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@@ -388,3 +388,17 @@ Assets/robocasa/data/objects/objaverse/bagged_food/bagged_food_8/visual/model_no
 Assets/robocasa/data/objects/objaverse/cupcake/cupcake_17/visual/model_normalized_1.obj filter=lfs diff=lfs merge=lfs -text
 Assets/robocasa/data/objects/objaverse/cupcake/cupcake_3/visual/model_normalized_1.obj filter=lfs diff=lfs merge=lfs -text
 Assets/robocasa/data/objects/objaverse/cupcake/cupcake_15/visual/model_normalized_1.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/fork/fork_9/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/fork/fork_2/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/soap_dispenser/soap_dispenser_2/visual/model_normalized_3.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/soap_dispenser/soap_dispenser_2/visual/model_normalized_4.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/soap_dispenser/soap_dispenser_2/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/jug/jug_4/visual/model_normalized_1.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/broccoli/broccoli_1/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/lime/lime_0/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/bread/bread_5/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/bread/bread_7/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/bread/bread_16/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/bread/bread_10/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/bread/bread_6/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+Assets/robocasa/data/objects/objaverse/bread/bread_14/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_1.obj

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+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_10.obj

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+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_11.obj

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+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_12.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_13.obj

@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_14.obj

@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_15.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_16.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_17.obj

@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
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+v 0.43503919 -0.17424244 0.12143271
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+v 0.45019071 -0.26515153 0.01537210
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+f 46 27 40

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_18.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01079675 -0.26515153 0.01537210
+v 0.01009633 -0.26447232 -0.29766245
+v 0.01079675 -0.00757576 0.01537210
+v -0.35283962 -0.00757576 0.01537210
+v -0.35283962 -0.25000001 -0.30280972
+v 0.01079675 -0.18939395 -0.31796124
+v -0.23127908 -0.26511784 -0.31108409
+v -0.35196282 -0.24362319 0.01347277
+v -0.35261584 -0.00755646 -0.31117028
+v -0.01950628 -0.26515153 -0.31796124
+v -0.23162750 -0.26515153 0.01537210
+v 0.00770413 -0.00734003 -0.30651423
+v -0.35283962 -0.21969698 -0.31796124
+v -0.32253659 -0.25000001 -0.31796124
+f 1 3 4
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+f 14 7 5
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+f 14 13 10
+f 14 10 7

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_19.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.22341226 0.36405109 0.02212129
+v 0.22291797 0.35606061 -0.06038547
+v 0.10170585 0.47727274 -0.04523396
+v -0.18617295 0.46212122 -0.04523396
+v -0.18617295 0.35606061 0.00022059
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+v -0.12556689 0.44696970 0.00022059
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+v -0.18617295 0.44696970 -0.01493093
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+v -0.18425892 0.45033455 -0.07805408
+v -0.01950628 0.47727274 -0.04523396
+v 0.01079675 0.35606061 -0.07553699
+v 0.10170585 0.44696970 0.00022059
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+v -0.12556689 0.46212122 -0.03008244
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+v 0.20776646 0.40151516 0.01537210
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+f 26 25 12
+f 26 20 25

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_2.obj

@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.22291797 0.23484849 0.01537210
+v 0.22291797 0.23484849 -0.24220366
+v 0.22291797 0.44696970 -0.16644608
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+v 0.10170585 0.50757577 -0.21190063
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_20.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01079675 -0.00757576 0.00022059
+v 0.00770413 -0.00734003 -0.30651423
+v 0.01079675 0.23484849 -0.33311275
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+v -0.29223356 0.23484849 -0.33311275
+v -0.30738508 0.21969697 -0.33311275
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+f 13 11 9
+f 13 9 12

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_21.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.37443313 -0.26515153 0.09112968
+v 0.37443313 -0.26515153 0.01537210
+v 0.37443313 -0.00757576 0.16688726
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+v 0.35928161 -0.23484850 0.12143271
+v 0.21345392 -0.26326930 0.17322547
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+f 19 12 6
+f 19 6 17

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_22.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.25322100 -0.46212123 0.01537210
+v 0.32897858 -0.38636365 -0.04523396
+v 0.32897858 -0.38636365 0.06082665
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+f 25 5 19

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_23.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_24.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_25.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_26.obj

@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_27.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_28.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
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+f 8 4 3
+f 8 3 5

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01079675 0.23484849 0.00022059
+v 0.01079675 0.23484849 -0.24220366
+v 0.01079675 0.35606061 0.00022059
+v -0.18617295 0.35606061 0.00022059
+v -0.18617295 0.23484849 -0.24220366
+v -0.18617295 0.35606061 -0.24220366
+v -0.18617295 0.23484849 0.00022059
+v 0.01079675 0.35606061 -0.24220366
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+f 8 3 2
+f 8 2 6

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_3.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_30.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26837252 -0.26515153 0.01537210
+v 0.26837252 -0.26515153 -0.13614305
+v 0.26837252 0.23484849 0.01537210
+v 0.01079675 0.23484849 0.01537210
+v 0.01079675 -0.26515153 0.01537210
+v 0.01079675 0.23484849 -0.13614305
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+v 0.01079675 -0.26515153 -0.13614305
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+f 8 2 5
+f 8 5 6

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_31.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.45019071 -0.26515153 0.01537210
+v 0.46534222 -0.26515153 -0.09068851
+v 0.45554271 -0.14718237 0.01414131
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_4.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.35637549 -0.00890247 0.16483478
+v 0.35928161 -0.00757576 0.01537210
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+v -0.20132447 0.20454545 0.00022059
+v 0.35928161 0.18939394 0.01537210
+v 0.01079675 -0.00757576 0.00022059
+v 0.01079675 0.20454545 0.19719029
+v 0.23806949 0.20454545 0.01537210
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+f 17 9 6
+f 17 6 14

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_5.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.21647598 -0.26515153 0.13658423
+v -0.20132447 -0.26515153 0.01537210
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+f 64 43 6

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_6.obj

@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.09526386 0.12878788 0.25779635
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+v -0.01950628 0.23484849 0.27294787
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_7.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.38958464 -0.14393940 -0.13614305
+v 0.38958464 -0.14393940 -0.22705215
+v 0.39719316 0.23788726 -0.13657293
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_8.obj

@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_0/collision/model_normalized_collision_9.obj

@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_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/dumpling/dumpling_1/collision/model_normalized_collision_0.obj

@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_1.obj

@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_10.obj

@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_11.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_12.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_13.obj

@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_14.obj

@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_15.obj

@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_16.obj

@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
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+v 0.49413322 0.12878788 -0.22765423
+v 0.41837564 0.18939394 -0.25795726
+v 0.47898170 -0.18939394 -0.19735120
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+f 40 26 30
+f 40 33 17
+f 40 8 33

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_17.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.39716741 -0.23730987 -0.11884419
+v 0.40289553 -0.23428025 -0.24367051
+v 0.40322413 -0.03787878 -0.10644211
+v 0.28201201 -0.03787878 -0.03068454
+v 0.28180985 -0.23452592 -0.24663577
+v 0.35790997 -0.04004595 -0.02940996
+v 0.33526148 -0.23872066 -0.08350281
+v 0.40306706 -0.03784084 -0.24744518
+v 0.28201201 -0.23484848 -0.10644211
+v 0.29716352 -0.12878787 -0.03068454
+v 0.28185232 -0.03790463 -0.24893020
+v 0.27331770 -0.12694501 -0.03911296
+v 0.32635898 -0.23561166 -0.07777305
+v 0.29311170 -0.19751193 -0.05630918
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+f 14 10 12
+f 14 12 9
+f 14 9 13

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_18.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02443625 -0.11363636 0.15113365
+v 0.02443625 -0.11363636 0.01477001
+v 0.02443625 0.17424243 0.13598213
+v -0.06647284 0.17424243 0.15113365
+v -0.09837026 -0.11335249 0.15225414
+v -0.08162436 0.17424243 0.01477001
+v 0.02443625 0.15909091 0.15113365
+v -0.09677587 -0.11363636 0.01477001
+v 0.02443625 0.17424243 0.01477001
+v -0.08162436 0.14393940 0.15113365
+v -0.09677587 -0.00757575 0.01477001
+v -0.09677587 -0.00757575 0.15113365
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+f 11 6 8
+f 12 10 6
+f 12 6 11
+f 12 11 5
+f 12 5 10

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_19.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.43352716 0.20454546 -0.06098757
+v 0.44867867 0.20454546 -0.13674514
+v 0.43352716 0.34090909 -0.07613908
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+v 0.35776958 0.20454546 -0.16704817
+v 0.43352716 0.34090909 -0.15189666
+v 0.35632151 0.30345948 0.00957711
+v 0.44867867 0.29545455 -0.07613908
+v 0.44069858 0.20109387 -0.08772895
+v 0.37292110 0.35606061 -0.19735120
+v 0.41837564 0.34090909 -0.04583605
+v 0.35038500 0.22399374 -0.00295635
+v 0.44867867 0.29545455 -0.12159363
+v 0.41837564 0.20454546 -0.16704817
+v 0.35274004 0.20693605 -0.03415958
+v 0.43352716 0.26515152 -0.01553302
+v 0.35284848 0.39000875 -0.17947550
+v 0.40322413 0.37121213 -0.18219969
+v 0.38807261 0.31060606 0.01477001
+v 0.44867867 0.25000000 -0.13674514
+v 0.38807261 0.20454546 -0.03068454
+v 0.43352716 0.29545455 -0.01553302
+v 0.35776958 0.35606061 -0.19735120
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+v 0.37292110 0.40151516 -0.18219969
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+v 0.41837564 0.26515152 -0.00038150
+v 0.40322413 0.29545455 0.01477001
+v 0.38807261 0.25000000 0.01477001
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+f 37 30 27

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_2.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.47898170 0.06818182 -0.03068454
+v 0.47318780 0.08182158 -0.10139659
+v 0.46383019 0.20454546 -0.07613908
+v 0.28201201 0.20454546 0.01477001
+v 0.28180807 0.06811814 -0.24714683
+v 0.33471404 0.21269357 0.00966210
+v 0.47898170 0.14393940 -0.10644211
+v 0.40313333 0.06795744 -0.24595420
+v 0.28390676 0.07140046 0.01923149
+v 0.28180637 0.20418458 -0.24522688
+v 0.47898170 0.08333334 -0.03068454
+v 0.47749940 0.06771672 -0.06149698
+v 0.46768881 0.06947435 -0.11036160
+v 0.40322413 0.20454546 -0.25795726
+v 0.35776958 0.08333334 0.01477001
+v 0.47898170 0.14393940 -0.07613908
+v 0.35420138 0.05943547 0.00648297
+v 0.46383019 0.20454546 -0.10644211
+v 0.44867867 0.08333334 -0.01553302
+v 0.47898170 0.12878788 -0.06098757
+v 0.44867867 0.06818182 -0.01553302
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+f 21 17 1
+f 21 15 17
+f 21 19 15
+f 21 1 19

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_20.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.34261807 -0.35606060 -0.03068454
+v 0.40322413 -0.31060606 -0.09129060
+v 0.31231504 -0.23484848 0.01477001
+v 0.27843683 -0.14296786 -0.04872381
+v 0.27898693 -0.32750664 -0.11010246
+v 0.40322413 -0.25000000 -0.09129060
+v 0.34261807 -0.32575757 -0.01553302
+v 0.38807261 -0.34090909 -0.10644211
+v 0.28201201 -0.31060606 0.01477001
+v 0.29716352 -0.14393939 -0.04583605
+v 0.28201201 -0.20454545 -0.10644211
+v 0.38807261 -0.34090909 -0.07613908
+v 0.34261807 -0.28030303 -0.01553302
+v 0.31231504 -0.35606060 -0.09129060
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+v 0.27568538 -0.20782823 0.01342992
+v 0.31231504 -0.31060606 0.01477001
+v 0.29716352 -0.20454545 0.01477001
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+v 0.34261807 -0.35606060 -0.09129060
+v 0.28201201 -0.34090909 -0.01553302
+v 0.32746655 -0.32575757 -0.00038150
+v 0.28399037 -0.14498491 -0.05937637
+v 0.38476073 -0.23651279 -0.11302176
+v 0.29716352 -0.35606060 -0.07613908
+v 0.29716352 -0.35606060 -0.03068454
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+f 26 21 25

Assets/robocasa/data/objects/aigen_objs/dumpling/dumpling_1/collision/model_normalized_collision_21.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.07524950 0.16994679 0.11368897
+v 0.06989080 0.17424243 0.07537607
+v 0.02451122 0.34077669 0.01455157
+v -0.09677587 0.37121213 0.02992153
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+v -0.02101830 0.21969697 0.16628516
+v 0.07709973 0.21460856 0.09546429
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+v -0.05132133 0.31060606 0.10567910
+v -0.06647284 0.17424243 0.15113365
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