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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_0/model.xml

@@ -0,0 +1,86 @@
+<mujoco model="canola_oil_3">
+  <asset>
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+  <worldbody>
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_1/model.xml

@@ -0,0 +1,86 @@
+<mujoco model="canola_oil_2">
+  <asset>
+    <texture file="/home/abhiram03/Desktop/mimicgen/robosuite-kitchen/robosuite/models/assets/textures/ceramic.png" name="tex-canola_oil_2" type="2d"/>
+    <material name="canola_oil_2" reflectance="0.5" texrepeat="1 1" texture="tex-canola_oil_2" texuniform="false"/>
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_10/model.xml

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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_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="0.00030510719999999995 0.0002575272000000007 0.0" size="0.023941470000000006 0.023893890000000004 0.06090908880000002"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_0.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.21081964 -0.12221264 0.14357757
+v 0.21223744 -0.13783505 -0.41669277
+v 0.21275199 -0.01705176 -0.41661057
+v 0.13351311 -0.01712299 0.14393941
+v 0.13351311 -0.13833512 -0.23484848
+v 0.21242828 -0.01726407 0.14056003
+v 0.21356485 -0.13690112 -0.23545250
+v 0.13351311 -0.12318360 0.14393941
+v 0.13351311 -0.01712299 -0.41666666
+v 0.13351311 -0.13833512 -0.41666666
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 1 5
+f 7 6 1
+f 7 2 3
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 5 4
+f 9 4 3
+f 10 9 2
+f 10 2 5
+f 10 5 9

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_1.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.13351311 -0.22924421 -0.09848484
+v 0.13339928 -0.21223363 -0.23488239
+v 0.13351311 -0.13833512 -0.09848484
+v -0.09375962 -0.13833512 -0.09848484
+v -0.10891114 -0.22924421 -0.23484848
+v -0.09375962 -0.13833512 -0.23484848
+v -0.14077218 -0.20964626 -0.09777551
+v 0.13351311 -0.13833512 -0.23484848
+v 0.08805857 -0.22924421 -0.23484848
+v -0.13895585 -0.21171717 -0.23491436
+v -0.10891114 -0.22924421 -0.09848484
+v 0.13351311 -0.22924421 -0.15909090
+v -0.14143537 -0.21135321 -0.23455343
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 6
+f 8 3 1
+f 8 6 3
+f 9 1 5
+f 10 9 5
+f 10 2 9
+f 10 8 2
+f 10 6 8
+f 11 5 1
+f 11 1 7
+f 12 8 1
+f 12 2 8
+f 12 9 2
+f 12 1 9
+f 13 7 6
+f 13 6 10
+f 13 11 7
+f 13 10 5
+f 13 5 11

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_10.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.15436568 0.13439216 0.14393941
+v -0.15464917 0.16503284 -0.49894148
+v -0.15245239 0.20220569 0.14378379
+v -0.18466871 0.21014974 0.14393941
+v -0.21164980 0.13410549 -0.44672088
+v -0.18466871 0.21014974 -0.49242424
+v -0.20132601 0.15851528 0.14579463
+v -0.15175646 0.18913614 -0.49614056
+v -0.15436568 0.13439216 -0.44696970
+v -0.21497174 0.19499823 -0.37121212
+v -0.19982023 0.16469519 -0.50757576
+v -0.20696721 0.13326792 0.14387646
+v -0.15179116 0.19732891 -0.48622651
+v -0.19982023 0.21014974 -0.34090909
+v -0.19982023 0.19499823 0.14393941
+v -0.21497174 0.19499823 -0.46212121
+v -0.18466871 0.19499823 -0.50757576
+v -0.21497174 0.17984671 -0.47727273
+v -0.19982023 0.21014974 -0.47727273
+v -0.19982023 0.17984671 -0.50757576
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 8 1
+f 9 2 8
+f 11 9 5
+f 11 2 9
+f 12 1 7
+f 12 9 1
+f 12 5 9
+f 13 8 6
+f 13 6 3
+f 13 3 8
+f 14 4 6
+f 15 7 4
+f 15 14 10
+f 15 4 14
+f 15 12 7
+f 15 10 12
+f 16 10 14
+f 17 8 2
+f 17 2 11
+f 17 6 8
+f 18 12 10
+f 18 5 12
+f 18 10 16
+f 18 11 5
+f 19 16 14
+f 19 14 6
+f 19 18 16
+f 19 6 17
+f 20 17 11
+f 20 11 18
+f 20 19 17
+f 20 18 19

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_11.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.20927069 -0.18378966 0.26515154
+v 0.22442221 -0.15348663 0.14393941
+v 0.22442221 0.14954368 0.18939396
+v 0.17896766 0.21014974 0.26515154
+v 0.13351311 -0.18378966 0.14393941
+v 0.20927069 0.17984671 0.26515154
+v 0.22442221 -0.13833512 0.20454547
+v 0.19482738 -0.18441047 0.14389447
+v 0.13351311 -0.18378966 0.26515154
+v 0.13315788 0.20625442 0.14394996
+v 0.20927069 0.19499823 0.14393941
+v 0.22442221 -0.15348663 0.18939396
+v 0.22442221 0.11924065 0.20454547
+v 0.13313218 0.19989450 0.26362338
+v 0.20927069 0.19499823 0.18939396
+v 0.19411918 0.21014974 0.14393941
+v 0.22442221 0.13439216 0.14393941
+v 0.19411918 0.21014974 0.18939396
+v 0.22442221 0.14954368 0.15909093
+f 6 4 1
+f 7 2 3
+f 7 6 1
+f 8 2 1
+f 9 1 4
+f 9 8 1
+f 9 5 8
+f 10 8 5
+f 12 7 1
+f 12 1 2
+f 12 2 7
+f 13 7 3
+f 13 3 6
+f 13 6 7
+f 14 9 4
+f 14 4 10
+f 14 10 5
+f 14 5 9
+f 15 6 3
+f 15 3 11
+f 15 4 6
+f 16 10 4
+f 16 15 11
+f 16 11 8
+f 16 8 10
+f 17 3 2
+f 17 2 8
+f 17 8 11
+f 18 16 4
+f 18 4 15
+f 18 15 16
+f 19 17 11
+f 19 11 3
+f 19 3 17

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_12.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.13351311 -0.01712299 0.26515154
+v 0.13351311 -0.01712299 0.14393941
+v 0.13315788 0.20625442 0.14394996
+v -0.16951720 0.21014974 0.26515154
+v -0.21302352 -0.01712070 0.14364246
+v 0.13313218 0.19989450 0.26362338
+v -0.20607002 -0.01711403 0.26356567
+v -0.21146410 0.08868975 0.14342510
+v 0.07290705 0.22530126 0.18939396
+v -0.21497174 0.16469519 0.26515154
+v -0.18466871 0.21014974 0.14393941
+v 0.08805857 0.22530126 0.17424244
+v -0.21497174 0.17984671 0.14393941
+v 0.05775554 0.22530126 0.14393941
+v -0.19982023 0.19499823 0.26515154
+v 0.08805857 0.22530126 0.15909093
+v -0.09375962 0.22530126 0.18939396
+v -0.18466871 0.21014974 0.20454547
+v -0.21497174 0.17984671 0.18939396
+v -0.07860810 0.22530126 0.14393941
+v -0.09375962 0.22530126 0.15909093
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 9 4 6
+f 10 7 1
+f 10 1 4
+f 10 5 7
+f 12 9 6
+f 12 6 3
+f 13 8 5
+f 13 5 10
+f 13 11 8
+f 14 3 8
+f 14 9 12
+f 15 10 4
+f 15 11 13
+f 16 14 12
+f 16 12 3
+f 16 3 14
+f 17 4 9
+f 17 9 14
+f 18 15 4
+f 18 11 15
+f 18 17 11
+f 18 4 17
+f 19 15 13
+f 19 13 10
+f 19 10 15
+f 20 17 14
+f 20 14 8
+f 20 8 11
+f 21 20 11
+f 21 11 17
+f 21 17 20

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_13.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.21307770 0.08878859 -0.41683577
+v 0.22442221 0.08893762 -0.47727273
+v 0.17896766 0.21014974 -0.49242424
+v 0.01230099 0.22530126 -0.47727273
+v 0.01231385 0.08885743 -0.49626480
+v 0.13320866 0.21198325 -0.41690589
+v 0.22442221 0.14954368 -0.47727273
+v 0.20927069 0.08893762 -0.50757576
+v 0.01230099 0.21014974 -0.50757576
+v 0.14866463 0.22530126 -0.46212121
+v 0.01230099 0.08893762 -0.41666666
+v 0.21058833 0.14739821 -0.41688288
+v 0.20927069 0.14954368 -0.50757576
+v 0.14866463 0.21014974 -0.50757576
+v 0.01242985 0.21268155 -0.41661120
+v 0.17465339 0.20084082 -0.46044685
+v 0.19411918 0.17984671 -0.50757576
+v 0.14866463 0.22530126 -0.47727273
+v 0.17896766 0.19499823 -0.50757576
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 8 7 2
+f 9 8 5
+f 11 5 1
+f 11 9 5
+f 11 4 9
+f 12 1 7
+f 12 10 6
+f 12 7 3
+f 13 7 8
+f 13 8 9
+f 14 9 4
+f 14 13 9
+f 15 10 4
+f 15 6 10
+f 15 4 11
+f 15 12 6
+f 15 11 1
+f 15 1 12
+f 16 12 3
+f 16 3 10
+f 16 10 12
+f 17 3 7
+f 17 7 13
+f 17 13 14
+f 18 10 3
+f 18 3 14
+f 18 14 4
+f 18 4 10
+f 19 17 14
+f 19 14 3
+f 19 3 17

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_14.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.13921417 -0.18378966 -0.44696970
+v -0.13925268 -0.18383614 -0.49932900
+v -0.15436568 0.16469519 -0.44696970
+v -0.20697906 0.16277511 -0.44644218
+v -0.21497174 -0.13833512 -0.49242424
+v -0.13921417 -0.01712299 -0.44696970
+v -0.16951720 -0.18378966 -0.44696970
+v -0.19982023 0.16469519 -0.50757576
+v -0.15464917 0.16503284 -0.49894148
+v -0.16787142 -0.17964981 -0.49792686
+v -0.21120547 -0.13802321 -0.44670846
+v -0.21497174 0.16469519 -0.49242424
+v -0.13950260 -0.01702075 -0.49684942
+v -0.21497174 0.07378610 -0.50757576
+v -0.21497174 0.11924065 -0.50757576
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 2 1
+f 9 3 6
+f 9 2 8
+f 10 7 5
+f 10 2 7
+f 11 7 1
+f 11 1 4
+f 11 5 7
+f 12 4 3
+f 12 9 8
+f 12 3 9
+f 12 11 4
+f 12 5 11
+f 13 9 6
+f 13 6 2
+f 13 2 9
+f 14 8 2
+f 14 2 10
+f 14 10 5
+f 14 5 12
+f 15 14 12
+f 15 12 8
+f 15 8 14

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_15.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.09375962 -0.13833512 -0.41666666
+v -0.09383034 -0.13880183 -0.49680467
+v -0.09375962 0.22530126 -0.47727273
+v -0.15436568 0.22530126 -0.41666666
+v -0.13940686 -0.13872636 -0.49752497
+v -0.09371422 0.21193651 -0.41734341
+v -0.13921417 -0.13833512 -0.41666666
+v -0.09375962 0.21014974 -0.50757576
+v -0.15475522 -0.01706408 -0.49724788
+v -0.15436568 0.21014974 -0.50757576
+v -0.15436568 -0.01712299 -0.41666666
+v -0.15436568 0.22530126 -0.46212121
+v -0.12406265 0.22530126 -0.47727273
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 2 5
+f 8 1 2
+f 8 6 1
+f 8 3 6
+f 9 5 7
+f 10 3 8
+f 10 8 5
+f 10 5 9
+f 11 9 7
+f 11 7 4
+f 11 4 9
+f 12 4 3
+f 12 10 9
+f 12 9 4
+f 13 12 3
+f 13 3 10
+f 13 10 12

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_16.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.08805857 -0.22924421 0.14393941
+v 0.13322241 -0.21032411 0.00748888
+v 0.13351311 -0.01712299 0.14393941
+v 0.01230099 -0.01712299 0.14393941
+v 0.01230099 -0.22924421 0.00757577
+v 0.01230099 -0.01712299 0.00757577
+v 0.13306470 -0.20857454 0.14328728
+v 0.07290705 -0.22924421 0.00757577
+v 0.01231256 -0.21109273 0.14379983
+v 0.13351311 -0.01712299 0.00757577
+v 0.08805857 -0.22924421 0.11363638
+v 0.01230099 -0.22924421 0.12878790
+v 0.02745251 -0.22924421 0.14393941
+f 1 3 4
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 1 5
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 8 2
+f 11 2 1
+f 11 1 8
+f 12 5 1
+f 12 9 4
+f 12 4 5
+f 13 1 4
+f 13 4 9
+f 13 12 1
+f 13 9 12

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_17.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.19411918 -0.21409269 -0.41666666
+v 0.22442221 -0.15348663 -0.47727273
+v 0.21275199 -0.01705176 -0.41661057
+v 0.13351311 -0.01712299 -0.41666666
+v 0.13313998 -0.19289787 -0.49684336
+v 0.21223744 -0.13783505 -0.41669277
+v 0.17896766 -0.21409269 -0.49242424
+v 0.13346070 -0.21196791 -0.41674721
+v 0.20927069 -0.01712299 -0.50757576
+v 0.22442221 -0.15348663 -0.46212121
+v 0.19411918 -0.21409269 -0.47727273
+v 0.13229140 -0.20176197 -0.48591790
+v 0.22442221 -0.01712299 -0.47727273
+v 0.17896766 -0.19894118 -0.50757576
+v 0.13398348 -0.01703363 -0.49676917
+v 0.20927069 -0.15348663 -0.50757576
+v 0.20927069 -0.18378966 -0.49242424
+v 0.19411918 -0.18378966 -0.50757576
+f 1 3 4
+f 6 3 1
+f 8 1 4
+f 8 7 1
+f 10 6 1
+f 10 1 2
+f 10 3 6
+f 11 2 1
+f 11 1 7
+f 12 8 4
+f 12 5 7
+f 12 7 8
+f 13 9 3
+f 13 2 9
+f 13 10 2
+f 13 3 10
+f 14 7 5
+f 14 11 7
+f 15 4 3
+f 15 3 9
+f 15 12 4
+f 15 5 12
+f 15 14 5
+f 15 9 14
+f 16 14 9
+f 16 9 2
+f 17 16 2
+f 17 2 11
+f 17 11 14
+f 18 17 14
+f 18 14 16
+f 18 16 17

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_18.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.15436568 0.08893762 0.14393941
+v -0.15436568 0.08893762 -0.44696970
+v -0.15436568 0.13439216 0.14393941
+v -0.20696721 0.13326792 0.14387646
+v -0.23012326 0.08893762 0.14393941
+v -0.21164980 0.13410549 -0.44672088
+v -0.15436568 0.13439216 -0.44696970
+v -0.23012326 0.13439216 -0.28030302
+v -0.23012326 0.08893762 -0.44696970
+v -0.23012326 0.13439216 -0.40151515
+v -0.23012326 0.11924065 0.06818183
+v -0.23012326 0.10408913 -0.44696970
+v -0.23012326 0.10408913 0.14393941
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 7 3 2
+f 8 4 3
+f 8 3 7
+f 9 2 5
+f 9 5 8
+f 9 7 2
+f 10 8 7
+f 10 7 6
+f 10 9 8
+f 11 8 5
+f 11 4 8
+f 12 6 7
+f 12 7 9
+f 12 10 6
+f 12 9 10
+f 13 11 5
+f 13 4 11
+f 13 5 3
+f 13 3 4

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_19.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01230099 -0.09288057 0.50757579
+v 0.01230099 -0.09288057 0.41666669
+v 0.01230099 0.08893762 0.50757579
+v -0.03315356 0.08893762 0.50757579
+v -0.09375962 -0.03227451 0.50757579
+v 0.01230099 0.08893762 0.40151518
+v -0.06345659 -0.07772906 0.50757579
+v -0.07860810 0.05863459 0.40151518
+v -0.03315356 -0.09288057 0.50757579
+v -0.09375962 0.02833155 0.50757579
+v -0.04830507 0.08893762 0.44696972
+v 0.01194239 -0.07475074 0.40269461
+v -0.07860810 -0.06257754 0.40151518
+v -0.09375962 -0.01712299 0.41666669
+v -0.01800204 0.08893762 0.40151518
+v -0.07860810 0.05863459 0.50757579
+v -0.07860810 -0.06257754 0.50757579
+v -0.06345659 -0.07772906 0.40151518
+v -0.09375962 0.02833155 0.43181821
+v -0.09375962 -0.03227451 0.43181821
+v -0.06345659 0.07378610 0.40151518
+v -0.04830507 0.08893762 0.49242427
+v -0.03315356 -0.09288057 0.41666669
+v -0.09375962 0.01318004 0.41666669
+v -0.03315356 0.08893762 0.41666669
+v -0.06345659 0.07378610 0.50757579
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 1 5
+f 9 2 1
+f 9 1 7
+f 10 5 4
+f 11 4 6
+f 12 6 2
+f 13 8 6
+f 14 5 10
+f 14 8 13
+f 15 11 6
+f 15 6 8
+f 16 10 4
+f 16 11 8
+f 16 8 10
+f 17 13 7
+f 17 7 5
+f 17 5 13
+f 18 9 7
+f 18 7 13
+f 18 12 2
+f 18 13 6
+f 18 6 12
+f 19 14 10
+f 19 10 8
+f 20 14 13
+f 20 13 5
+f 20 5 14
+f 21 15 8
+f 21 8 11
+f 22 4 11
+f 22 11 16
+f 23 18 2
+f 23 2 9
+f 23 9 18
+f 24 19 8
+f 24 8 14
+f 24 14 19
+f 25 21 11
+f 25 11 15
+f 25 15 21
+f 26 22 16
+f 26 16 4
+f 26 4 22

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_2.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.09375962 -0.22924421 0.14393941
+v -0.09375962 -0.22924421 -0.41666666
+v -0.09375962 -0.13833512 -0.41666666
+v -0.20805468 -0.13764765 0.14337837
+v -0.19982023 -0.21409269 -0.34090909
+v -0.09375962 -0.13833512 0.14393941
+v -0.15436568 -0.22924421 -0.35606060
+v -0.18466871 -0.21409269 0.14393941
+v -0.19982023 -0.18378966 -0.50757576
+v -0.19253881 -0.13749549 -0.49616318
+v -0.21497174 -0.18378966 0.14393941
+v -0.12406265 -0.22924421 0.12878790
+v -0.15436568 -0.22924421 -0.31060606
+v -0.13925268 -0.18383614 -0.49932900
+v -0.19982023 -0.21409269 -0.46212121
+v -0.21497174 -0.13833512 -0.49242424
+v -0.10891114 -0.22924421 0.14393941
+v -0.17022907 -0.13854570 -0.49883471
+v -0.21497174 -0.19894118 -0.34090909
+v -0.12406265 -0.22924421 -0.41666666
+v -0.18466871 -0.21409269 -0.49242424
+v -0.21497174 -0.19894118 -0.46212121
+v -0.18466871 -0.19894118 -0.50757576
+v -0.13806014 -0.19280166 -0.49692364
+v -0.13921417 -0.22924421 -0.40151515
+v -0.21497174 -0.16863815 -0.49242424
+v -0.19982023 -0.19894118 -0.49242424
+v -0.13790253 -0.20146778 -0.48628673
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 1 6
+f 10 6 3
+f 10 4 6
+f 11 5 8
+f 11 8 6
+f 11 6 4
+f 12 7 1
+f 13 8 5
+f 13 5 7
+f 13 12 8
+f 13 7 12
+f 14 3 2
+f 15 7 5
+f 16 10 9
+f 16 4 10
+f 16 11 4
+f 17 12 1
+f 17 1 8
+f 17 8 12
+f 18 10 3
+f 18 3 14
+f 18 9 10
+f 19 15 5
+f 19 5 11
+f 19 11 16
+f 20 2 7
+f 21 2 20
+f 22 19 16
+f 22 15 19
+f 22 21 15
+f 23 18 14
+f 23 9 18
+f 23 21 9
+f 24 14 2
+f 24 23 14
+f 24 21 23
+f 25 21 20
+f 25 20 7
+f 25 7 15
+f 25 15 21
+f 26 22 16
+f 26 16 9
+f 26 9 22
+f 27 22 9
+f 27 9 21
+f 27 21 22
+f 28 24 2
+f 28 2 21
+f 28 21 24

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_20.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09375962 0.08893762 0.14393941
+v -0.09375962 0.08893762 -0.41666666
+v -0.09375962 0.22530126 0.14393941
+v -0.13921417 0.22530126 0.14393941
+v -0.15436568 0.08893762 0.14393941
+v -0.15436568 0.22530126 -0.41666666
+v -0.09371422 0.21193651 -0.41734341
+v -0.15245239 0.20220569 0.14378379
+v -0.15436568 0.08893762 -0.41666666
+v -0.15436568 0.22530126 -0.28030302
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 1 2
+f 7 3 1
+f 8 5 4
+f 9 2 5
+f 9 5 6
+f 9 7 2
+f 9 6 7
+f 10 6 5
+f 10 5 8
+f 10 8 4
+f 10 4 6

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_21.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.14866463 -0.22924421 -0.35606060
+v 0.19239213 -0.19658981 -0.41703873
+v 0.19411918 -0.13833512 -0.35606060
+v -0.09375962 -0.13833512 -0.35606060
+v -0.09375962 -0.22924421 -0.41666666
+v 0.19411918 -0.13833512 -0.41666666
+v -0.09357806 -0.21619903 -0.35526313
+v 0.19174069 -0.19582756 -0.35608888
+v 0.07290705 -0.22924421 -0.41666666
+v -0.09375962 -0.13833512 -0.41666666
+v 0.17609309 -0.20504764 -0.41711624
+v 0.14866463 -0.22924421 -0.37121212
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 1 5
+f 10 5 4
+f 10 4 6
+f 11 9 5
+f 11 5 10
+f 11 10 6
+f 11 6 2
+f 12 11 2
+f 12 2 1
+f 12 1 9
+f 12 9 11

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_22.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.13351311 -0.22924421 -0.02272726
+v 0.13351311 -0.22924421 -0.09848484
+v 0.13351311 -0.01712299 -0.09848484
+v -0.09375962 -0.01712299 0.00757577
+v -0.09375962 -0.22924421 -0.08333332
+v 0.13351311 -0.01712299 0.00757577
+v -0.09375962 -0.22924421 0.00757577
+v -0.09375451 -0.21306344 -0.09856376
+v 0.13322241 -0.21032411 0.00748888
+v -0.07860810 -0.22924421 -0.09848484
+v -0.09375962 -0.01712299 -0.09848484
+v 0.08805857 -0.22924421 0.00757577
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 8 3 2
+f 9 1 6
+f 10 8 2
+f 10 2 5
+f 10 5 8
+f 11 4 3
+f 11 3 8
+f 11 8 5
+f 11 5 4
+f 12 7 1
+f 12 1 9
+f 12 9 6
+f 12 6 7

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_23.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.10321008 -0.22924421 -0.23484848
+v 0.13255386 -0.21483285 -0.35587676
+v 0.13351311 -0.01712299 -0.23484848
+v -0.09375962 -0.01712299 -0.23484848
+v -0.09357806 -0.21619903 -0.35526313
+v 0.13351311 -0.01712299 -0.35606060
+v 0.13339928 -0.21223363 -0.23488239
+v 0.13351311 -0.22924421 -0.32575757
+v -0.09356723 -0.21429866 -0.23581693
+v -0.09375962 -0.01712299 -0.35606060
+v 0.11836160 -0.22924421 -0.26515151
+f 1 3 4
+f 6 4 3
+f 7 3 1
+f 8 5 2
+f 8 1 5
+f 8 2 6
+f 8 6 3
+f 8 3 7
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 8 7
+f 11 7 1
+f 11 1 8

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_24.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13346070 -0.21196791 -0.41674721
+v 0.13351311 -0.21409269 -0.50757576
+v 0.13401588 -0.13877914 -0.49716318
+v -0.13921417 -0.13833512 -0.41666666
+v -0.13910738 -0.21263794 -0.41677903
+v -0.13940686 -0.13872636 -0.49752497
+v 0.13351311 -0.13833512 -0.41666666
+v -0.13921417 -0.21409269 -0.50757576
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 4 1
+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/canola_oil/canola_oil_11/collision/model_normalized_collision_25.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.21242828 -0.01726407 0.14056003
+v 0.22442221 -0.01712299 -0.47727273
+v 0.21825712 0.08908290 -0.09828505
+v 0.01230099 0.08893762 0.14393941
+v 0.01237228 -0.01687394 -0.49634910
+v 0.21202622 0.08899590 0.14153093
+v 0.01230099 -0.01712299 0.14393941
+v 0.20927069 0.08893762 -0.50757576
+v 0.22442221 0.08893762 -0.47727273
+v 0.20927069 -0.01712299 -0.50757576
+v 0.01231385 0.08885743 -0.49626480
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 6 4
+f 7 1 6
+f 9 8 3
+f 9 3 2
+f 9 2 8
+f 10 8 2
+f 10 5 8
+f 10 7 5
+f 10 2 1
+f 10 1 7
+f 11 8 5
+f 11 4 3
+f 11 3 8
+f 11 7 4
+f 11 5 7

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_26.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13351311 0.08893762 0.14393941
+v 0.13351311 0.08893762 -0.41666666
+v 0.13351311 0.22530126 0.14393941
+v 0.01238803 0.21230763 0.13704370
+v 0.01230099 0.08893762 -0.41666666
+v 0.01230099 0.08893762 0.14393941
+v 0.01242985 0.21268155 -0.41661120
+v 0.13320866 0.21198325 -0.41690589
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 5
+f 8 5 7

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_27.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01230099 -0.22924421 0.14393941
+v 0.01241059 -0.21299481 0.00757236
+v 0.01238803 0.21230763 0.13704370
+v -0.09375962 0.22530126 0.14393941
+v -0.09375962 -0.22924421 0.00757577
+v -0.09245608 0.21363781 0.00739070
+v -0.00285053 -0.22924421 0.00757577
+v -0.09375962 -0.22924421 0.14393941
+v 0.01249538 0.21635296 0.00756018
+v 0.01230099 -0.22924421 0.03787880
+f 1 3 4
+f 6 5 4
+f 7 1 5
+f 7 6 2
+f 7 5 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 2 6
+f 9 1 2
+f 9 3 1
+f 9 6 4
+f 9 4 3
+f 10 7 2
+f 10 2 1
+f 10 1 7

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_28.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13351311 -0.13833512 -0.35606060
+v 0.13401588 -0.13877914 -0.49716318
+v 0.13398348 -0.01703363 -0.49676917
+v -0.09375962 -0.01712299 -0.35606060
+v -0.09383034 -0.13880183 -0.49680467
+v 0.13351311 -0.01712299 -0.35606060
+v -0.09375962 -0.13833512 -0.35606060
+v -0.09367327 -0.01704586 -0.49618081
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13351311 -0.13833512 -0.09848484
+v 0.13351311 -0.13833512 -0.23484848
+v 0.13351311 -0.01712299 -0.09848484
+v -0.09375962 -0.01712299 -0.09848484
+v -0.09375962 -0.13833512 -0.23484848
+v -0.09375962 -0.01712299 -0.23484848
+v -0.09375962 -0.13833512 -0.09848484
+v 0.13351311 -0.01712299 -0.23484848
+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/canola_oil/canola_oil_11/collision/model_normalized_collision_3.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.21202622 0.08899590 0.14153093
+v 0.22442221 0.14954368 -0.46212121
+v 0.20927069 0.19499823 0.14393941
+v 0.13351311 0.22530126 0.14393941
+v 0.13351311 0.08893762 -0.41666666
+v 0.16381614 0.22530126 -0.46212121
+v 0.13351311 0.08893762 0.14393941
+v 0.22442221 0.14954368 0.14393941
+v 0.21307770 0.08878859 -0.41683577
+v 0.20927069 0.19499823 -0.47727273
+v 0.16381614 0.22530126 0.12878790
+v 0.13299082 0.21064055 -0.46011155
+v 0.22442221 0.16469519 -0.18939393
+v 0.19358645 0.14938105 -0.49199602
+v 0.19411918 0.21014974 0.14393941
+v 0.22442221 0.16469519 -0.46212121
+v 0.19791078 0.14716403 -0.48609100
+v 0.20927069 0.17984671 -0.49242424
+v 0.13351311 0.17984671 -0.46212121
+v 0.19411918 0.21014974 -0.47727273
+v 0.14866463 0.22530126 0.14393941
+v 0.17848393 0.17940175 -0.49183500
+v 0.19411918 0.19499823 -0.49242424
+f 7 3 4
+f 8 7 1
+f 8 3 7
+f 9 7 5
+f 9 1 7
+f 9 8 1
+f 9 2 8
+f 11 6 4
+f 12 4 6
+f 12 7 4
+f 12 5 7
+f 13 8 2
+f 13 3 8
+f 13 10 3
+f 14 9 5
+f 15 3 10
+f 15 6 11
+f 15 4 3
+f 16 13 2
+f 16 10 13
+f 17 14 2
+f 17 2 9
+f 17 9 14
+f 18 2 14
+f 18 16 2
+f 18 10 16
+f 19 14 5
+f 19 5 12
+f 20 15 10
+f 20 6 15
+f 20 10 18
+f 21 15 11
+f 21 11 4
+f 21 4 15
+f 22 19 12
+f 22 14 19
+f 23 18 14
+f 23 14 22
+f 23 20 18
+f 23 6 20
+f 23 22 12
+f 23 12 6

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_30.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01230099 -0.01712299 0.00757577
+v 0.01237228 -0.01687394 -0.49634910
+v 0.01230099 0.22530126 -0.47727273
+v -0.09245608 0.21363781 0.00739070
+v -0.09367327 -0.01704586 -0.49618081
+v 0.01249538 0.21635296 0.00756018
+v -0.09375962 -0.01712299 0.00757577
+v -0.09375962 0.21014974 -0.50757576
+v -0.09375962 0.22530126 -0.47727273
+v 0.01230099 0.21014974 -0.50757576
+f 5 2 1
+f 6 1 2
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 2 5
+f 8 5 7
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 9 8 7
+f 9 7 4
+f 10 8 3
+f 10 2 8
+f 10 6 2
+f 10 3 6

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13285110 -0.20354192 0.26339811
+v 0.13306470 -0.20857454 0.14328728
+v 0.13351311 -0.01712299 0.14393941
+v -0.09375962 -0.01712299 0.26515154
+v -0.09368186 -0.21085814 0.14340507
+v 0.13351311 -0.01712299 0.26515154
+v -0.09367133 -0.20471155 0.26307676
+v -0.09375962 -0.01712299 0.14393941
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_4.obj

@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.16381614 -0.21409269 0.28030305
+v 0.20927069 -0.18378966 0.26515154
+v 0.08805857 0.05863459 0.40151518
+v -0.16951720 0.21014974 0.28030305
+v -0.19982023 -0.19894118 0.26515154
+v 0.20927069 0.17984671 0.26515154
+v 0.08805857 -0.06257754 0.40151518
+v 0.16045199 -0.20001708 0.26241264
+v 0.20927069 -0.16863815 0.29545457
+v 0.13351311 0.19499823 0.31060608
+v -0.19982023 0.19499823 0.26515154
+v -0.06345659 -0.10803209 0.38636366
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_5.obj

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+# https://github.com/mikedh/trimesh
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+v -0.18466871 -0.16863815 0.31060608
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_6.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_7.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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+v -0.09375962 -0.13833512 -0.41666666
+v -0.09375962 0.08893762 0.14393941
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_8.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/collision/model_normalized_collision_9.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/model.xml

@@ -0,0 +1,86 @@
+<mujoco model="canola_oil_1">
+  <asset>
+    <texture file="/home/abhiram03/Desktop/mimicgen/robosuite-kitchen/robosuite/models/assets/textures/ceramic.png" name="tex-canola_oil_1" type="2d"/>
+    <material name="canola_oil_1" reflectance="0.5" texrepeat="1 1" texture="tex-canola_oil_1" texuniform="false"/>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12000000000000002 0.12000000000000002 0.12000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="05a79394e4ce_canola_oil__3d_asse_texture_kd" file="visual/05a79394e4ce_canola_oil__3d_asse_texture_kd.png"/>
+    <material name="Material_0" texture="05a79394e4ce_canola_oil__3d_asse_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="-0.00034206299999999917 -0.00023657700000000008 1.799999989338108e-09" size="0.026930665200000006 0.027036151200000004 0.06090909300000002"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_11/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/canola_oil/canola_oil_12/collision/model_normalized_collision_0.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_12/collision/model_normalized_collision_1.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_12/collision/model_normalized_collision_10.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.18057113 0.09212614 -0.41666666
+v 0.17274672 0.09172764 -0.49686764
+v 0.18057113 0.19818674 -0.46212121
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_12/collision/model_normalized_collision_11.obj

@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_12/collision/model_normalized_collision_12.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.11996507 0.09212614 0.38636362
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+v 0.10481355 0.12242917 0.38636362
+v -0.09215614 0.15273220 0.37121210
+v -0.13761068 0.12242917 0.37121210
+v -0.12245917 0.09212614 0.38636362
+v -0.13761068 0.15273220 0.35606059
+v -0.10730765 0.12242917 0.38636362
+f 6 4 3
+f 8 1 2
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+f 10 3 2
+f 10 2 9
+f 11 10 5
+f 12 8 7
+f 12 1 8
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+f 13 7 8
+f 14 9 2
+f 14 2 1
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+f 15 5 10
+f 16 4 6
+f 16 6 11
+f 17 11 6
+f 17 6 10
+f 17 10 11
+f 19 14 1
+f 19 7 18
+f 20 4 16
+f 20 16 11
+f 20 11 5
+f 21 18 7
+f 21 7 13
+f 22 9 14
+f 22 19 18
+f 22 14 19
+f 23 19 1
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+f 24 19 12
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+f 27 19 23
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+f 30 29 5
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+f 31 28 25
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+f 31 29 26
+f 32 31 26
+f 32 18 31
+f 32 26 22
+f 32 22 18

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_12/collision/model_normalized_collision_16.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.19832487 -0.01365913 0.00770265
+v 0.19816273 -0.01412787 -0.23618548
+v 0.19572264 0.18303523 -0.23484849
+v 0.01390077 0.19782143 0.00757347
+v 0.01390447 -0.01393446 0.00757575
+v 0.19572264 0.18303523 0.00757575
+v 0.21087416 0.13758068 -0.23484849
+v 0.01390447 -0.01393446 -0.23484849
+v 0.21087416 0.13758068 0.00757575
+v 0.01384819 0.19679601 -0.23485661
+v 0.15728668 0.18584895 -0.23503869
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 2 5
+f 9 7 6
+f 9 6 1
+f 9 1 7
+f 10 2 8
+f 10 4 3
+f 10 8 5
+f 10 5 4
+f 11 10 3
+f 11 3 2
+f 11 2 10

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_12/collision/model_normalized_collision_19.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01401504 -0.20411071 -0.23474409
+v 0.01390447 -0.21090415 -0.47727272
+v 0.01384960 0.09210742 -0.49891725
+v -0.09215614 0.09212614 -0.23484849
+v -0.09215614 -0.21090415 -0.47727272
+v 0.01390447 0.09212614 -0.23484849
+v -0.09179744 -0.20216726 -0.23526880
+v 0.01392185 -0.17494894 -0.49743028
+v -0.09204344 0.09210147 -0.49866363
+v -0.09190298 -0.17388725 -0.49733350
+f 5 2 1
+f 6 1 3
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+f 6 4 1
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+f 7 1 4
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+f 8 2 5
+f 8 1 2
+f 8 3 1
+f 9 5 4
+f 9 4 3
+f 10 8 5
+f 10 5 9
+f 10 9 3
+f 10 3 8

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_12/collision/model_normalized_collision_2.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.09215614 -0.11999507 0.26515150
+v -0.09215614 -0.11999507 -0.23484849
+v -0.09215614 0.21333826 -0.00757577
+v -0.12245917 0.21333826 0.21969696
+v -0.20452840 -0.11951631 0.26421780
+v -0.09153263 0.19967578 0.22273550
+v -0.21336826 0.12242917 -0.23484849
+v -0.13761068 0.13758068 0.26515150
+v -0.09214338 0.19625719 -0.23502279
+v -0.20073524 -0.11783027 -0.23490553
+v -0.09215614 0.09212614 0.26515150
+v -0.19821674 0.18303523 0.21969696
+v -0.21336826 0.13758068 0.14393938
+v -0.20222387 0.13620579 0.26417070
+v -0.16791371 0.19818674 -0.23484849
+v -0.19821674 0.18303523 0.12878787
+v -0.18306523 0.19818674 0.21969696
+v -0.12245917 0.21333826 -0.00757577
+v -0.19821674 0.16788371 -0.23484849
+v -0.18306523 0.19818674 0.20454544
+v -0.13761068 0.21333826 0.14393938
+v -0.13761068 0.21333826 0.17424241
+f 5 2 1
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+f 13 7 5
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+f 15 3 9
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+f 17 14 4
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+f 17 16 12
+f 18 4 3
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+f 20 15 16
+f 20 16 17
+f 21 4 18
+f 21 20 17
+f 21 18 15
+f 21 15 20
+f 22 21 17
+f 22 17 4
+f 22 4 21

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_12/collision/model_normalized_collision_20.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.11947003 -0.20344441 0.26413770
+v 0.11962583 -0.19985447 0.00742132
+v 0.11996507 -0.01393446 0.26515150
+v -0.09215614 -0.01393446 0.26515150
+v -0.09169463 -0.20251199 0.00793572
+v -0.09215614 -0.01393446 0.00757575
+v -0.09195978 -0.20419165 0.26401821
+v 0.11996507 -0.01393446 0.00757575
+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/canola_oil/canola_oil_12/collision/model_normalized_collision_21.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01390447 -0.01393446 0.26515150
+v 0.01390447 -0.01393446 0.00757575
+v 0.01390447 0.21333826 0.00757575
+v -0.09203761 0.20451569 0.26356929
+v -0.09215614 -0.01393446 0.00757575
+v 0.01394743 0.20355357 0.26369965
+v -0.09215614 -0.01393446 0.26515150
+v -0.09215614 0.21333826 0.00757575
+f 5 2 1
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+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_12/collision/model_normalized_collision_22.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09215614 -0.11999507 -0.23484849
+v -0.09215614 -0.11999507 -0.41666666
+v -0.09215614 0.09212614 -0.23484849
+v -0.20008956 0.09233840 -0.23479882
+v -0.21336826 -0.11999507 -0.41666666
+v -0.09215614 0.09212614 -0.41666666
+v -0.20073524 -0.11783027 -0.23490553
+v -0.19825690 0.09173885 -0.41647453
+f 1 2 3
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+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6

Assets/robocasa/data/objects/aigen_objs/canola_oil/canola_oil_12/collision/model_normalized_collision_23.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20361757 -0.11956507 0.26354038
+v 0.19761454 -0.11910319 -0.35562294
+v 0.19992429 -0.01391161 -0.35514319
+v 0.11996507 -0.01393446 0.26515150
+v 0.11996507 -0.11999507 0.26515150
+v 0.11996507 -0.01393446 -0.35606060
+v 0.20434927 -0.01388072 0.26374195
+v 0.11996507 -0.11999507 -0.35606060
+f 1 2 3
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+f 8 2 1
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+f 8 6 2
+f 8 5 6