11847777 0.13607412 0.19306327
+v 0.11229055 0.12830268 -0.23484848
+v 0.09713904 0.18890874 -0.08333334
+v -0.02407308 0.20406025 0.17424241
+v -0.14316092 0.12682374 0.14300589
+v 0.09713904 0.18890874 0.15909090
+v 0.11229055 0.17375722 -0.23484848
+v 0.06683601 0.12830268 0.18939393
+v 0.06683601 0.20406025 0.12878787
+v 0.08198752 0.18890874 0.18939393
+v 0.11229055 0.17375722 0.18939393
+v -0.06952763 0.12830268 -0.15909091
+v -0.00892157 0.20406025 -0.14393940
+v -0.08459852 0.15847494 0.18932497
+v 0.03653298 0.20406025 0.17424241
+v 0.02099877 0.18636464 -0.23489923
+v 0.02138146 0.12830268 -0.23484848
+v 0.08198752 0.18890874 -0.23484848
+v -0.14528520 0.15860571 0.03787878
+v -0.06952763 0.18890874 0.18939393
+v 0.05168449 0.20406025 0.15909090
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+v -0.08467914 0.18890874 0.17424241
+v -0.14528520 0.15860571 0.06818181
+v 0.03653298 0.20406025 -0.08333334
+v -0.02407308 0.20406025 -0.12878788
+v -0.09983066 0.18890874 0.11363635
+v -0.05437611 0.20406025 0.14393938
+v -0.05437611 0.20406025 0.00757575
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+f 33 28 4
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+f 34 31 26
+f 34 26 33

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_13.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11229055 0.08284814 -0.15909091
+v 0.11229055 0.08284814 -0.23484848
+v 0.02090538 0.18678647 -0.15900782
+v -0.06484602 0.17535495 -0.15869900
+v -0.06952763 0.08284814 -0.23484848
+v 0.11229055 0.12830268 -0.15909091
+v -0.06952763 0.08284814 -0.15909091
+v 0.02099877 0.18636464 -0.23489923
+v -0.06515496 0.17557751 -0.23434855
+v 0.11229055 0.12830268 -0.23484848
+f 5 2 1
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+f 9 4 3
+f 9 3 8
+f 10 6 2
+f 10 2 8
+f 10 8 3
+f 10 3 6

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_14.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.06952763 -0.11412155 0.50757574
+v -0.05414812 -0.12871095 0.26482188
+v -0.05017224 0.10547624 0.49627041
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+v -0.14528520 -0.05351550 0.28030302
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+v -0.08467914 -0.12927307 0.28030302
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+v -0.05437611 0.08284814 0.26515150
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+v -0.14528520 0.05254511 0.28030302
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+v -0.06952763 -0.12927307 0.31060604
+v -0.13013368 -0.08381853 0.28030302
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+v -0.08467914 0.11315116 0.49242422
+v -0.11498217 0.06769662 0.50757574
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+f 32 27 18
+f 32 18 25

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_15.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.06927435 -0.17394521 -0.09832583
+v -0.06907985 -0.17339226 -0.23498586
+v -0.06515496 0.17557751 -0.23434855
+v -0.11498217 0.17375722 0.00757575
+v -0.19073974 -0.06866701 -0.23484848
+v -0.06690588 0.18260890 0.00791205
+v -0.14528520 -0.14442458 -0.23484848
+v -0.19073974 -0.06866701 0.00757575
+v -0.08467914 0.18890874 -0.23484848
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+v -0.19073974 0.06769662 -0.23484848
+v -0.19073974 0.06769662 0.00757575
+v -0.06952763 -0.11412155 0.00757575
+v -0.16043671 -0.11412155 0.00757575
+v -0.17558823 -0.09897004 0.00757575
+v -0.14528520 -0.14442458 -0.21969697
+v -0.17558823 0.11315116 -0.23484848
+v -0.07788307 0.17720164 0.00801539
+v -0.09017534 -0.16514539 -0.09884729
+v -0.11498217 0.17375722 -0.23484848
+v -0.17558823 0.11315116 0.00757575
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+f 22 19 4
+f 22 13 19

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_16.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.06329401 -0.18171592 -0.23466083
+v 0.11229055 -0.11412155 -0.35606060
+v 0.11229055 -0.00806095 -0.23484848
+v -0.08467914 -0.00806095 -0.23484848
+v -0.08467914 -0.18987913 -0.35606060
+v 0.11229055 -0.00806095 -0.35606060
+v 0.11229055 -0.11412155 -0.23484848
+v 0.06934201 -0.18025931 -0.35597207
+v -0.06952763 -0.18987913 -0.23484848
+v -0.08467914 -0.00806095 -0.35606060
+v -0.02376717 -0.18793052 -0.35596278
+v -0.08380199 -0.16945044 -0.23509769
+v 0.06318089 -0.18188850 -0.28040081
+v -0.08467914 -0.18987913 -0.26515151
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+f 11 1 9
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+f 13 11 8
+f 13 8 1
+f 13 1 11
+f 14 12 4
+f 14 4 5
+f 14 5 9
+f 14 9 12

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_17.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.18804812 -0.09897004 0.15909090
+v 0.20319964 -0.05351550 -0.47727272
+v 0.20319964 0.05254511 0.15909090
+v 0.16515547 0.07953628 0.18623869
+v 0.16511050 -0.09522050 -0.47314300
+v 0.18804812 0.08284814 -0.49242423
+v 0.18804812 -0.03836398 0.21969696
+v 0.20319964 -0.06866701 0.14393938
+v 0.18804812 -0.09897004 -0.47727272
+v 0.16526594 -0.08060620 0.18639417
+v 0.20319964 0.06769662 -0.46212120
+v 0.18804812 0.08284814 0.18939393
+v 0.16580553 0.07926265 -0.48257289
+v 0.18804812 -0.08381853 0.18939393
+v 0.20319964 -0.03836398 0.17424241
+v 0.16712567 -0.09578799 0.15791681
+v 0.20319964 -0.06866701 -0.46212120
+v 0.18804812 -0.08381853 -0.49242423
+v 0.16448426 -0.08000693 -0.48334096
+v 0.16585754 -0.03702074 0.21617410
+v 0.20319964 0.05254511 -0.47727272
+v 0.20319964 0.06769662 0.00757575
+v 0.18804812 0.03739359 0.21969696
+v 0.18804812 -0.06866701 0.20454544
+v 0.16466271 -0.06583651 0.20099791
+v 0.16480099 0.06473458 0.20106300
+v 0.20319964 0.03739359 0.17424241
+v 0.16580137 0.03613775 0.21603656
+v 0.18804812 0.06769662 0.20454544
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+f 29 27 3
+f 29 3 12
+f 29 28 23
+f 29 26 28

Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_18.obj

@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.17174671 0.08231610 -0.23481138
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Assets/robocasa/data/objects/aigen_objs/condiment/condiment_4/collision/model_normalized_collision_19.obj

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