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Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
+v 0.17892921 0.31083228 0.48905435
+v 0.17807402 0.31000406 0.46190718
+v 0.18693562 0.37094024 0.46212120
+v -0.17670074 0.37094024 0.49242423
+v -0.14645663 0.31036643 0.49128578
+v -0.17735220 0.35302618 0.46135399
+v 0.15663259 0.35578873 0.50757575
+v -0.17260024 0.35769887 0.46143958
+v -0.17935252 0.32508732 0.48935897
+v -0.14639771 0.31033418 0.46212120
+v 0.18693562 0.37094024 0.49242423
+v 0.15663259 0.32548570 0.50757575
+v -0.17670074 0.35578873 0.50757575
+v -0.19185225 0.35578873 0.49242423
+v -0.17885583 0.32430494 0.46141724
+v -0.17368597 0.32524995 0.49307771
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 10 2 5
+f 11 1 3
+f 11 3 4
+f 11 4 7
+f 12 5 1
+f 12 11 7
+f 12 1 11
+f 13 5 12
+f 13 12 7
+f 13 7 4
+f 14 4 6
+f 14 13 4
+f 14 9 13
+f 15 6 2
+f 15 2 10
+f 15 14 6
+f 15 9 14
+f 15 10 5
+f 15 5 9
+f 16 13 9
+f 16 9 5
+f 16 5 13

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_1.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.13137182 -0.00783677 0.49085067
+v -0.13124620 -0.00784763 0.46212120
+v -0.13133166 0.26488130 0.49072404
+v -0.14647039 0.26486709 0.49121172
+v -0.14840611 0.00689227 0.49256980
+v -0.14639771 0.26487964 0.46212120
+v -0.13124620 0.00730388 0.50757575
+v -0.14639771 -0.00784763 0.46212120
+v -0.13124620 0.26487964 0.46212120
+v -0.15022812 0.05183787 0.49300073
+v -0.14640177 -0.00784758 0.49239709
+v -0.13124620 0.05275843 0.50757575
+f 6 4 3
+f 7 1 2
+f 8 6 2
+f 9 6 3
+f 9 2 6
+f 9 7 2
+f 10 4 6
+f 10 5 7
+f 10 8 5
+f 10 6 8
+f 11 7 5
+f 11 1 7
+f 11 5 8
+f 11 8 2
+f 11 2 1
+f 12 3 4
+f 12 10 7
+f 12 4 10
+f 12 9 3
+f 12 7 9

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_10.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.18693562 -0.37148400 0.40151514
+v 0.18693562 -0.37148400 0.00757575
+v 0.18693562 0.37094024 0.40151514
+v -0.19185225 0.37094024 0.38636363
+v -0.17670074 -0.37148400 0.40151514
+v 0.18693562 0.37094024 0.00757575
+v -0.17762775 -0.35335350 0.00763548
+v -0.17341829 0.35921999 0.40161101
+v -0.17810657 -0.35203079 0.40123403
+v -0.17278516 -0.35842746 0.00753169
+v -0.19185225 0.37094024 0.00757575
+v -0.17761279 0.35290118 0.40148741
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 9 7 5
+f 10 2 5
+f 10 5 7
+f 10 6 2
+f 11 4 6
+f 11 10 7
+f 11 6 10
+f 11 9 4
+f 11 7 9
+f 12 8 4
+f 12 4 9
+f 12 9 5
+f 12 5 8

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_11.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.15663259 -0.06845370 0.50757575
+v 0.15663259 -0.06845370 0.46212120
+v 0.15683312 0.06789148 0.49130546
+v 0.11115036 0.06864966 0.48642674
+v 0.11117805 -0.06845370 0.46212120
+v 0.15663259 0.06790994 0.46212120
+v 0.14148108 0.03760691 0.50757575
+v 0.11136869 -0.06870694 0.48790223
+v 0.11117805 0.06790994 0.46212120
+v 0.15663259 0.03760691 0.50757575
+v 0.14148108 -0.06845370 0.50757575
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 8 4 5
+f 8 7 4
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 7 1
+f 10 1 3
+f 10 3 7
+f 11 8 1
+f 11 1 7
+f 11 7 8

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_12.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14148108 -0.37148400 0.46212120
+v 0.15663259 -0.37148400 0.40151514
+v 0.15663259 -0.29572642 0.46212120
+v 0.06572350 -0.29572642 0.46212120
+v 0.06575219 -0.35773460 0.40061058
+v 0.06580698 -0.35674664 0.46268786
+v 0.15661585 -0.35554761 0.46216176
+v 0.15663259 -0.29572642 0.40151514
+v 0.15663259 -0.37148400 0.41666666
+v 0.06572350 -0.29572642 0.40151514
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 6 1
+f 7 3 6
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 7 1
+f 9 1 2
+f 9 2 3
+f 9 3 7
+f 10 8 5
+f 10 5 4
+f 10 4 8

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_13.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.08579165 -0.34118097 0.46212120
+v -0.08579165 -0.34118097 0.40151514
+v -0.08579165 -0.29572642 0.46212120
+v -0.17730544 -0.29549953 0.46277599
+v -0.17816387 -0.34269187 0.40145910
+v -0.17749934 -0.29502625 0.40089936
+v -0.17812092 -0.34203023 0.46236560
+v -0.08579165 -0.29572642 0.40151514
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_14.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00518892 -0.29574026 0.49131673
+v 0.00511744 -0.29572642 0.40151514
+v 0.00511744 0.17397055 0.40151514
+v -0.13139167 0.17401308 0.48987279
+v -0.13133501 -0.29574918 0.49109307
+v -0.13124620 -0.29572642 0.40151514
+v 0.00503413 0.17399519 0.48955896
+v -0.13124620 0.17397055 0.40151514
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_15.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17696608 0.17442976 0.48827139
+v 0.17905721 0.17387310 0.40175474
+v 0.17864143 0.26470727 0.40178496
+v -0.13133166 0.26488130 0.49072404
+v -0.13124620 0.17397055 0.40151514
+v 0.17724766 0.26453618 0.48823317
+v -0.13139167 0.17401308 0.48987279
+v -0.13124620 0.26487964 0.40151514
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 4 3
+f 8 3 2
+f 8 2 5
+f 8 7 4
+f 8 5 7

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_16.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.06580698 -0.35674664 0.46268786
+v 0.06575219 -0.35773460 0.40061058
+v 0.06572350 -0.11390824 0.40151514
+v 0.00511744 -0.11390824 0.46212120
+v 0.00502550 -0.35808238 0.46302907
+v 0.00511744 -0.11390824 0.40151514
+v 0.06572350 -0.11390824 0.46212120
+v 0.00524537 -0.35799424 0.40131716
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 2
+f 8 2 5
+f 8 5 6

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_17.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17663857 -0.29571750 0.46283547
+v 0.17686082 -0.29527883 0.40126798
+v 0.17914117 0.06845849 0.40154695
+v 0.11117805 0.06790994 0.46212120
+v 0.11117805 -0.29572642 0.40151514
+v 0.17831913 0.06798177 0.46200793
+v 0.11117805 -0.29572642 0.46212120
+v 0.11117805 0.06790994 0.40151514
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_18.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.13124620 -0.29572642 0.50757575
+v -0.13124620 -0.29572642 0.40151514
+v -0.13124620 -0.00784763 0.40151514
+v -0.19185225 -0.00784763 0.50757575
+v -0.19185225 -0.29572642 0.50757575
+v -0.18150442 -0.00783042 0.40162560
+v -0.13124620 -0.02299915 0.50757575
+v -0.17749934 -0.29502625 0.40089936
+v -0.14861700 -0.00781509 0.49272828
+v -0.13137182 -0.00783677 0.49085067
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
+f 9 6 4
+f 9 3 6
+f 10 7 3
+f 10 3 9
+f 10 9 4
+f 10 4 7

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_19.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.11122039 -0.29576602 0.49055409
+v 0.11117805 -0.29572642 0.40151514
+v 0.11150036 -0.11396867 0.48830267
+v 0.06557133 -0.11413126 0.48759997
+v 0.06558955 -0.29576090 0.49044898
+v 0.11117805 -0.11390824 0.40151514
+v 0.06572350 -0.29572642 0.40151514
+v 0.06572350 -0.11390824 0.40151514
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 5 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 6 7

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_2.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.13124620 -0.00784763 0.46212120
+v -0.13124620 -0.00784763 0.40151514
+v -0.13106646 0.36131915 0.40138950
+v -0.17260024 0.35769887 0.46143958
+v -0.18150442 -0.00783042 0.40162560
+v -0.13158042 0.35845178 0.46094154
+v -0.17969209 -0.00788232 0.46059707
+v -0.17761279 0.35290118 0.40148741
+v -0.17735220 0.35302618 0.46135399
+v -0.17341829 0.35921999 0.40161101
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 7 1
+f 9 1 4
+f 9 8 5
+f 9 5 7
+f 10 4 3
+f 10 3 8
+f 10 9 4
+f 10 8 9

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_20.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17877304 0.26493477 0.46198409
+v 0.17864143 0.26470727 0.40178496
+v 0.18693562 0.37094024 0.40151514
+v -0.13158042 0.35845178 0.46094154
+v -0.13124620 0.26487964 0.46212120
+v -0.13106646 0.36131915 0.40138950
+v 0.18693562 0.37094024 0.46212120
+v -0.13124620 0.26487964 0.40151514
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 6

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_21.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17724766 0.26453618 0.48823317
+v 0.17877304 0.26493477 0.46198409
+v 0.17892921 0.31083228 0.48905435
+v -0.14645663 0.31036643 0.49128578
+v -0.14639771 0.26487964 0.46212120
+v -0.14647039 0.26486709 0.49121172
+v -0.14639771 0.31033418 0.46212120
+v 0.17807402 0.31000406 0.46190718
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 5
+f 8 5 7

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_22.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.05057199 -0.37148400 0.50757575
+v 0.05012102 -0.35691145 0.46300654
+v 0.05057199 -0.20481733 0.50757575
+v 0.00518286 -0.20485128 0.49094385
+v 0.00502550 -0.35808238 0.46302907
+v 0.05057199 -0.20481733 0.46212120
+v 0.00511744 -0.21996885 0.50757575
+v 0.00511744 -0.20481733 0.46212120
+v 0.03542047 -0.20481733 0.50757575
+v 0.02026896 -0.37148400 0.50757575
+v 0.00633597 -0.35128049 0.49379871
+v 0.00618816 -0.35691020 0.48860259
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 8 3 6
+f 8 7 4
+f 8 5 7
+f 8 6 2
+f 8 2 5
+f 9 7 3
+f 9 4 7
+f 9 8 4
+f 9 3 8
+f 10 5 1
+f 10 1 7
+f 11 10 7
+f 11 7 5
+f 12 11 5
+f 12 5 10
+f 12 10 11

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_23.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.11150036 -0.11396867 0.48830267
+v 0.11117805 -0.11390824 0.40151514
+v 0.11117805 0.17397055 0.40151514
+v 0.00503413 0.17399519 0.48955896
+v 0.00451465 -0.11310645 0.49102925
+v 0.00511744 -0.11390824 0.40151514
+v 0.11104671 0.17396734 0.48794017
+v 0.00511744 0.17397055 0.40151514
+v 0.00517506 -0.11398488 0.49110939
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
+f 9 5 6
+f 9 1 7
+f 9 7 4
+f 9 4 5
+f 9 6 2
+f 9 2 1

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_24.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15666456 -0.17451382 0.49162657
+v 0.15663259 -0.17451430 0.46212120
+v 0.15663259 -0.06845370 0.46212120
+v 0.11136869 -0.06870694 0.48790223
+v 0.11113136 -0.17474086 0.48849698
+v 0.11117805 -0.06845370 0.46212120
+v 0.15664781 -0.06843687 0.49216111
+v 0.11117805 -0.17451430 0.46212120
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 8 5 6

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_25.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.14639771 0.31033418 0.50757575
+v -0.14639771 0.31033418 0.40151514
+v -0.14639771 0.32548570 0.50757575
+v -0.17935252 0.32508732 0.48935897
+v -0.17993229 0.31028819 0.48881322
+v -0.14639771 0.32548570 0.40151514
+v -0.17441102 0.31039740 0.49298769
+v -0.17912401 0.30997258 0.40190390
+v -0.17368597 0.32524995 0.49307771
+v -0.17851651 0.32480566 0.40163080
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 8 5 4
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 10 6 2
+f 10 2 8
+f 10 8 4
+f 10 9 6
+f 10 4 9

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_26.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06567597 -0.20494434 0.49135211
+v 0.06572350 -0.20481733 0.46212120
+v 0.06572350 -0.11390824 0.46212120
+v 0.00511744 -0.11390824 0.50757575
+v 0.00511744 -0.20481733 0.46212120
+v 0.06572350 -0.12905976 0.50757575
+v 0.00518286 -0.20485128 0.49094385
+v 0.00511744 -0.11390824 0.46212120
+v 0.05057199 -0.11390824 0.50757575
+v 0.06572350 -0.15936279 0.50757575
+v 0.00511744 -0.15936279 0.50757575
+v 0.06557133 -0.11413126 0.48759997
+f 5 2 1
+f 5 3 2
+f 6 2 3
+f 7 5 1
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 3 4
+f 9 4 6
+f 10 1 2
+f 10 2 6
+f 10 6 4
+f 11 4 5
+f 11 5 7
+f 11 10 4
+f 11 7 1
+f 11 1 10
+f 12 9 6
+f 12 6 3
+f 12 3 9

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_27.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00502550 -0.35808238 0.46302907
+v 0.00524537 -0.35799424 0.40131716
+v 0.00511744 -0.29572642 0.46212120
+v -0.08579165 -0.29572642 0.46212120
+v -0.08568572 -0.35759011 0.40089983
+v -0.08565493 -0.35671249 0.46263963
+v 0.00511744 -0.29572642 0.40151514
+v -0.08579165 -0.29572642 0.40151514
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_28.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.18693562 -0.37148400 0.00757575
+v 0.18693562 -0.35633248 -0.50757577
+v 0.18693562 0.37094024 0.00757575
+v -0.19185225 0.37094024 0.00757575
+v -0.19185225 -0.37148400 -0.47727274
+v 0.15663259 0.37094024 -0.50757577
+v 0.18693562 -0.37148400 -0.47727274
+v -0.17762775 -0.35335350 0.00763548
+v 0.18693562 0.35578873 -0.50757577
+v -0.19185225 0.34063721 -0.50757577
+v -0.17670074 -0.37148400 -0.49242425
+v -0.19185225 -0.37148400 -0.11363637
+v 0.18693562 0.37094024 -0.49242425
+v -0.19185225 0.37094024 -0.47727274
+v 0.17178411 -0.37148400 -0.49242425
+v -0.19185225 -0.35633248 -0.50757577
+v -0.17278516 -0.35842746 0.00753169
+v -0.16154922 0.37094024 -0.50757577
+f 1 2 3
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 1 3
+f 8 3 4
+f 9 3 2
+f 9 2 6
+f 10 5 4
+f 10 6 2
+f 11 7 5
+f 12 5 1
+f 12 8 4
+f 12 4 5
+f 13 9 6
+f 13 6 3
+f 13 3 9
+f 14 10 4
+f 14 4 6
+f 15 11 2
+f 15 2 7
+f 15 7 11
+f 16 10 2
+f 16 2 11
+f 16 11 5
+f 16 5 10
+f 17 12 1
+f 17 1 8
+f 17 8 12
+f 18 14 6
+f 18 6 10
+f 18 10 14

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_29.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.14148108 -0.37148400 0.50757575
+v 0.15663259 -0.37148400 0.46212120
+v 0.15663259 -0.29572642 0.50757575
+v 0.05049716 -0.29575698 0.49155464
+v 0.05057199 -0.37148400 0.50757575
+v 0.15663259 -0.29572642 0.46212120
+v 0.15566242 -0.35239567 0.49427135
+v 0.05012102 -0.35691145 0.46300654
+v 0.05057199 -0.31087794 0.50757575
+v 0.05057199 -0.29572642 0.46212120
+v 0.15571050 -0.35726050 0.48803600
+v 0.14148108 -0.29572642 0.50757575
+f 5 2 1
+f 5 1 3
+f 6 3 2
+f 7 2 3
+f 7 3 1
+f 8 2 5
+f 9 5 3
+f 9 8 5
+f 9 4 8
+f 10 3 6
+f 10 8 4
+f 10 6 2
+f 10 2 8
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 9 3
+f 12 4 9
+f 12 10 4
+f 12 3 10

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_3.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.17670074 -0.37148400 0.49242423
+v -0.08568572 -0.35759011 0.40089983
+v -0.08565493 -0.35671249 0.46263963
+v -0.17208729 -0.33975744 0.49524643
+v -0.17816387 -0.34269187 0.40145910
+v -0.08579165 -0.34118097 0.40151514
+v -0.13176349 -0.35295139 0.49503729
+v -0.17670074 -0.37148400 0.40151514
+v -0.19185225 -0.35633248 0.49242423
+v -0.08579165 -0.34118097 0.46212120
+v -0.17912851 -0.34002589 0.48933095
+v -0.13171881 -0.35707522 0.48973864
+v -0.17670074 -0.35633248 0.50757575
+v -0.17810657 -0.35203079 0.40123403
+v -0.13192336 -0.34325148 0.49450570
+f 1 2 3
+f 6 3 2
+f 6 2 5
+f 8 2 1
+f 9 8 1
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 11 6 5
+f 11 4 6
+f 11 5 9
+f 12 7 1
+f 12 1 3
+f 12 3 7
+f 13 1 7
+f 13 9 1
+f 13 11 9
+f 13 4 11
+f 14 5 2
+f 14 2 8
+f 14 9 5
+f 14 8 9
+f 15 10 4
+f 15 7 10
+f 15 13 7
+f 15 4 13

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_30.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.17706584 0.06765684 0.48865147
+v 0.17914117 0.06845849 0.40154695
+v 0.17696608 0.17442976 0.48827139
+v 0.11104671 0.17396734 0.48794017
+v 0.11117805 0.06790994 0.40151514
+v 0.11117805 0.17397055 0.40151514
+v 0.17905721 0.17387310 0.40175474
+v 0.11115036 0.06864966 0.48642674
+v 0.15663259 0.17397055 0.40151514
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 2 5
+f 9 5 6
+f 9 7 2
+f 9 6 3
+f 9 3 7

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.13192336 -0.34325148 0.49450570
+v -0.13124620 -0.34118097 0.46212120
+v -0.13124620 -0.29572642 0.50757575
+v -0.19185225 -0.29572642 0.50757575
+v -0.19185225 -0.34118097 0.50757575
+v -0.13124620 -0.29572642 0.46212120
+v -0.17812092 -0.34203023 0.46236560
+v -0.17730544 -0.29549953 0.46277599
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 7 6 2
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 6 7

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_4.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.18693562 -0.29572642 0.50757575
+v 0.17663857 -0.29571750 0.46283547
+v 0.17760139 -0.17445240 0.46221061
+v 0.11113136 -0.17474086 0.48849698
+v 0.11122039 -0.29576602 0.49055409
+v 0.11117805 -0.29572642 0.46212120
+v 0.17703128 -0.17496660 0.48879725
+v 0.17759934 -0.17455287 0.46206550
+v 0.14148108 -0.25027188 0.50757575
+v 0.18693562 -0.28057491 0.50757575
+v 0.11117805 -0.17451430 0.46212120
+v 0.15663259 -0.29572642 0.50757575
+v 0.15663259 -0.21996885 0.50757575
+v 0.14148108 -0.28057491 0.50757575
+v 0.17178411 -0.21996885 0.50757575
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 8 1 2
+f 8 2 6
+f 9 4 5
+f 10 3 7
+f 10 8 3
+f 10 1 8
+f 10 9 1
+f 11 8 6
+f 11 6 4
+f 11 4 3
+f 11 3 8
+f 12 5 1
+f 12 1 9
+f 13 7 4
+f 13 4 9
+f 13 9 10
+f 14 12 9
+f 14 9 5
+f 14 5 12
+f 15 13 10
+f 15 10 7
+f 15 7 13

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_5.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.14861700 -0.00781509 0.49272828
+v -0.14639771 -0.00784763 0.46212120
+v -0.14639771 0.31033418 0.50757575
+v -0.17993229 0.31028819 0.48881322
+v -0.19185225 -0.00784763 0.50757575
+v -0.14639771 0.31033418 0.46212120
+v -0.17969209 -0.00788232 0.46059707
+v -0.19185225 0.12851600 0.50757575
+v -0.17441102 0.31039740 0.49298769
+v -0.17990561 0.30979710 0.46152224
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 6 3 2
+f 7 2 5
+f 7 6 2
+f 8 5 3
+f 8 7 5
+f 9 6 4
+f 9 3 6
+f 9 8 3
+f 9 4 8
+f 10 4 6
+f 10 6 7
+f 10 8 4
+f 10 7 8

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_6.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.17703128 -0.17496660 0.48879725
+v 0.17760139 -0.17445240 0.46221061
+v 0.18693562 0.02245540 0.50757575
+v 0.15663259 0.06790994 0.50757575
+v 0.15663259 -0.17451430 0.46212120
+v 0.17831913 0.06798177 0.46200793
+v 0.15663259 -0.15936279 0.50757575
+v 0.18693562 -0.05330218 0.50757575
+v 0.17178411 0.06790994 0.50757575
+v 0.15663259 0.06790994 0.46212120
+v 0.15666456 -0.17451382 0.49162657
+v 0.17178411 -0.15936279 0.50757575
+v 0.17706584 0.06765684 0.48865147
+f 5 2 1
+f 6 2 5
+f 7 3 4
+f 7 4 5
+f 8 1 2
+f 8 3 7
+f 8 6 3
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 10 6 5
+f 10 5 4
+f 10 4 6
+f 11 7 5
+f 11 5 1
+f 12 8 7
+f 12 1 8
+f 12 11 1
+f 12 7 11
+f 13 9 3
+f 13 3 6
+f 13 6 9

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_7.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00618816 -0.35691020 0.48860259
+v 0.00502550 -0.35808238 0.46302907
+v 0.00511744 -0.29572642 0.46212120
+v -0.13133501 -0.29574918 0.49109307
+v -0.13171881 -0.35707522 0.48973864
+v 0.00511744 -0.31087794 0.50757575
+v -0.13109605 -0.35648086 0.46272447
+v 0.00633597 -0.35128049 0.49379871
+v 0.00518892 -0.29574026 0.49131673
+v -0.13124620 -0.32602945 0.50757575
+v -0.13124620 -0.29572642 0.46212120
+v -0.13176349 -0.35295139 0.49503729
+v -0.01003407 -0.31087794 0.50757575
+f 1 2 3
+f 5 2 1
+f 7 3 2
+f 7 2 5
+f 8 1 3
+f 9 8 3
+f 9 6 8
+f 10 8 6
+f 11 7 5
+f 11 3 7
+f 11 9 3
+f 11 4 9
+f 12 5 1
+f 12 1 8
+f 12 8 10
+f 12 10 4
+f 12 11 5
+f 12 4 11
+f 13 9 4
+f 13 6 9
+f 13 10 6
+f 13 4 10

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_8.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.17178411 -0.37148400 0.49242423
+v 0.17892258 -0.35253181 0.40139738
+v 0.18693562 -0.29572642 0.50757575
+v 0.15663259 -0.29572642 0.50757575
+v 0.15663259 -0.37148400 0.40151514
+v 0.17686082 -0.29527883 0.40126798
+v 0.18693562 -0.35633248 0.50757575
+v 0.18693562 -0.37148400 0.46212120
+v 0.15571050 -0.35726050 0.48803600
+v 0.15663259 -0.29572642 0.40151514
+v 0.17178411 -0.37148400 0.40151514
+v 0.18693562 -0.37148400 0.47727272
+v 0.15566242 -0.35239567 0.49427135
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 1 5
+f 8 3 7
+f 8 6 3
+f 8 2 6
+f 9 5 1
+f 10 6 5
+f 10 4 6
+f 10 5 9
+f 11 8 5
+f 11 5 2
+f 11 2 8
+f 12 8 7
+f 12 7 1
+f 12 1 8
+f 13 7 4
+f 13 10 9
+f 13 4 10
+f 13 9 1
+f 13 1 7

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/collision/model_normalized_collision_9.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.06558955 -0.29576090 0.49044898
+v 0.06572350 -0.29572642 0.46212120
+v 0.06572350 -0.20481733 0.50757575
+v 0.05057199 -0.20481733 0.50757575
+v 0.05057199 -0.29572642 0.46212120
+v 0.05057199 -0.20481733 0.46212120
+v 0.06572350 -0.21996885 0.50757575
+v 0.05049716 -0.29575698 0.49155464
+v 0.06572350 -0.20481733 0.46212120
+v 0.05057199 -0.21996885 0.50757575
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 8 5 1
+f 8 6 5
+f 8 4 6
+f 8 1 7
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 8 7
+f 10 7 4
+f 10 4 8

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/model.xml

@@ -0,0 +1,86 @@
+<mujoco model="boxed_drink_15">
+  <asset>
+    <texture file="/home/abhiram03/Desktop/mimicgen/robosuite-kitchen/robosuite/models/assets/textures/ceramic.png" name="tex-boxed_drink_15" type="2d"/>
+    <material name="boxed_drink_15" reflectance="0.5" texrepeat="1 1" texture="tex-boxed_drink_15" texuniform="false"/>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.095 0.095 0.095" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <texture type="2d" name="03639c476d5a_boxed_drink__3d_ass_texture_kd" file="visual/03639c476d5a_boxed_drink__3d_ass_texture_kd.png"/>
+    <material name="Material_0" texture="03639c476d5a_boxed_drink__3d_ass_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">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material_0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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"/>
+        <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"/>
+        <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="-2.5828600000000202e-05 0.00023353992500000024 -9.499999953366256e-10" size="0.0352393228 0.01822596375 0.048219697199999995"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_0/visual/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.40000000 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/boxed_drink/boxed_drink_1/collision/model_normalized_collision_0.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.14508257 0.03334004 0.50757576
+v 0.14508257 0.03334004 0.46212122
+v 0.14678723 0.19950056 0.49310470
+v 0.05417348 0.26061276 0.49242425
+v 0.05411486 0.03340608 0.49107723
+v 0.06932499 0.26061276 0.46212122
+v 0.12993105 0.20000670 0.50757576
+v 0.05417348 0.03334004 0.46212122
+v 0.14508257 0.20000670 0.46212122
+v 0.06932499 0.26061276 0.49242425
+v 0.12993105 0.03334004 0.50757576
+v 0.04999917 0.24687173 0.46229923
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 8 6 2
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 11 1 7
+f 11 8 1
+f 11 5 8
+f 11 7 4
+f 11 4 5
+f 12 8 5
+f 12 5 4
+f 12 4 6
+f 12 6 8

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_1.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.08220093 -0.20909807 0.49124463
+v -0.08219016 -0.20908421 0.46212122
+v -0.08220633 0.16970719 0.49096360
+v -0.12766015 0.16970295 0.49174633
+v -0.12764470 -0.20908421 0.46212122
+v -0.12765506 -0.20908827 0.49185923
+v -0.12764470 0.16970367 0.40151516
+v -0.08219016 0.16970367 0.40151516
+v -0.08219016 -0.14847815 0.40151516
+v -0.12764470 -0.14847815 0.40151516
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 9 2 5
+f 9 8 2
+f 9 7 8
+f 10 9 5
+f 10 7 9
+f 10 5 6
+f 10 6 4
+f 10 4 7

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_10.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.05417348 -0.25453875 0.50757576
+v 0.05363960 -0.24535587 0.46213758
+v 0.05417348 0.26061276 0.49242425
+v -0.05188713 0.26061276 0.50757576
+v -0.08181038 -0.24390044 0.46252920
+v 0.05417348 0.24546125 0.50757576
+v -0.05188713 -0.25453875 0.50757576
+v -0.06703864 0.26061276 0.46212122
+v 0.03902196 0.26061276 0.50757576
+v -0.08239122 0.24160599 0.48939515
+v 0.04999917 0.24687173 0.46229923
+v -0.08281824 -0.24208754 0.48728334
+v -0.08215723 0.24442764 0.46215636
+v -0.06703864 0.26061276 0.47727273
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 4 3
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 7 4
+f 11 8 3
+f 11 3 2
+f 11 2 8
+f 12 5 7
+f 12 7 10
+f 13 12 10
+f 13 5 12
+f 13 8 2
+f 13 2 5
+f 14 10 4
+f 14 4 8
+f 14 13 10
+f 14 8 13

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_11.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.17133325 -0.14835391 0.34082015
+v 0.19053712 -0.10302360 0.26515152
+v 0.19053712 0.09394610 0.32575758
+v 0.11477954 0.16970367 0.34090910
+v 0.11477954 -0.14847815 0.26515152
+v 0.17026461 0.16933592 0.26510048
+v 0.16974970 0.16928008 0.34092950
+v 0.19053712 -0.08787208 0.32575758
+v 0.17150492 -0.14820373 0.26508927
+v 0.11477954 -0.14847815 0.34090910
+v 0.19053712 0.12424913 0.26515152
+v 0.11477954 0.16970367 0.26515152
+v 0.19053712 -0.10302360 0.28030304
+v 0.19053712 0.12424913 0.29545455
+f 7 1 3
+f 7 6 4
+f 8 2 3
+f 8 3 1
+f 9 1 5
+f 10 5 1
+f 10 4 5
+f 10 7 4
+f 10 1 7
+f 11 3 2
+f 11 9 6
+f 11 2 9
+f 12 5 4
+f 12 4 6
+f 12 9 5
+f 12 6 9
+f 13 8 1
+f 13 2 8
+f 13 9 2
+f 13 1 9
+f 14 7 3
+f 14 3 11
+f 14 11 6
+f 14 6 7

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_12.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.17538560 -0.25453875 0.49242425
+v 0.16813168 -0.24357600 0.46169479
+v 0.17018249 0.24071599 0.46219366
+v 0.14508257 0.24546125 0.50757576
+v 0.14543565 -0.23435832 0.49331614
+v 0.17538560 0.24546125 0.50757576
+v 0.14573451 -0.24458584 0.46281843
+v 0.14515040 0.24423466 0.46217956
+v 0.17538560 -0.23938724 0.50757576
+v 0.14474340 -0.24303826 0.48657128
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 6 3
+f 8 4 6
+f 8 3 2
+f 8 2 7
+f 9 1 6
+f 9 6 4
+f 9 4 5
+f 10 7 1
+f 10 8 7
+f 10 5 4
+f 10 4 8
+f 10 9 5
+f 10 1 9

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_13.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.08219016 0.10909761 0.40151516
+v -0.08219016 0.10909761 0.26515152
+v -0.08219016 0.16970367 0.40151516
+v -0.17148290 0.16974382 0.40145717
+v -0.18825076 0.10909761 0.37121213
+v -0.08219016 0.16970367 0.26515152
+v -0.17136552 0.10907763 0.40153070
+v -0.18825076 0.16970367 0.26515152
+v -0.17679273 0.10829422 0.26516018
+v -0.18825076 0.16970367 0.35606061
+v -0.18825076 0.13940064 0.37121213
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 4 6
+f 8 6 2
+f 9 7 5
+f 9 2 1
+f 9 1 7
+f 9 8 2
+f 9 5 8
+f 10 8 5
+f 10 4 8
+f 11 10 5
+f 11 5 4
+f 11 4 10

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_14.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.16974970 0.16928008 0.34092950
+v 0.17026461 0.16933592 0.26510048
+v 0.17538560 0.26061276 0.34090910
+v 0.06932499 0.26061276 0.32575758
+v 0.06932499 0.16970367 0.26515152
+v 0.17538560 0.26061276 0.26515152
+v 0.06930516 0.24506970 0.34090616
+v 0.06915102 0.24935662 0.26532514
+v 0.14508257 0.26061276 0.34090910
+v 0.06932499 0.16970367 0.34090910
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 8 6 5
+f 8 4 6
+f 8 7 4
+f 9 3 4
+f 9 4 7
+f 9 7 1
+f 9 1 3
+f 10 5 1
+f 10 1 7
+f 10 8 5
+f 10 7 8

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_15.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14678723 0.19950056 0.49310470
+v 0.14508257 0.20000670 0.46212122
+v 0.14508257 0.24546125 0.50757576
+v 0.06932499 0.24546125 0.50757576
+v 0.06934656 0.20000360 0.49138517
+v 0.06932249 0.24493672 0.46212978
+v 0.12993105 0.20000670 0.50757576
+v 0.14515040 0.24423466 0.46217956
+v 0.06932499 0.20000670 0.46212122
+v 0.06932499 0.21515822 0.50757576
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 9 2 1
+f 9 1 5
+f 9 6 2
+f 10 7 4
+f 10 5 7
+f 10 9 5
+f 10 4 6
+f 10 6 9

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_16.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.19053712 -0.25453875 0.20454546
+v 0.19053712 -0.25453875 -0.49242424
+v 0.19053712 0.24546125 0.20454546
+v -0.17309925 0.26061276 0.26515152
+v -0.18825076 -0.25453875 0.26515152
+v -0.14279622 0.26061276 -0.50757575
+v 0.19053712 -0.11817511 0.26515152
+v 0.19053712 0.24546125 -0.49242424
+v 0.17538560 0.26061276 0.26515152
+v -0.18825076 0.26061276 -0.49242424
+v 0.16965033 -0.24492824 0.26493222
+v 0.17538560 -0.25453875 -0.50757575
+v 0.17538560 0.26061276 -0.49242424
+v 0.19053712 0.12424913 0.26515152
+v -0.18825076 0.24546125 0.26515152
+v 0.19053712 -0.23938724 0.21969698
+v 0.17538560 0.24546125 -0.50757575
+v -0.17309925 -0.25453875 -0.50757575
+v -0.18825076 0.26061276 0.20454546
+v -0.11249319 0.26061276 -0.50757575
+v -0.17309925 0.24546125 -0.50757575
+v -0.18825076 -0.25453875 -0.49242424
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 4 5
+f 8 3 2
+f 9 6 4
+f 9 3 8
+f 9 4 7
+f 10 4 6
+f 11 7 5
+f 11 5 1
+f 12 8 2
+f 12 2 5
+f 13 9 8
+f 13 6 9
+f 14 9 7
+f 14 7 3
+f 14 3 9
+f 15 10 5
+f 15 5 4
+f 16 11 1
+f 16 1 7
+f 16 7 11
+f 17 12 6
+f 17 8 12
+f 17 13 8
+f 18 6 12
+f 18 12 5
+f 19 15 4
+f 19 4 10
+f 19 10 15
+f 20 17 6
+f 20 6 13
+f 20 13 17
+f 21 18 10
+f 21 10 6
+f 21 6 18
+f 22 18 5
+f 22 5 10
+f 22 10 18

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_17.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09962802 -0.14847815 0.46212122
+v 0.09962802 -0.14847815 0.40151516
+v 0.09962802 0.10909761 0.46212122
+v -0.08219016 0.10909761 0.46212122
+v -0.08219016 -0.14847815 0.40151516
+v -0.08219016 0.10909761 0.40151516
+v -0.08219016 -0.14847815 0.46212122
+v 0.09962802 0.10909761 0.40151516
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_18.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.11477954 -0.14847815 0.40151516
+v 0.11477954 -0.14847815 0.26515152
+v 0.11477954 0.16970367 0.40151516
+v 0.00871893 0.16970367 0.40151516
+v 0.00871893 -0.14847815 0.26515152
+v 0.00871893 0.16970367 0.26515152
+v 0.00871893 -0.14847815 0.40151516
+v 0.11477954 0.16970367 0.26515152
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_19.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.06932499 0.16970367 0.40151516
+v 0.06932499 0.16970367 0.26515152
+v 0.06932499 0.26061276 0.40151516
+v 0.00877071 0.25124532 0.40200408
+v 0.00871893 0.16970367 0.26515152
+v 0.00871893 0.16970367 0.40151516
+v 0.00871893 0.24974100 0.26515152
+v 0.06915102 0.24935662 0.26532514
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 2 5
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_2.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.14474340 -0.24303826 0.48657128
+v 0.14573451 -0.24458584 0.46281843
+v 0.14512712 0.03339559 0.49205421
+v 0.05411486 0.03340608 0.49107723
+v 0.05124916 -0.24258469 0.48712420
+v 0.14508257 0.03334004 0.46212122
+v 0.14658794 -0.20931136 0.49362068
+v 0.05363960 -0.24535587 0.46213758
+v 0.14543565 -0.23435832 0.49331614
+v 0.12993105 -0.02726602 0.50757576
+v 0.05417348 0.03334004 0.46212122
+v 0.05417348 -0.23938724 0.50757576
+v 0.14508257 -0.02726602 0.50757576
+v 0.05417348 -0.22423572 0.50757576
+f 6 4 3
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 1 2
+f 9 2 7
+f 10 3 4
+f 11 8 5
+f 11 5 4
+f 11 4 6
+f 11 6 8
+f 12 5 1
+f 12 1 9
+f 13 7 3
+f 13 3 10
+f 13 9 7
+f 13 12 9
+f 13 10 12
+f 14 12 10
+f 14 10 4
+f 14 4 5
+f 14 5 12

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_20.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.12764470 -0.20908421 0.46212122
+v -0.12764470 -0.20908421 0.40151516
+v -0.12764470 0.16970367 0.46212122
+v -0.17220442 0.16969646 0.46215841
+v -0.17212511 -0.20912076 0.46216230
+v -0.17148290 0.16974382 0.40145717
+v -0.12764470 0.16970367 0.40151516
+v -0.17205655 -0.20904140 0.40151796
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5

Assets/robocasa/data/objects/aigen_objs/boxed_drink/boxed_drink_1/collision/model_normalized_collision_21.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.16813168 -0.24357600 0.46169479
+v 0.16837513 -0.24390967 0.40114633
+v 0.17077789 0.10912391 0.46233211
+v 0.09962802 0.10909761 0.46212122
+v 0.09933155 -0.24392116 0.40161132
+v 0.16929841 0.10896208 0.40155916
+v 0.09930023 -0.24427774 0.46260307
+v 0.09962802 0.10909761 0.40151516
+v 0.16992698 0.10914373 0.44732499
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 5 2
+f 7 2 1
+f 8 7 4
+f 8 5 7
+f 8 6 2
+f 8 2 5
+f 9 3 6
+f 9 6 8
+f 9 8 4
+f 9 4 3