Add files using upload-large-folder tool

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_0.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.40661166 -0.00757575 0.18848124
+v 0.49752075 -0.00757575 -0.08424603
+v 0.45206620 0.23484849 0.03696609
+v 0.25509650 0.44696971 0.02181457
+v 0.27024802 -0.00757575 -0.14485209
+v 0.39146014 0.29545455 -0.14485209
+v 0.25509650 0.35606062 0.17332972
+v 0.49752075 0.08333334 0.05211760
+v 0.43027216 -0.00881916 -0.14794909
+v 0.48236923 0.17424243 -0.05394300
+v 0.42176317 0.29545455 -0.03879149
+v 0.23994499 0.37121213 -0.14485209
+v 0.40661166 0.17424243 0.15817821
+v 0.37630863 0.32575758 0.08242063
+v 0.27031980 -0.00754299 0.21612923
+v 0.46721772 -0.00757575 0.12787518
+v 0.45206620 0.08333334 -0.14485209
+v 0.49752075 0.11363637 -0.05394300
+v 0.48236923 0.17424243 0.00666306
+v 0.33085408 0.38636365 -0.06909452
+v 0.45206620 0.23484849 -0.08424603
+v 0.23185288 0.40590379 0.10716309
+v 0.40645296 -0.00759010 -0.15988091
+v 0.30055105 0.20454546 0.21878427
+v 0.45206620 0.17424243 0.09757215
+v 0.25509650 0.41666668 0.11272366
+v 0.40661166 0.31060607 0.03696609
+v 0.36115711 0.28030304 0.14302669
+v 0.34600559 -0.00757575 0.21878427
+v 0.48552653 -0.00710634 0.04904449
+v 0.42176317 0.08333334 0.17332972
+v 0.43691469 0.03787880 -0.16000361
+v 0.48236923 0.11363637 -0.09939755
+v 0.46721772 0.21969698 -0.00848846
+v 0.46721772 0.17424243 0.06726912
+v 0.49752075 0.11363637 0.02181457
+v 0.40661166 0.31060607 -0.05394300
+v 0.25509650 0.43181819 -0.08424603
+v 0.23294627 0.26008100 0.20756553
+v 0.23994499 0.23484849 -0.14485209
+v 0.40661166 0.28030304 0.08242063
+v 0.46721772 0.05303031 0.12787518
+v 0.33085408 0.38636365 0.05211760
+v 0.34600559 0.21969698 0.18848124
+v 0.30055105 0.35606062 0.14302669
+v 0.25509650 0.26515152 0.21878427
+v 0.37630863 0.08333334 0.20363275
+v 0.44317544 -0.00771703 -0.13678510
+v 0.42176317 0.23484849 -0.14485209
+v 0.40523794 0.03793904 -0.15951842
+v 0.31570256 0.37121213 -0.14485209
+v 0.49752075 0.05303031 -0.08424603
+v 0.48236923 0.14393940 -0.08424603
+v 0.46721772 0.21969698 -0.02363997
+v 0.43691469 0.26515152 0.03696609
+v 0.46721772 0.18939395 0.05211760
+v 0.46721772 0.09848486 0.11272366
+v 0.34600559 0.37121213 -0.06909452
+v 0.43691469 0.26515152 -0.06909452
+v 0.30055105 0.41666668 -0.03879149
+v 0.23366495 0.43529703 -0.02228744
+v 0.23437531 0.35025017 0.16371382
+v 0.23151660 0.42051612 -0.08005833
+v 0.37630863 0.28030304 0.12787518
+f 15 5 9
+f 16 9 2
+f 16 1 9
+f 18 8 2
+f 19 18 10
+f 23 9 5
+f 26 22 7
+f 26 4 22
+f 29 15 9
+f 29 9 1
+f 30 16 2
+f 30 2 8
+f 30 8 16
+f 31 1 16
+f 32 17 2
+f 32 9 23
+f 34 19 10
+f 34 3 19
+f 36 8 18
+f 36 18 19
+f 37 27 11
+f 39 5 15
+f 40 23 5
+f 40 12 23
+f 40 5 39
+f 41 25 3
+f 41 27 14
+f 42 16 8
+f 42 31 16
+f 43 4 26
+f 43 14 27
+f 44 13 28
+f 44 31 13
+f 45 26 7
+f 45 44 28
+f 45 7 44
+f 45 43 26
+f 45 14 43
+f 46 29 24
+f 46 15 29
+f 46 39 15
+f 46 44 7
+f 46 24 44
+f 47 29 1
+f 47 1 31
+f 47 24 29
+f 47 44 24
+f 47 31 44
+f 48 32 2
+f 48 2 9
+f 48 9 32
+f 49 32 6
+f 49 17 32
+f 49 33 17
+f 49 6 21
+f 50 32 23
+f 50 23 12
+f 50 12 32
+f 51 32 12
+f 51 6 32
+f 51 12 38
+f 52 33 18
+f 52 18 2
+f 52 2 17
+f 52 17 33
+f 53 21 10
+f 53 10 18
+f 53 18 33
+f 53 49 21
+f 53 33 49
+f 54 34 10
+f 54 10 21
+f 54 11 34
+f 55 3 34
+f 55 41 3
+f 55 27 41
+f 55 34 11
+f 55 11 27
+f 56 19 3
+f 56 3 25
+f 56 25 35
+f 56 36 19
+f 56 35 8
+f 56 8 36
+f 57 35 25
+f 57 8 35
+f 57 42 8
+f 57 25 13
+f 57 13 31
+f 57 31 42
+f 58 37 6
+f 58 20 37
+f 58 51 20
+f 58 6 51
+f 59 21 6
+f 59 6 37
+f 59 37 11
+f 59 54 21
+f 59 11 54
+f 60 38 4
+f 60 51 38
+f 60 20 51
+f 60 4 43
+f 60 43 27
+f 60 37 20
+f 60 27 37
+f 61 22 4
+f 61 4 38
+f 62 7 22
+f 62 22 39
+f 62 46 7
+f 62 39 46
+f 63 40 39
+f 63 39 22
+f 63 22 61
+f 63 12 40
+f 63 61 38
+f 63 38 12
+f 64 41 14
+f 64 28 13
+f 64 13 25
+f 64 25 41
+f 64 45 28
+f 64 14 45

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_1.obj

@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.39146014 -0.08333332 -0.25091270
+v 0.42176317 -0.02272726 -0.22060967
+v 0.16418741 -0.00757575 -0.14485209
+v 0.14903590 0.35606062 -0.14485209
+v 0.25509650 0.32575758 -0.29636725
+v 0.42176317 0.23484849 -0.14485209
+v 0.41225985 -0.00626839 -0.15579168
+v 0.37630863 0.17424243 -0.29636725
+v 0.16418741 0.12878789 -0.29636725
+v 0.42173029 0.03786515 -0.14477962
+v 0.33085408 0.35606062 -0.14485209
+v 0.42176317 -0.02272726 -0.20545816
+v 0.40661166 -0.02272726 -0.26606422
+v 0.27024802 -0.00757575 -0.31151876
+v 0.14903590 0.12878789 -0.28121573
+v 0.14903590 0.35606062 -0.29636725
+v 0.37630863 0.29545455 -0.23576119
+v 0.39146014 -0.08333332 -0.26606422
+v 0.42176317 0.14393940 -0.25091270
+v 0.33085408 0.18939395 -0.31151876
+v 0.14906590 0.11367654 -0.20543183
+v 0.17933893 -0.00757575 -0.22060967
+v 0.28539953 0.35606062 -0.26606422
+v 0.14903590 0.17424243 -0.29636725
+v 0.39146014 0.29545455 -0.19030664
+v 0.36849704 -0.08571952 -0.25615822
+v 0.36115711 0.03787880 -0.31151876
+v 0.42176317 0.05303031 -0.25091270
+v 0.39146014 0.21969698 -0.26606422
+v 0.33085408 0.26515152 -0.29636725
+v 0.19449044 0.35606062 -0.29636725
+v 0.27024802 0.20454546 -0.31151876
+v 0.14903590 0.11363637 -0.25091270
+v 0.14903590 0.23484849 -0.14485209
+v 0.16418741 -0.00757575 -0.16000361
+v 0.31570256 0.35606062 -0.23576119
+v 0.25509650 0.14393940 -0.31151876
+v 0.39146014 0.29545455 -0.14485209
+v 0.40661166 0.26515152 -0.20545816
+v 0.35463624 -0.08005846 -0.27287681
+v 0.37630863 -0.03787878 -0.29636725
+v 0.36115711 0.09848486 -0.31151876
+v 0.42176317 0.00757577 -0.23576119
+v 0.40661166 0.17424243 -0.26606422
+v 0.31570256 0.28030304 -0.29636725
+v 0.34600559 0.28030304 -0.28121573
+v 0.31570256 0.20454546 -0.31151876
+v 0.25509650 0.35606062 -0.28121573
+v 0.37630863 0.31060607 -0.20545816
+v 0.25509650 0.03787880 -0.31151876
+v 0.40661166 0.23484849 -0.23576119
+v 0.42176317 0.23484849 -0.19030664
+v 0.37630863 -0.08333332 -0.28121573
+v 0.34600559 -0.00757575 -0.31151876
+v 0.39146014 -0.03787878 -0.28121573
+v 0.34600559 0.15909092 -0.31151876
+v 0.37630863 0.21969698 -0.28121573
+v 0.37630863 0.28030304 -0.25091270
+v 0.30055105 0.32575758 -0.28121573
+v 0.33085408 0.35606062 -0.19030664
+v 0.42176317 0.18939395 -0.23576119
+v 0.39146014 0.25000001 -0.25091270
+v 0.34600559 0.34090910 -0.20545816
+f 7 3 1
+f 10 3 7
+f 11 4 10
+f 12 7 1
+f 12 1 2
+f 12 10 7
+f 12 2 6
+f 12 6 10
+f 15 9 14
+f 16 4 11
+f 16 15 4
+f 18 13 2
+f 18 2 1
+f 19 6 2
+f 22 15 14
+f 23 16 11
+f 24 9 15
+f 24 15 16
+f 24 14 9
+f 26 18 1
+f 26 1 3
+f 27 14 20
+f 28 19 2
+f 28 13 19
+f 30 8 20
+f 31 16 23
+f 32 20 14
+f 32 16 31
+f 33 3 21
+f 33 4 15
+f 34 21 3
+f 34 33 21
+f 34 4 33
+f 34 10 4
+f 34 3 10
+f 35 15 22
+f 35 33 15
+f 35 3 33
+f 35 26 3
+f 36 23 11
+f 37 24 16
+f 37 32 14
+f 37 16 32
+f 38 11 10
+f 38 10 6
+f 39 38 6
+f 39 25 38
+f 40 22 14
+f 40 35 22
+f 40 26 35
+f 41 27 13
+f 42 27 20
+f 42 13 27
+f 43 28 2
+f 43 2 13
+f 43 13 28
+f 44 42 8
+f 44 19 13
+f 44 13 42
+f 45 30 20
+f 46 36 17
+f 47 31 5
+f 47 32 31
+f 47 20 32
+f 47 45 20
+f 47 5 45
+f 48 31 23
+f 48 5 31
+f 49 17 36
+f 49 39 17
+f 49 25 39
+f 49 38 25
+f 49 11 38
+f 50 37 14
+f 50 14 24
+f 50 24 37
+f 51 17 39
+f 51 44 29
+f 52 39 6
+f 52 6 19
+f 52 51 39
+f 53 18 26
+f 53 26 40
+f 53 40 14
+f 54 14 27
+f 54 27 41
+f 54 53 14
+f 54 41 53
+f 55 41 13
+f 55 13 18
+f 55 53 41
+f 55 18 53
+f 56 42 20
+f 56 20 8
+f 56 8 42
+f 57 8 30
+f 57 30 46
+f 57 44 8
+f 57 29 44
+f 58 46 17
+f 58 17 51
+f 59 45 5
+f 59 5 48
+f 59 46 30
+f 59 30 45
+f 59 48 23
+f 59 23 36
+f 59 36 46
+f 60 36 11
+f 60 11 49
+f 61 19 44
+f 61 44 51
+f 61 52 19
+f 61 51 52
+f 62 58 51
+f 62 51 29
+f 62 29 57
+f 62 57 46
+f 62 46 58
+f 63 60 49
+f 63 49 36
+f 63 36 60

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_10.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.09338834 -0.00757575 0.26423881
+v 0.02782378 0.18939395 -0.25091270
+v -0.01763077 0.23484849 0.29454185
+v -0.19944895 0.23484849 0.30969336
+v -0.23464574 -0.00679109 -0.20034428
+v -0.16901468 0.23793276 -0.23632640
+v -0.15399441 -0.00757575 0.30969336
+v 0.02862550 0.11297035 0.17093888
+v -0.09338834 -0.00757575 -0.14485209
+v 0.02779818 0.23541631 -0.25060458
+v -0.22875787 0.23658398 -0.22931741
+v -0.22975198 0.09848486 -0.23576119
+v -0.01763077 0.11363637 0.27939033
+v -0.09338834 0.21969698 0.30969336
+v -0.22917805 -0.00656288 0.29731681
+v -0.16914592 -0.00757575 -0.20545816
+v 0.02792285 0.09127969 -0.09767864
+v 0.02782378 0.23484849 0.17332972
+v 0.02870513 0.09624894 -0.10799241
+v -0.16914592 0.21969698 -0.25091270
+v -0.03278228 0.14393940 0.29454185
+v -0.01763077 0.18939395 0.29454185
+v -0.01763077 0.09848486 0.26423881
+v -0.10853986 0.23484849 0.30969336
+v -0.22975198 0.20454546 0.30969336
+v -0.13884289 0.09848486 -0.23576119
+v -0.22975198 0.03787880 -0.22060967
+v 0.02838839 0.13938798 -0.19637905
+v -0.15399441 0.18939395 -0.25091270
+v -0.04793380 0.11363637 0.29454185
+v -0.09338834 0.11363637 0.30969336
+v -0.22505050 0.23155100 0.28398300
+v -0.19944895 0.03787880 -0.22060967
+v 0.02783760 0.16818767 -0.22866938
+f 9 1 7
+f 11 4 6
+f 12 5 11
+f 13 7 1
+f 14 4 7
+f 15 5 7
+f 16 2 9
+f 16 9 7
+f 16 7 5
+f 17 8 1
+f 17 1 9
+f 18 10 6
+f 18 6 3
+f 18 8 10
+f 19 10 8
+f 19 8 17
+f 19 17 9
+f 20 12 11
+f 20 11 6
+f 20 6 10
+f 20 10 2
+f 22 13 8
+f 22 21 13
+f 22 3 14
+f 22 18 3
+f 22 8 18
+f 23 13 1
+f 23 1 8
+f 23 8 13
+f 24 14 3
+f 24 4 14
+f 24 6 4
+f 24 3 6
+f 25 15 7
+f 25 7 4
+f 25 11 5
+f 25 5 15
+f 26 12 2
+f 26 2 16
+f 27 16 5
+f 27 5 12
+f 27 12 26
+f 28 2 10
+f 28 10 19
+f 28 19 9
+f 29 20 2
+f 29 2 12
+f 29 12 20
+f 30 21 7
+f 30 7 13
+f 30 13 21
+f 31 22 14
+f 31 14 7
+f 31 7 21
+f 31 21 22
+f 32 25 4
+f 32 4 11
+f 32 11 25
+f 33 27 26
+f 33 26 16
+f 33 16 27
+f 34 28 9
+f 34 9 2
+f 34 2 28

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_11.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.10358135 -0.50757575 0.03696609
+v 0.42176317 -0.28030302 -0.06909452
+v 0.34600559 -0.28030302 0.17332972
+v 0.02782378 -0.26515151 0.23393578
+v 0.14903590 -0.26515151 -0.28121573
+v 0.41073032 -0.25829778 0.06335262
+v 0.07327832 -0.41666666 0.20363275
+v 0.19449044 -0.37121211 -0.23576119
+v 0.02658659 -0.45068588 -0.13817160
+v 0.28539953 -0.26515151 0.20363275
+v 0.29274118 -0.25709477 -0.22827883
+v 0.30055105 -0.41666666 0.06726912
+v 0.02782378 -0.26515151 -0.14485209
+v 0.02782378 -0.47727272 0.14302669
+v 0.16418741 -0.47727272 -0.09939755
+v 0.14903590 -0.34090908 -0.26606422
+v 0.23994499 -0.26515151 0.21878427
+v 0.39146014 -0.26515151 0.12787518
+v 0.22479347 -0.34090908 0.20363275
+v 0.41098373 -0.25898032 -0.06486971
+v 0.30055105 -0.28030302 -0.23576119
+v 0.42176317 -0.29545454 0.03696609
+v 0.02634627 -0.38032617 0.20649968
+v 0.14903590 -0.28030302 -0.28121573
+v 0.27827826 -0.25753979 -0.24162754
+v 0.02782378 -0.50757575 -0.05394300
+v 0.13388438 -0.46212120 0.14302669
+v 0.08842984 -0.47727272 -0.12970058
+v 0.20964196 -0.47727272 -0.03879149
+v 0.04297529 -0.34090908 0.23393578
+v 0.34600559 -0.26515151 0.17332972
+v 0.34600559 -0.34090908 0.12787518
+v 0.28539953 -0.28030302 0.20363275
+v 0.36609128 -0.25697630 -0.13748734
+v 0.34600559 -0.37121211 -0.08424603
+v 0.22479347 -0.31060605 -0.26606422
+v 0.42176317 -0.28030302 0.06726912
+v 0.02782378 -0.50757575 0.06726912
+v 0.02782378 -0.41666666 0.20363275
+v 0.28539953 -0.28030302 -0.25091270
+v 0.10358135 -0.50757575 -0.03879149
+v 0.08842984 -0.46212120 0.15817821
+v 0.19449044 -0.38636363 0.18848124
+v 0.17933893 -0.47727272 0.08242063
+v 0.14903590 -0.46212120 -0.12970058
+v 0.02782378 -0.47727272 -0.12970058
+v 0.05812681 -0.29545454 0.23393578
+v 0.22479347 -0.29545454 0.21878427
+v 0.39146014 -0.28030302 0.12787518
+v 0.36115711 -0.35606060 0.08242063
+v 0.31570256 -0.34090908 0.15817821
+v 0.39734341 -0.25877482 -0.09276443
+v 0.37630863 -0.28030302 -0.14485209
+v 0.25509650 -0.32575757 -0.23576119
+v 0.33085408 -0.40151514 -0.03879149
+v 0.27024802 -0.43181817 -0.08424603
+v 0.16418741 -0.34090908 -0.26606422
+v 0.20964196 -0.26515151 -0.28121573
+v 0.07327832 -0.49242423 0.11272366
+v 0.07327832 -0.38636363 0.21878427
+v 0.02782378 -0.34090908 0.23393578
+v 0.16418741 -0.49242423 0.03696609
+v 0.16418741 -0.49242423 -0.05394300
+v 0.08842984 -0.49242423 -0.09939755
+f 11 4 6
+f 13 4 11
+f 17 10 6
+f 17 6 4
+f 20 6 2
+f 23 13 9
+f 23 4 13
+f 24 13 5
+f 24 9 13
+f 24 16 9
+f 25 13 11
+f 25 5 13
+f 28 16 8
+f 31 10 3
+f 31 3 18
+f 31 18 6
+f 31 6 10
+f 33 19 3
+f 33 3 10
+f 33 10 17
+f 34 11 6
+f 34 6 20
+f 37 22 2
+f 37 2 6
+f 37 6 18
+f 38 23 9
+f 38 14 23
+f 38 9 26
+f 38 26 1
+f 39 23 14
+f 39 14 7
+f 40 25 11
+f 40 11 21
+f 41 1 26
+f 42 27 7
+f 42 7 14
+f 43 19 7
+f 43 7 27
+f 44 12 27
+f 45 28 8
+f 45 8 15
+f 45 15 28
+f 46 9 16
+f 46 16 28
+f 46 26 9
+f 47 30 17
+f 47 17 4
+f 47 4 30
+f 48 17 30
+f 48 33 17
+f 48 19 33
+f 49 18 3
+f 49 37 18
+f 50 32 12
+f 50 22 37
+f 50 49 32
+f 50 37 49
+f 51 3 19
+f 51 19 43
+f 51 43 27
+f 51 27 12
+f 51 12 32
+f 51 49 3
+f 51 32 49
+f 52 34 20
+f 52 20 2
+f 53 21 11
+f 53 11 34
+f 53 35 21
+f 53 2 35
+f 53 52 2
+f 53 34 52
+f 54 21 35
+f 54 40 21
+f 54 8 36
+f 54 36 40
+f 55 12 29
+f 55 50 12
+f 55 22 50
+f 55 35 2
+f 55 2 22
+f 56 29 15
+f 56 15 8
+f 56 54 35
+f 56 8 54
+f 56 55 29
+f 56 35 55
+f 57 36 8
+f 57 8 16
+f 57 16 24
+f 58 24 5
+f 58 40 36
+f 58 5 25
+f 58 25 40
+f 58 57 24
+f 58 36 57
+f 59 14 38
+f 59 42 14
+f 59 27 42
+f 59 38 1
+f 59 44 27
+f 59 1 44
+f 60 39 7
+f 60 48 30
+f 60 7 19
+f 60 19 48
+f 61 30 4
+f 61 4 23
+f 61 23 39
+f 61 60 30
+f 61 39 60
+f 62 1 41
+f 62 44 1
+f 62 29 12
+f 62 12 44
+f 63 15 29
+f 63 62 41
+f 63 29 62
+f 64 28 15
+f 64 63 41
+f 64 15 63
+f 64 41 26
+f 64 46 28
+f 64 26 46

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_12.obj

@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.37630863 -0.26515151 0.15817821
+v 0.46721772 -0.08333332 0.12787518
+v 0.34600559 -0.00757575 0.21878427
+v 0.19449044 -0.00757575 0.20363275
+v 0.16418741 -0.14393938 0.11272366
+v 0.45963347 -0.00747619 0.10799357
+v 0.27024802 -0.21969696 0.21878427
+v 0.37630863 -0.11363635 0.20363275
+v 0.40661166 -0.00757575 0.18848124
+v 0.19449044 -0.00757575 0.11272366
+v 0.38437736 -0.26141130 0.10844080
+v 0.20964196 -0.00757575 0.21878427
+v 0.15905875 -0.14156710 0.18189509
+v 0.42176317 -0.11363635 0.17332972
+v 0.30055105 -0.26515151 0.20363275
+v 0.34600559 -0.11363635 0.21878427
+v 0.46721772 -0.00757575 0.12787518
+v 0.39685850 -0.24383087 0.10621737
+v 0.15506036 -0.08045338 0.11771342
+v 0.21271842 -0.14695754 0.20495519
+v 0.37630863 -0.18939393 0.18848124
+v 0.42176317 -0.20454545 0.14302669
+v 0.40661166 -0.08333332 0.18848124
+v 0.27024802 -0.26515151 0.11272366
+v 0.26601509 -0.26266740 0.19391704
+v 0.28539953 -0.21969696 0.21878427
+v 0.45517086 -0.08147187 0.10600483
+v 0.39146014 -0.14393938 0.18848124
+v 0.33085408 -0.26515151 0.18848124
+v 0.33085408 -0.21969696 0.20363275
+v 0.36115711 -0.15909090 0.20363275
+v 0.45206620 -0.11363635 0.14302669
+v 0.43691469 -0.18939393 0.12787518
+v 0.39146014 -0.20454545 0.17332972
+v 0.39146014 -0.26515151 0.12787518
+v 0.31570256 -0.17424242 0.21878427
+v 0.45206620 -0.14393938 0.12787518
+v 0.42576185 -0.18492410 0.10593779
+v 0.37630863 -0.23484848 0.17332972
+v 0.40661166 -0.24999999 0.12787518
+v 0.44105030 -0.14087748 0.10615614
+v 0.40661166 -0.23484848 0.14302669
+f 9 6 3
+f 10 4 6
+f 12 7 3
+f 12 6 4
+f 12 3 6
+f 13 12 4
+f 16 3 7
+f 16 9 3
+f 17 2 6
+f 17 6 9
+f 18 5 10
+f 19 10 5
+f 19 5 13
+f 19 13 4
+f 19 4 10
+f 20 13 7
+f 20 7 12
+f 20 12 13
+f 23 14 9
+f 23 8 14
+f 23 16 8
+f 23 9 16
+f 24 1 15
+f 24 18 11
+f 24 5 18
+f 24 13 5
+f 25 15 7
+f 25 7 13
+f 25 24 15
+f 25 13 24
+f 26 16 7
+f 26 7 15
+f 27 10 6
+f 27 6 2
+f 28 21 14
+f 28 14 8
+f 28 8 21
+f 29 15 1
+f 30 29 21
+f 30 15 29
+f 31 21 8
+f 31 8 16
+f 31 30 21
+f 32 14 22
+f 32 2 17
+f 32 17 9
+f 32 9 14
+f 33 32 22
+f 34 22 14
+f 34 14 21
+f 35 24 11
+f 35 1 24
+f 36 16 26
+f 36 26 15
+f 36 15 30
+f 36 31 16
+f 36 30 31
+f 37 2 32
+f 37 32 33
+f 38 33 18
+f 38 18 10
+f 38 10 27
+f 39 29 1
+f 39 22 34
+f 39 34 21
+f 39 21 29
+f 40 35 11
+f 40 11 18
+f 40 18 33
+f 40 33 22
+f 40 1 35
+f 41 27 2
+f 41 2 37
+f 41 38 27
+f 41 37 33
+f 41 33 38
+f 42 40 22
+f 42 1 40
+f 42 39 1
+f 42 22 39

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_13.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.02782378 -0.26515151 0.23393578
+v 0.02825280 -0.26640067 -0.23415970
+v 0.02782378 -0.15909090 -0.03879149
+v -0.09774759 -0.06896435 0.17330567
+v -0.09262573 -0.26531591 0.23720190
+v -0.10018376 -0.08411623 -0.11321199
+v 0.02782378 -0.17424242 0.17332972
+v -0.07823683 -0.18939393 0.24908730
+v 0.02782378 -0.17424242 -0.14485209
+v -0.06308531 -0.08333332 -0.00848846
+v -0.10012425 -0.19147453 0.23802549
+v -0.09275662 -0.26556203 -0.21785609
+v 0.03050146 -0.25751994 -0.22730458
+v -0.07823683 -0.14393938 0.23393578
+v -0.07823683 -0.08333332 -0.11454906
+v -0.07823683 -0.06818181 0.17332972
+v -0.09996688 -0.14603918 0.22856696
+v -0.09610074 -0.24963818 0.23873535
+v -0.09338834 -0.20454545 -0.20545816
+v 0.02782378 -0.21969696 0.21878427
+v 0.02782378 -0.15909090 0.11272366
+v 0.02782378 -0.21969696 -0.22060967
+v -0.07823683 -0.08333332 0.18848124
+v -0.09439164 -0.06834103 0.12756853
+v -0.09742323 -0.08399507 0.18692127
+v -0.09338834 -0.23484848 -0.22060967
+v 0.02782378 -0.24999999 0.23393578
+v 0.01267226 -0.21969696 -0.22060967
+v -0.04793380 -0.26515151 -0.23576119
+v -0.04793380 -0.24999999 -0.23576119
+f 5 2 1
+f 8 5 1
+f 12 2 5
+f 12 11 6
+f 13 1 2
+f 13 9 3
+f 15 10 3
+f 15 3 9
+f 16 3 10
+f 16 10 15
+f 17 4 6
+f 17 6 11
+f 17 11 8
+f 17 8 14
+f 18 5 8
+f 18 8 11
+f 18 12 5
+f 18 11 12
+f 19 6 15
+f 20 13 7
+f 20 7 16
+f 21 13 3
+f 21 7 13
+f 21 16 7
+f 21 3 16
+f 22 15 9
+f 22 9 13
+f 22 13 2
+f 23 16 4
+f 23 20 16
+f 23 14 20
+f 24 16 15
+f 24 15 6
+f 24 6 4
+f 24 4 16
+f 25 17 14
+f 25 4 17
+f 25 23 4
+f 25 14 23
+f 26 12 6
+f 26 6 19
+f 27 20 14
+f 27 14 8
+f 27 8 1
+f 27 1 13
+f 27 13 20
+f 28 19 15
+f 28 15 22
+f 29 2 12
+f 29 12 26
+f 30 26 19
+f 30 19 28
+f 30 29 26
+f 30 28 22
+f 30 22 2
+f 30 2 29

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_14.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.14906590 0.11367654 -0.20543183
+v 0.16418741 0.15909092 -0.23576119
+v 0.14903590 0.41666668 -0.14485209
+v 0.02782378 0.41666668 -0.14485209
+v 0.02782378 0.23484849 -0.28121573
+v 0.14903590 0.23484849 -0.14485209
+v 0.13388438 0.14393940 -0.28121573
+v 0.02834879 0.14623965 -0.20189439
+v 0.14903590 0.40151516 -0.28121573
+v 0.16418741 0.15909092 -0.20545816
+v 0.14903590 0.11363637 -0.25091270
+v 0.02782378 0.23484849 -0.14485209
+v 0.02782378 0.14393940 -0.23576119
+v 0.02830169 0.39848348 -0.27225780
+v 0.14903590 0.41666668 -0.20545816
+v 0.13388438 0.20454546 -0.29636725
+v 0.16418741 0.23484849 -0.20545816
+v 0.12328355 0.12217300 -0.19840575
+v 0.13388438 0.11363637 -0.25091270
+v 0.02782378 0.41666668 -0.20545816
+v 0.07327832 0.37121213 -0.29636725
+v 0.15163301 0.20765048 -0.28209554
+v 0.16418741 0.23484849 -0.23576119
+v 0.11873287 0.11363637 -0.23576119
+v 0.14903590 0.35606062 -0.29636725
+v 0.07327832 0.32575758 -0.29636725
+v 0.14903590 0.14393940 -0.28121573
+v 0.13388438 0.37121213 -0.29636725
+f 6 3 4
+f 10 6 1
+f 10 1 2
+f 10 3 6
+f 11 2 1
+f 12 4 5
+f 12 6 4
+f 13 5 7
+f 13 12 5
+f 13 8 12
+f 15 4 3
+f 16 7 5
+f 17 10 2
+f 17 3 10
+f 17 15 3
+f 18 12 8
+f 18 1 6
+f 18 6 12
+f 19 13 7
+f 19 7 11
+f 20 14 5
+f 20 5 4
+f 20 4 15
+f 20 15 9
+f 20 9 14
+f 21 14 9
+f 21 5 14
+f 23 17 2
+f 23 9 15
+f 23 15 17
+f 24 18 8
+f 24 1 18
+f 24 8 13
+f 24 13 19
+f 24 19 11
+f 24 11 1
+f 25 16 21
+f 25 9 23
+f 25 23 2
+f 25 2 22
+f 26 21 16
+f 26 16 5
+f 26 5 21
+f 27 22 2
+f 27 2 11
+f 27 11 7
+f 27 7 16
+f 27 25 22
+f 27 16 25
+f 28 25 21
+f 28 21 9
+f 28 9 25

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_15.obj

@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.02782378 0.35606062 0.17332972
+v 0.02782378 0.35606062 -0.11454906
+v 0.02782378 0.50757577 0.06726912
+v -0.06308531 0.50757577 0.05211760
+v -0.22975198 0.35606062 -0.20545816
+v -0.12369137 0.44696971 0.17332972
+v -0.15188630 0.35576039 -0.25469591
+v 0.02782378 0.46212122 0.17332972
+v -0.23501375 0.36511868 0.18173713
+v 0.02779017 0.48927972 -0.11553063
+v -0.07823683 0.47727274 0.14302669
+v -0.04793380 0.46212122 0.17332972
+v -0.22975198 0.46212122 0.02181457
+v -0.09298401 0.35608270 -0.26368468
+v 0.02782378 0.50757577 -0.05394300
+v -0.13884289 0.47727274 -0.20545816
+v 0.02782378 0.49242425 0.11272366
+v -0.04793380 0.50757577 0.06726912
+v -0.10853986 0.46212122 0.15817821
+v -0.22975198 0.41666668 0.15817821
+v -0.22975198 0.43181819 -0.20545816
+v -0.16914592 0.47727274 0.08242063
+v -0.09338834 0.49242425 -0.17515512
+v -0.13884289 0.41666668 -0.26606422
+v -0.04793380 0.49242425 0.11272366
+v -0.22975198 0.44696971 0.09757215
+v -0.21460047 0.41666668 0.17332972
+v -0.22975198 0.41666668 -0.22060967
+v -0.22975198 0.46212122 -0.00848846
+v -0.13884289 0.49242425 0.05211760
+v -0.10853986 0.49242425 0.08242063
+v -0.16914592 0.46212122 0.12787518
+v -0.06308531 0.50757577 -0.02363997
+v -0.15399441 0.40151516 -0.26606422
+v -0.21460047 0.43181819 -0.22060967
+v -0.09338834 0.47727274 -0.22060967
+v -0.21460047 0.46212122 0.06726912
+v -0.22975198 0.40151516 0.17332972
+v -0.18429743 0.46212122 -0.17515512
+v -0.18429743 0.47727274 0.05211760
+v -0.10853986 0.49242425 -0.17515512
+v -0.15399441 0.47727274 0.09757215
+v -0.18429743 0.46212122 0.11272366
+v -0.21460047 0.41666668 -0.23576119
+v -0.12369137 0.44696971 -0.25091270
+v -0.09338834 0.44696971 -0.25091270
+v -0.15399441 0.47727274 -0.16000361
+v -0.21460047 0.44696971 -0.17515512
+v -0.13884289 0.49242425 -0.02363997
+v -0.10853986 0.47727274 -0.22060967
+v -0.00247925 0.50757577 -0.05394300
+v -0.10853986 0.47727274 0.12787518
+v -0.15399441 0.46212122 -0.22060967
+v -0.15399441 0.43181819 -0.25091270
+v -0.18429743 0.47727274 -0.02363997
+v -0.12369137 0.46212122 -0.23576119
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 8 1 3
+f 9 5 1
+f 9 1 8
+f 12 9 8
+f 12 6 9
+f 12 8 11
+f 14 10 2
+f 14 2 7
+f 15 4 3
+f 15 3 2
+f 15 2 10
+f 17 11 8
+f 17 8 3
+f 18 3 4
+f 18 17 3
+f 19 12 11
+f 19 6 12
+f 23 15 10
+f 25 18 11
+f 25 11 17
+f 25 17 18
+f 26 13 9
+f 26 9 20
+f 27 9 6
+f 27 6 19
+f 28 5 9
+f 28 9 21
+f 29 21 9
+f 29 9 13
+f 31 11 18
+f 31 18 4
+f 31 4 30
+f 32 27 19
+f 32 20 27
+f 33 4 15
+f 33 30 4
+f 34 24 14
+f 34 14 7
+f 35 21 16
+f 35 28 21
+f 36 23 10
+f 37 26 22
+f 37 13 26
+f 38 27 20
+f 38 20 9
+f 38 9 27
+f 39 16 21
+f 40 22 30
+f 40 37 22
+f 40 13 37
+f 40 29 13
+f 41 23 36
+f 41 15 23
+f 42 31 30
+f 42 30 22
+f 43 22 26
+f 43 26 20
+f 43 20 32
+f 43 42 22
+f 43 32 42
+f 44 24 34
+f 44 28 35
+f 44 5 28
+f 44 34 7
+f 44 7 5
+f 46 36 10
+f 46 10 14
+f 46 45 36
+f 46 14 24
+f 46 24 45
+f 47 39 29
+f 47 16 39
+f 47 41 16
+f 48 39 21
+f 48 21 29
+f 48 29 39
+f 49 30 33
+f 49 33 41
+f 49 40 30
+f 50 41 36
+f 50 16 41
+f 50 36 45
+f 51 41 33
+f 51 33 15
+f 51 15 41
+f 52 42 32
+f 52 11 31
+f 52 31 42
+f 52 32 19
+f 52 19 11
+f 53 35 16
+f 53 16 50
+f 54 45 24
+f 54 24 44
+f 54 44 35
+f 54 35 45
+f 55 49 41
+f 55 29 40
+f 55 40 49
+f 55 47 29
+f 55 41 47
+f 56 53 50
+f 56 50 45
+f 56 45 35
+f 56 35 53

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_16.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.23994499 -0.26515151 0.21878427
+v 0.27024802 -0.26515151 -0.20545816
+v 0.27014105 -0.14368213 0.20870344
+v 0.08842984 -0.14393938 0.15817821
+v 0.02782378 -0.26515151 -0.14485209
+v 0.14903590 -0.14393938 -0.25091270
+v 0.02782378 -0.21969696 0.21878427
+v 0.26601509 -0.26266740 0.19391704
+v 0.10601427 -0.26712490 -0.25581736
+v 0.27024802 -0.14393938 -0.20545816
+v 0.05812681 -0.14393938 -0.00848846
+v 0.19449044 -0.14393938 0.21878427
+v 0.02770763 -0.26541001 0.21758063
+v 0.27024802 -0.23484848 0.21878427
+v 0.13388438 -0.26515151 -0.28121573
+v 0.02782378 -0.17424242 -0.14485209
+v 0.02782378 -0.15909090 0.11272366
+v 0.11873287 -0.14393938 0.18848124
+v 0.10358135 -0.21969696 -0.26606422
+v 0.14903590 -0.18939393 -0.28121573
+v 0.08842984 -0.14393938 -0.12970058
+v 0.02782378 -0.17424242 0.17332972
+v 0.05812681 -0.14393938 0.05211760
+v 0.02782378 -0.15909090 -0.03879149
+v 0.14903590 -0.14393938 0.20363275
+v 0.13388438 -0.17424242 -0.26606422
+v 0.17054686 -0.19055515 -0.26840722
+v 0.16496114 -0.26221032 -0.26698498
+v 0.17184834 -0.16245391 -0.26002764
+v 0.13388438 -0.21969696 -0.28121573
+v 0.11873287 -0.14393938 -0.20545816
+v 0.07327832 -0.14393938 0.12787518
+v 0.13388438 -0.14393938 -0.23576119
+v 0.14903590 -0.15909090 -0.26606422
+v 0.16960241 -0.14727412 -0.24678362
+f 8 1 2
+f 9 2 1
+f 10 6 3
+f 12 7 1
+f 13 1 7
+f 13 9 1
+f 13 5 9
+f 14 8 2
+f 14 1 8
+f 14 12 1
+f 14 3 12
+f 14 10 3
+f 14 2 10
+f 15 2 9
+f 16 5 13
+f 18 3 4
+f 19 15 9
+f 19 9 5
+f 19 5 16
+f 21 11 3
+f 22 4 17
+f 22 18 4
+f 22 7 18
+f 22 17 13
+f 22 13 7
+f 23 11 17
+f 23 3 11
+f 24 17 11
+f 24 16 13
+f 24 13 17
+f 24 21 16
+f 24 11 21
+f 25 18 7
+f 25 7 12
+f 25 12 3
+f 25 3 18
+f 26 19 16
+f 26 20 19
+f 27 20 10
+f 27 10 2
+f 27 2 20
+f 28 20 2
+f 28 2 15
+f 28 15 20
+f 29 10 20
+f 30 20 15
+f 30 15 19
+f 30 19 20
+f 31 16 21
+f 31 21 3
+f 32 23 17
+f 32 17 4
+f 32 4 3
+f 32 3 23
+f 33 26 16
+f 33 6 26
+f 33 16 31
+f 33 31 3
+f 33 3 6
+f 34 26 6
+f 34 20 26
+f 34 29 20
+f 34 10 29
+f 35 34 6
+f 35 6 10
+f 35 10 34

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_17.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.02782378 0.23484849 -0.11454906
+v 0.02782378 0.23484849 -0.28121573
+v 0.02779017 0.48927972 -0.11553063
+v -0.09338834 0.49242425 -0.11454906
+v -0.22975198 0.23484849 -0.11454906
+v 0.02782378 0.44696971 -0.26606422
+v 0.01267226 0.49242425 -0.22060967
+v -0.22975198 0.40151516 -0.23576119
+v 0.02842393 0.40983637 -0.26808675
+v 0.02782378 0.47727274 -0.23576119
+v -0.22975198 0.35606062 -0.11454906
+v -0.07823683 0.46212122 -0.25091270
+v -0.09338834 0.38636365 -0.28121573
+v -0.21460047 0.25000001 -0.25091270
+v -0.22912898 0.40067352 -0.20475632
+v -0.18429743 0.44696971 -0.22060967
+v -0.04793380 0.41666668 -0.28121573
+v -0.18429743 0.23484849 -0.25091270
+v -0.22975198 0.26515152 -0.25091270
+v -0.16914592 0.44696971 -0.23576119
+v -0.07823683 0.49242425 -0.20545816
+v -0.03278228 0.44696971 -0.26606422
+v -0.10853986 0.23484849 -0.26606422
+v -0.22875787 0.23658398 -0.22931741
+v -0.18429743 0.37121213 -0.26606422
+v -0.09338834 0.43181819 -0.26606422
+v -0.09338834 0.49242425 -0.19030664
+v -0.07823683 0.47727274 -0.23576119
+v -0.09338834 0.32575758 -0.28121573
+v -0.22975198 0.37121213 -0.25091270
+v -0.18429743 0.41666668 -0.25091270
+v -0.01763077 0.49242425 -0.22060967
+v 0.01267226 0.23484849 -0.28121573
+v -0.18429743 0.34090910 -0.26606422
+v -0.07823683 0.40151516 -0.28121573
+v -0.06308531 0.29545455 -0.28121573
+v -0.16914592 0.38636365 -0.26606422
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 4 3
+f 9 1 2
+f 9 2 6
+f 9 3 1
+f 10 7 3
+f 10 9 6
+f 10 3 9
+f 11 8 5
+f 11 5 4
+f 15 11 4
+f 15 8 11
+f 16 15 4
+f 16 8 15
+f 17 6 2
+f 17 2 13
+f 18 2 5
+f 19 5 8
+f 20 8 16
+f 21 4 7
+f 21 20 16
+f 22 17 12
+f 22 6 17
+f 22 10 6
+f 23 18 14
+f 23 2 18
+f 23 14 19
+f 24 18 5
+f 24 14 18
+f 24 19 14
+f 24 5 19
+f 26 20 12
+f 26 12 17
+f 27 21 16
+f 27 16 4
+f 27 4 21
+f 28 12 20
+f 28 20 21
+f 28 7 10
+f 28 22 12
+f 28 10 22
+f 29 23 19
+f 29 13 2
+f 29 25 13
+f 30 25 19
+f 30 19 8
+f 31 20 26
+f 31 25 30
+f 31 30 8
+f 31 8 20
+f 32 28 21
+f 32 21 7
+f 32 7 28
+f 33 29 2
+f 33 2 23
+f 34 29 19
+f 34 19 25
+f 34 25 29
+f 35 13 25
+f 35 17 13
+f 35 31 26
+f 35 26 17
+f 36 33 23
+f 36 23 29
+f 36 29 33
+f 37 35 25
+f 37 25 31
+f 37 31 35

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_18.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.19579935 -0.14491778 0.19964713
+v 0.27024802 -0.14393938 -0.20545816
+v 0.27024802 -0.00757575 0.11272366
+v 0.16418741 -0.00757575 0.17332972
+v 0.10864040 -0.15191004 -0.08449347
+v 0.19322683 -0.00695482 -0.20263235
+v 0.19718923 -0.00768259 0.18591132
+v 0.27024802 -0.14393938 0.11272366
+v 0.10358135 -0.12878787 0.15817821
+v 0.27024802 -0.00757575 -0.20545816
+v 0.14903590 -0.00757575 -0.06909452
+v 0.13388438 -0.12878787 -0.20545816
+v 0.20086303 -0.08366537 0.19132065
+v 0.16418741 -0.11363635 0.20363275
+v 0.11332260 -0.15298293 0.15376348
+v 0.14903590 -0.00757575 0.11272366
+v 0.08842984 -0.12878787 0.02181457
+v 0.14211245 -0.15068021 -0.20134860
+v 0.17933893 -0.08333332 0.20363275
+v 0.13388438 -0.12878787 0.18848124
+v 0.08842984 -0.12878787 0.05211760
+v 0.10358135 -0.12878787 -0.08424603
+v 0.16418741 -0.14393938 0.20363275
+v 0.13388438 -0.14393938 0.18848124
+v 0.09166081 -0.15105786 0.05093909
+v 0.09075138 -0.15164493 0.02138824
+f 6 4 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 10 6 3
+f 10 3 2
+f 12 11 6
+f 12 10 2
+f 12 6 10
+f 13 1 3
+f 13 3 7
+f 15 2 8
+f 15 8 1
+f 16 4 6
+f 16 6 11
+f 16 9 4
+f 17 16 11
+f 18 12 2
+f 18 5 12
+f 18 15 5
+f 18 2 15
+f 19 13 7
+f 19 1 13
+f 19 7 4
+f 19 4 14
+f 20 14 4
+f 20 4 9
+f 21 9 16
+f 21 16 17
+f 22 12 5
+f 22 17 11
+f 22 11 12
+f 23 19 14
+f 23 1 19
+f 23 14 20
+f 23 15 1
+f 24 20 9
+f 24 9 15
+f 24 23 20
+f 24 15 23
+f 25 15 9
+f 25 9 21
+f 26 22 5
+f 26 17 22
+f 26 5 15
+f 26 15 25
+f 26 25 21
+f 26 21 17

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_19.obj

@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.42176317 -0.26515151 0.09757215
+v 0.49752075 -0.11363635 -0.03879149
+v 0.48236923 -0.09848484 0.09757215
+v 0.44723335 0.15726283 0.06481680
+v 0.38199361 -0.21462052 -0.15384912
+v 0.49752075 0.05303031 0.06726912
+v 0.39146014 -0.00757575 0.11272366
+v 0.46721772 -0.20454545 0.03696609
+v 0.46721772 0.09848486 -0.12970058
+v 0.49752075 -0.08333332 0.05211760
+v 0.45206620 -0.17424242 0.11272366
+v 0.38437736 -0.26141130 0.10844080
+v 0.40306135 -0.00715588 -0.16471904
+v 0.46721772 0.12878789 0.09757215
+v 0.42176317 -0.26515151 -0.09939755
+v 0.49752075 -0.00757575 -0.08424603
+v 0.49752075 -0.05303029 0.06726912
+v 0.49752075 -0.11363635 0.02181457
+v 0.46721772 -0.15909090 0.09757215
+v 0.40661166 -0.26515151 0.11272366
+v 0.43691469 -0.12878787 -0.16000361
+v 0.44506534 0.09678500 -0.12087798
+v 0.44231365 0.12637589 0.09317861
+v 0.46721772 0.15909092 0.06726912
+v 0.48236923 0.06818183 0.09757215
+v 0.46721772 -0.12878787 0.11272366
+v 0.46721772 -0.20454545 -0.05394300
+v 0.43691469 -0.26515151 0.03696609
+v 0.38429885 -0.26013865 -0.10880071
+v 0.48236923 0.09848486 -0.09939755
+v 0.48236923 -0.14393938 0.06726912
+v 0.43691469 -0.23484848 0.09757215
+v 0.42176317 -0.24999999 0.11272366
+v 0.40661166 -0.21969696 -0.16000361
+v 0.48236923 -0.05303029 -0.11454906
+v 0.45210108 0.15910380 0.05213165
+v 0.48236923 0.11363637 0.06726912
+v 0.45963347 -0.00747619 0.10799357
+v 0.45206620 -0.23484848 0.05211760
+v 0.43691469 -0.26515151 -0.05394300
+v 0.40661166 -0.26515151 -0.11454906
+v 0.48236923 0.06818183 -0.11454906
+v 0.49752075 0.05303031 0.05211760
+v 0.48236923 -0.15909090 0.03696609
+v 0.45206620 -0.18939393 -0.11454906
+v 0.49752075 -0.08333332 -0.06909452
+v 0.48236923 0.09848486 0.08242063
+v 0.43691469 -0.24999999 0.08242063
+v 0.46721772 -0.18939393 0.06726912
+v 0.45206620 -0.21969696 -0.08424603
+v 0.42176317 -0.24999999 -0.11454906
+v 0.45206620 -0.15909090 -0.12970058
+v 0.49752075 -0.03787878 -0.08424603
+v 0.48236923 -0.15909090 -0.05394300
+v 0.43691469 -0.24999999 -0.08424603
+v 0.45206620 -0.11363635 -0.14485209
+v 0.48236923 -0.09848484 -0.09939755
+v 0.48236923 -0.12878787 -0.08424603
+f 10 2 6
+f 12 7 5
+f 13 7 4
+f 13 5 7
+f 16 6 2
+f 17 10 6
+f 17 6 3
+f 17 3 10
+f 18 2 10
+f 20 11 7
+f 20 7 12
+f 20 15 1
+f 21 13 9
+f 22 13 4
+f 22 9 13
+f 23 14 4
+f 23 4 7
+f 23 7 14
+f 24 4 14
+f 25 3 6
+f 26 7 11
+f 26 3 25
+f 26 19 3
+f 26 11 19
+f 28 1 15
+f 28 27 8
+f 29 12 5
+f 30 9 24
+f 31 18 10
+f 31 10 3
+f 31 3 19
+f 32 19 11
+f 33 20 1
+f 33 11 20
+f 33 32 11
+f 33 1 32
+f 34 5 13
+f 34 13 21
+f 36 22 4
+f 36 9 22
+f 36 24 9
+f 36 4 24
+f 37 24 14
+f 37 30 24
+f 38 14 7
+f 38 7 26
+f 38 26 25
+f 38 25 14
+f 39 28 8
+f 40 28 15
+f 40 27 28
+f 41 20 12
+f 41 12 29
+f 41 15 20
+f 41 29 5
+f 41 5 34
+f 42 30 16
+f 42 9 30
+f 42 16 35
+f 42 35 21
+f 42 21 9
+f 43 6 16
+f 43 16 30
+f 43 37 6
+f 43 30 37
+f 44 18 31
+f 44 2 18
+f 44 8 27
+f 46 16 2
+f 47 25 6
+f 47 6 37
+f 47 37 14
+f 47 14 25
+f 48 1 28
+f 48 28 39
+f 48 32 1
+f 49 31 19
+f 49 48 39
+f 49 19 32
+f 49 32 48
+f 49 39 8
+f 49 44 31
+f 49 8 44
+f 50 27 40
+f 50 45 27
+f 50 15 45
+f 51 45 15
+f 51 34 45
+f 51 41 34
+f 51 15 41
+f 52 45 34
+f 52 34 21
+f 53 46 35
+f 53 35 16
+f 53 16 46
+f 54 46 2
+f 54 27 45
+f 54 44 27
+f 54 2 44
+f 55 50 40
+f 55 40 15
+f 55 15 50
+f 56 52 21
+f 56 21 35
+f 56 35 52
+f 57 45 52
+f 57 52 35
+f 57 35 46
+f 58 54 45
+f 58 46 54
+f 58 57 46
+f 58 45 57

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_2.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.02782378 -0.50757575 0.06726912
+v 0.02782378 -0.44696969 -0.19030664
+v 0.02782378 -0.26515151 0.15817821
+v -0.22975198 -0.26515151 0.15817821
+v -0.22975198 -0.43181817 -0.12970058
+v -0.00247925 -0.26515151 -0.25091270
+v -0.09338834 -0.40151514 0.21878427
+v 0.03039108 -0.27131962 -0.23770765
+v -0.01763077 -0.50757575 -0.05394300
+v -0.22975198 -0.26515151 -0.22060967
+v 0.02782378 -0.41666666 0.20363275
+v -0.22975198 -0.44696969 0.12787518
+v 0.02782378 -0.50757575 -0.05394300
+v 0.02782378 -0.40151514 -0.23576119
+v -0.10853986 -0.46212120 -0.16000361
+v -0.07823683 -0.46212120 0.17332972
+v 0.02782378 -0.47727272 0.14302669
+v -0.15399441 -0.49242423 0.05211760
+v -0.22975198 -0.40151514 0.18848124
+v 0.02782378 -0.49242423 -0.09939755
+v 0.02840408 -0.36553343 -0.23826912
+v -0.07823683 -0.35606060 -0.25091270
+v -0.10853986 -0.43181817 -0.20545816
+v 0.02782378 -0.44696969 0.18848124
+v -0.04793380 -0.49242423 0.12787518
+v -0.07823683 -0.50757575 0.06726912
+v -0.22975198 -0.46212120 0.00666306
+v -0.13884289 -0.49242423 -0.02363997
+v -0.18429743 -0.40151514 0.20363275
+v -0.15399441 -0.44696969 0.17332972
+v -0.03278228 -0.49242423 -0.09939755
+v -0.09338834 -0.31060605 -0.25091270
+v -0.04793380 -0.37121211 -0.25091270
+v -0.09338834 -0.44696969 -0.19030664
+v -0.13884289 -0.44696969 -0.17515512
+v -0.22975198 -0.38636363 -0.19030664
+v -0.07823683 -0.44696969 0.18848124
+v 0.01267226 -0.49242423 0.12787518
+v 0.01267226 -0.50757575 0.08242063
+v -0.16914592 -0.47727272 0.11272366
+v -0.22975198 -0.46212120 0.06726912
+v -0.10853986 -0.47727272 -0.11454906
+v -0.07823683 -0.50757575 -0.00848846
+v -0.19944895 -0.47727272 0.00666306
+v -0.10853986 -0.40151514 0.21878427
+v -0.19944895 -0.43181817 0.17332972
+v -0.22975198 -0.29545454 -0.22060967
+v -0.07823683 -0.29545454 -0.25091270
+v -0.06308531 -0.40151514 -0.23576119
+v -0.18429743 -0.44696969 -0.14485209
+v -0.18429743 -0.41666666 -0.19030664
+v -0.13884289 -0.41666666 0.20363275
+v 0.02782378 -0.49242423 0.11272366
+v 0.01267226 -0.46212120 0.17332972
+v -0.04793380 -0.50757575 0.08242063
+v -0.10853986 -0.49242423 0.11272366
+v -0.21460047 -0.46212120 0.09757215
+v -0.19944895 -0.47727272 0.05211760
+v -0.15399441 -0.49242423 0.02181457
+v -0.04793380 -0.50757575 -0.03879149
+v -0.21460047 -0.44696969 -0.09939755
+v -0.22975198 -0.41666666 0.17332972
+v -0.16914592 -0.46212120 0.14302669
+v -0.19944895 -0.41666666 0.18848124
+f 6 4 3
+f 7 3 4
+f 8 6 3
+f 10 5 4
+f 10 4 6
+f 11 3 7
+f 11 8 3
+f 12 4 5
+f 13 8 1
+f 13 1 9
+f 14 8 2
+f 19 4 12
+f 20 2 8
+f 20 8 13
+f 20 15 2
+f 20 13 9
+f 21 14 6
+f 21 6 8
+f 21 8 14
+f 24 11 7
+f 24 17 8
+f 24 8 11
+f 26 9 1
+f 27 12 5
+f 29 4 19
+f 31 20 9
+f 31 15 20
+f 32 6 22
+f 33 22 6
+f 33 6 14
+f 34 2 15
+f 34 14 2
+f 35 34 15
+f 35 23 34
+f 36 5 10
+f 37 24 7
+f 37 16 24
+f 37 30 16
+f 38 16 25
+f 39 26 1
+f 39 38 25
+f 39 1 38
+f 41 12 27
+f 42 31 9
+f 42 15 31
+f 43 26 18
+f 43 9 26
+f 44 41 27
+f 45 7 4
+f 45 4 29
+f 45 37 7
+f 47 32 22
+f 47 10 32
+f 47 36 10
+f 47 22 36
+f 48 32 10
+f 48 10 6
+f 48 6 32
+f 49 22 33
+f 49 36 22
+f 49 33 14
+f 49 34 23
+f 49 14 34
+f 50 35 15
+f 50 15 42
+f 50 42 28
+f 51 23 35
+f 51 35 50
+f 51 50 5
+f 51 5 36
+f 51 49 23
+f 51 36 49
+f 52 30 37
+f 52 45 29
+f 52 37 45
+f 53 38 1
+f 53 17 38
+f 53 1 8
+f 53 8 17
+f 54 24 16
+f 54 16 38
+f 54 38 17
+f 54 17 24
+f 55 39 25
+f 55 26 39
+f 56 25 16
+f 56 55 25
+f 56 26 55
+f 56 40 18
+f 56 18 26
+f 57 41 40
+f 57 40 12
+f 57 12 41
+f 58 18 40
+f 58 40 41
+f 58 44 18
+f 58 41 44
+f 59 43 18
+f 59 28 43
+f 59 44 28
+f 59 18 44
+f 60 42 9
+f 60 9 43
+f 60 43 28
+f 60 28 42
+f 61 44 27
+f 61 27 5
+f 61 5 50
+f 61 50 28
+f 61 28 44
+f 62 46 19
+f 62 19 12
+f 62 12 46
+f 63 30 46
+f 63 40 56
+f 63 56 16
+f 63 16 30
+f 63 46 12
+f 63 12 40
+f 64 46 30
+f 64 29 19
+f 64 19 46
+f 64 52 29
+f 64 30 52

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_20.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.01763077 0.23484849 0.29454185
+v 0.02782378 0.32575758 0.17332972
+v 0.02782378 0.38636365 0.24908730
+v -0.07823683 0.44696971 0.18848124
+v -0.22975198 0.23484849 0.17332972
+v 0.02752509 0.44206401 0.16969426
+v -0.22975198 0.26515152 0.29454185
+v 0.02706578 0.32367487 0.25576069
+v -0.01763077 0.23484849 0.17332972
+v 0.02782378 0.44696971 0.18848124
+v -0.20916649 0.39165567 0.16445503
+v -0.03278228 0.29545455 0.29454185
+v -0.13884289 0.35606062 0.26423881
+v -0.22505050 0.23155100 0.28398300
+v 0.02782378 0.35606062 0.26423881
+v -0.07615395 0.43683610 0.16593431
+v -0.22975198 0.38636365 0.18848124
+v -0.09338834 0.38636365 0.24908730
+v -0.16914592 0.29545455 0.29454185
+v -0.01763077 0.26515152 0.29454185
+v -0.00247925 0.37121213 0.26423881
+v -0.18429743 0.41666668 0.18848124
+v -0.22487658 0.37907114 0.16806503
+v -0.19944895 0.35606062 0.24908730
+v -0.01763077 0.34090910 0.27939033
+v -0.10853986 0.34090910 0.27939033
+v -0.17866668 0.40630177 0.16518207
+v -0.21460047 0.40151516 0.18848124
+v -0.16914592 0.32575758 0.27939033
+v -0.10853986 0.41666668 0.21878427
+v -0.22975198 0.34090910 0.24908730
+v -0.06308531 0.37121213 0.26423881
+v -0.22975198 0.35606062 0.23393578
+v -0.15399441 0.41666668 0.20363275
+v -0.22975198 0.29545455 0.27939033
+f 9 8 1
+f 9 2 8
+f 9 6 2
+f 10 3 2
+f 10 2 6
+f 10 6 4
+f 10 4 3
+f 11 9 5
+f 12 7 1
+f 14 7 5
+f 14 1 7
+f 14 9 1
+f 14 5 9
+f 15 8 2
+f 15 2 3
+f 15 1 8
+f 16 4 6
+f 16 6 9
+f 16 9 11
+f 17 5 7
+f 18 3 4
+f 19 7 12
+f 20 15 12
+f 20 12 1
+f 20 1 15
+f 21 15 3
+f 21 3 18
+f 22 4 16
+f 23 11 5
+f 23 5 17
+f 24 13 18
+f 25 12 15
+f 25 15 21
+f 25 19 12
+f 26 25 21
+f 26 19 25
+f 27 22 16
+f 27 16 11
+f 27 11 22
+f 28 22 11
+f 28 23 17
+f 28 11 23
+f 29 13 24
+f 29 26 13
+f 29 19 26
+f 29 7 19
+f 30 24 18
+f 30 18 4
+f 31 17 7
+f 32 26 21
+f 32 21 18
+f 32 18 13
+f 32 13 26
+f 33 24 22
+f 33 22 28
+f 33 31 24
+f 33 28 17
+f 33 17 31
+f 34 30 4
+f 34 4 22
+f 34 22 24
+f 34 24 30
+f 35 31 7
+f 35 7 29
+f 35 29 24
+f 35 24 31

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_21.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.09597256 -0.26459442 0.23801968
+v -0.09338834 -0.26515151 0.18848124
+v -0.09338834 -0.00757575 0.23393578
+v -0.26005501 -0.00757575 0.30969336
+v -0.22975198 -0.26515151 0.18848124
+v -0.16914592 -0.00757575 0.30969336
+v -0.09338834 -0.12878787 0.24908730
+v -0.13884289 -0.26515151 0.26423881
+v -0.10069391 -0.00771759 0.18487924
+v -0.14850463 -0.00604102 0.28437700
+v -0.10853986 -0.23484848 0.26423881
+v -0.13884289 -0.08333332 0.29454185
+v -0.22975198 -0.26515151 0.26423881
+v -0.16914592 -0.12878787 0.29454185
+v -0.22975198 -0.00757575 0.18848124
+v -0.11681993 -0.00628662 0.25612545
+v -0.27705443 -0.13002312 0.27266414
+v -0.18429743 -0.03787878 0.30969336
+v -0.16914592 -0.20454545 0.27939033
+v -0.26005501 -0.12878787 0.29454185
+v -0.15399441 -0.11363635 0.29454185
+v -0.27467919 -0.00704279 0.29092657
+v -0.27520653 -0.00757575 0.26423881
+v -0.22975198 -0.20454545 0.27939033
+v -0.27520653 -0.11363635 0.29454185
+v -0.24490350 -0.03787878 0.30969336
+v -0.16914592 -0.02272726 0.30969336
+v -0.26005501 -0.02272726 0.30969336
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 3 2
+f 9 2 5
+f 10 4 6
+f 11 1 7
+f 11 8 1
+f 12 7 3
+f 12 3 6
+f 12 11 7
+f 13 5 8
+f 14 8 11
+f 15 9 5
+f 16 10 6
+f 16 6 3
+f 16 3 9
+f 16 15 10
+f 16 9 15
+f 17 5 13
+f 18 6 4
+f 19 13 8
+f 19 8 14
+f 20 19 14
+f 20 14 18
+f 21 14 11
+f 21 11 12
+f 22 4 10
+f 22 10 15
+f 23 15 5
+f 23 5 17
+f 23 22 15
+f 23 17 22
+f 24 20 13
+f 24 13 19
+f 24 19 20
+f 25 17 13
+f 25 13 20
+f 25 22 17
+f 25 4 22
+f 26 20 18
+f 26 18 4
+f 26 25 20
+f 27 21 12
+f 27 12 6
+f 27 6 18
+f 27 18 14
+f 27 14 21
+f 28 26 4
+f 28 4 25
+f 28 25 26

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_22.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.24490350 -0.44696969 0.09757215
+v -0.22975198 -0.40151514 -0.16000361
+v -0.22975198 -0.23484848 0.15817821
+v -0.41542958 -0.22869195 0.13727553
+v -0.42672168 -0.29545454 0.02181457
+v -0.24490350 -0.23484848 -0.22060967
+v -0.24490350 -0.41666666 0.15817821
+v -0.30550956 -0.41666666 0.02181457
+v -0.22833623 -0.23487953 -0.20650021
+v -0.41157016 -0.23484848 -0.14485209
+v -0.41157016 -0.26515151 0.15817821
+v -0.22328164 -0.43461611 0.09373113
+v -0.24490350 -0.44696969 -0.02363997
+v -0.22975198 -0.34090908 -0.20545816
+v -0.41506155 -0.22807517 -0.10993764
+v -0.32066107 -0.37121211 -0.09939755
+v -0.40501559 -0.23126599 0.15400682
+v -0.44187319 -0.24999999 0.11272366
+v -0.32066107 -0.38636363 0.12787518
+v -0.22975198 -0.41666666 0.15817821
+v -0.26005501 -0.44696969 0.05211760
+v -0.22975198 -0.44696969 -0.02363997
+v -0.22975198 -0.26515151 -0.22060967
+v -0.32066107 -0.24999999 -0.20545816
+v -0.22386354 -0.40649952 -0.12454737
+v -0.32066107 -0.23484848 -0.20545816
+v -0.32066107 -0.40151514 0.00666306
+v -0.42672168 -0.24999999 -0.11454906
+v -0.27520653 -0.40151514 -0.12970058
+v -0.44187319 -0.23484848 0.11272366
+v -0.29035804 -0.40151514 0.14302669
+v -0.38126713 -0.34090908 0.09757215
+v -0.26005501 -0.44696969 0.00666306
+v -0.30550956 -0.41666666 0.06726912
+v -0.24490350 -0.41666666 -0.12970058
+v -0.24490350 -0.26515151 -0.22060967
+v -0.22975198 -0.37121211 -0.19030664
+v -0.38126713 -0.23484848 -0.17515512
+v -0.41157016 -0.31060605 0.00666306
+v -0.44187319 -0.26515151 0.00666306
+v -0.30550956 -0.38636363 -0.09939755
+v -0.32066107 -0.34090908 -0.16000361
+v -0.43165642 -0.22924444 -0.00300984
+v -0.42672168 -0.24999999 0.14302669
+v -0.32066107 -0.37121211 0.15817821
+v -0.42672168 -0.29545454 0.06726912
+v -0.39641865 -0.31060605 0.12787518
+v -0.26005501 -0.41666666 -0.11454906
+v -0.33581259 -0.38636363 0.09757215
+v -0.24490350 -0.40151514 -0.16000361
+v -0.27520653 -0.31060605 -0.20545816
+v -0.33581259 -0.34090908 -0.12970058
+v -0.41157016 -0.24999999 -0.14485209
+v -0.44187319 -0.24999999 -0.00848846
+v -0.27520653 -0.40151514 0.15817821
+v -0.44187319 -0.26515151 0.08242063
+v -0.41157016 -0.28030302 0.14302669
+v -0.41157016 -0.31060605 0.08242063
+v -0.29035804 -0.37121211 -0.16000361
+v -0.24490350 -0.34090908 -0.20545816
+v -0.33581259 -0.28030302 -0.19030664
+v -0.38126713 -0.31060605 0.15817821
+v -0.24490350 -0.37121211 -0.19030664
+v -0.38126713 -0.24999999 -0.17515512
+f 11 7 3
+f 12 9 3
+f 15 9 6
+f 15 4 3
+f 15 3 9
+f 17 11 3
+f 17 3 4
+f 20 7 1
+f 20 1 12
+f 20 12 3
+f 20 3 7
+f 21 13 1
+f 22 12 1
+f 22 1 13
+f 23 6 9
+f 25 22 2
+f 25 12 22
+f 25 9 12
+f 25 23 9
+f 25 14 23
+f 26 15 6
+f 26 6 24
+f 27 8 5
+f 28 15 10
+f 30 17 4
+f 31 1 7
+f 33 21 8
+f 33 13 21
+f 33 8 27
+f 34 8 21
+f 34 5 8
+f 34 21 1
+f 34 1 31
+f 35 22 13
+f 35 2 22
+f 36 23 14
+f 36 24 6
+f 36 6 23
+f 37 25 2
+f 37 14 25
+f 38 10 15
+f 38 15 26
+f 38 26 24
+f 39 27 5
+f 39 16 27
+f 39 28 16
+f 39 5 28
+f 40 28 5
+f 40 18 30
+f 41 29 27
+f 41 27 16
+f 41 16 29
+f 43 30 4
+f 43 4 15
+f 43 15 28
+f 44 30 18
+f 44 11 17
+f 44 17 30
+f 45 7 11
+f 45 19 31
+f 46 34 32
+f 46 5 34
+f 46 40 5
+f 47 18 46
+f 48 13 33
+f 48 35 13
+f 48 33 27
+f 48 27 29
+f 49 32 34
+f 49 45 32
+f 49 19 45
+f 49 34 31
+f 49 31 19
+f 50 2 35
+f 50 37 2
+f 50 48 29
+f 50 35 48
+f 51 24 36
+f 52 16 28
+f 52 28 42
+f 52 42 29
+f 52 29 16
+f 53 42 28
+f 53 28 10
+f 53 10 38
+f 54 40 30
+f 54 30 43
+f 54 43 28
+f 54 28 40
+f 55 45 31
+f 55 31 7
+f 55 7 45
+f 56 46 18
+f 56 18 40
+f 56 40 46
+f 57 18 47
+f 57 44 18
+f 57 11 44
+f 58 47 46
+f 58 46 32
+f 58 32 47
+f 59 50 29
+f 59 29 42
+f 60 51 36
+f 60 36 14
+f 60 14 37
+f 61 24 51
+f 62 57 47
+f 62 45 11
+f 62 11 57
+f 62 47 32
+f 62 32 45
+f 63 60 37
+f 63 37 50
+f 63 50 59
+f 63 59 42
+f 63 42 61
+f 63 61 51
+f 63 51 60
+f 64 38 24
+f 64 24 61
+f 64 53 38
+f 64 61 42
+f 64 42 53

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_23.obj

@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.02782378 -0.40151514 0.21878427
+v 0.02782378 -0.40151514 0.15817821
+v 0.02782378 -0.26515151 0.23393578
+v -0.36611562 -0.23484848 0.21878427
+v -0.26005501 -0.40151514 0.15817821
+v 0.02782378 -0.26515151 0.15817821
+v -0.24490350 -0.26515151 0.26423881
+v -0.22900776 -0.23228389 0.25495797
+v -0.40501559 -0.23126599 0.15400682
+v 0.02782378 -0.35606060 0.23393578
+v -0.18429743 -0.38636363 0.21878427
+v -0.06308531 -0.24999999 0.24908730
+v -0.27520653 -0.23484848 0.26423881
+v -0.38126713 -0.29545454 0.17332972
+v -0.22975198 -0.23484848 0.15817821
+v -0.32066107 -0.23484848 0.24908730
+v -0.40021315 -0.24319642 0.15167499
+v -0.09338834 -0.32575757 0.24908730
+v -0.09338834 -0.40151514 0.21878427
+v -0.22975198 -0.26515151 0.26423881
+v -0.41157016 -0.24999999 0.17332972
+v -0.30550956 -0.35606060 0.18848124
+v -0.06422522 -0.25036266 0.22973051
+v -0.27520653 -0.24999999 0.26423881
+v -0.33581259 -0.26515151 0.23393578
+v -0.38126713 -0.29545454 0.15817821
+v -0.00247925 -0.37121211 0.23393578
+v -0.06308531 -0.29545454 0.24908730
+v -0.26005501 -0.40151514 0.17332972
+v -0.18429743 -0.32575757 0.24908730
+v -0.41157016 -0.23484848 0.17332972
+v -0.36611562 -0.24999999 0.21878427
+v -0.35096410 -0.29545454 0.20363275
+v -0.32066107 -0.24999999 0.24908730
+v -0.27520653 -0.34090908 0.21878427
+v -0.32066107 -0.35606060 0.15817821
+v -0.12369137 -0.37121211 0.23393578
+v -0.26005501 -0.29545454 0.24908730
+v -0.38126713 -0.28030302 0.18848124
+v -0.30550956 -0.29545454 0.23393578
+v -0.22975198 -0.38636363 0.20363275
+v -0.26005501 -0.37121211 0.20363275
+v -0.32066107 -0.35606060 0.17332972
+v -0.19944895 -0.35606060 0.23393578
+v -0.22975198 -0.31060605 0.24908730
+v -0.33581259 -0.31060605 0.20363275
+v -0.26005501 -0.32575757 0.23393578
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 10 1 3
+f 12 3 6
+f 12 10 3
+f 13 12 8
+f 15 9 8
+f 15 6 9
+f 16 9 4
+f 16 8 9
+f 16 13 8
+f 17 9 6
+f 17 6 2
+f 17 2 5
+f 19 5 1
+f 20 13 7
+f 20 12 13
+f 20 7 18
+f 21 9 17
+f 23 12 6
+f 23 6 15
+f 23 15 8
+f 23 8 12
+f 24 7 13
+f 24 13 16
+f 26 21 17
+f 26 14 21
+f 27 1 10
+f 27 10 18
+f 27 19 1
+f 28 18 10
+f 28 10 12
+f 28 20 18
+f 28 12 20
+f 29 19 11
+f 29 5 19
+f 30 18 7
+f 30 27 18
+f 31 21 4
+f 31 4 9
+f 31 9 21
+f 32 16 4
+f 32 4 21
+f 33 14 22
+f 33 25 32
+f 34 24 16
+f 34 32 25
+f 34 16 32
+f 36 26 17
+f 36 17 5
+f 36 14 26
+f 36 5 29
+f 37 11 19
+f 37 19 27
+f 37 27 30
+f 38 7 24
+f 38 24 34
+f 39 32 21
+f 39 21 14
+f 39 33 32
+f 39 14 33
+f 40 34 25
+f 40 25 33
+f 40 22 35
+f 40 38 34
+f 41 29 11
+f 42 35 22
+f 42 22 29
+f 42 41 35
+f 42 29 41
+f 43 36 29
+f 43 29 22
+f 43 22 14
+f 43 14 36
+f 44 37 30
+f 44 11 37
+f 44 41 11
+f 45 30 7
+f 45 7 38
+f 45 44 30
+f 46 40 33
+f 46 33 22
+f 46 22 40
+f 47 40 35
+f 47 38 40
+f 47 35 41
+f 47 41 44
+f 47 45 38
+f 47 44 45

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_24.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.08872026 -0.08667156 0.12471601
+v -0.06308531 -0.08333332 -0.00848846
+v -0.07823683 0.03787880 0.26423881
+v -0.08296198 0.07366132 0.25841909
+v -0.09885457 -0.00803561 -0.09831866
+v -0.06308531 0.02272728 -0.08424603
+v -0.10285582 0.04257107 0.25745836
+v -0.09237826 -0.08705151 -0.05337799
+v -0.06308531 0.02272728 0.12787518
+v -0.08593980 0.03517079 -0.10443956
+v -0.09103348 -0.08256526 0.12828453
+v -0.09442707 0.06911351 0.26301001
+v -0.07336850 -0.08585100 0.01608400
+v -0.09339117 -0.08333411 -0.05394288
+v -0.07823683 -0.00757575 -0.09939755
+v -0.07928358 0.06933382 0.24870505
+v -0.07343792 0.04551185 -0.08332429
+v -0.08099357 0.03903036 -0.09818594
+f 1 2 3
+f 9 3 2
+f 9 2 6
+f 10 5 7
+f 11 1 3
+f 11 3 7
+f 11 8 1
+f 12 7 3
+f 12 3 4
+f 12 10 7
+f 13 8 2
+f 13 2 1
+f 13 1 8
+f 14 7 5
+f 14 5 8
+f 14 11 7
+f 14 8 11
+f 15 6 2
+f 15 2 8
+f 15 8 5
+f 15 10 6
+f 15 5 10
+f 16 9 6
+f 16 4 3
+f 16 3 9
+f 17 16 6
+f 17 4 16
+f 17 12 4
+f 17 10 12
+f 18 17 6
+f 18 6 10
+f 18 10 17

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_25.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.27024802 -0.26515151 -0.20545816
+v 0.27024802 -0.26515151 -0.26606422
+v 0.27027110 0.03788075 -0.29626568
+v 0.19759269 0.03840541 -0.21956142
+v 0.16418741 -0.26515151 -0.20545816
+v 0.27024802 -0.00757575 -0.20545816
+v 0.16418741 -0.15909090 -0.28121573
+v 0.27024802 0.03787880 -0.22060967
+v 0.19322683 -0.00695482 -0.20263235
+v 0.27024802 -0.17424242 -0.29636725
+v 0.16496114 -0.26221032 -0.26698498
+v 0.20964196 0.03787880 -0.28121573
+v 0.14903590 -0.11363635 -0.20545816
+v 0.20964196 -0.11363635 -0.29636725
+v 0.23994499 -0.26515151 -0.28121573
+v 0.22479347 0.03787880 -0.29636725
+v 0.14951876 -0.14425245 -0.20518189
+v 0.14903590 -0.12878787 -0.23576119
+v 0.27024802 -0.23484848 -0.28121573
+v 0.20964196 -0.17424242 -0.29636725
+v 0.17933893 -0.00757575 -0.22060967
+v 0.14903590 -0.11363635 -0.22060967
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 8 6 3
+f 8 3 4
+f 9 5 1
+f 9 1 6
+f 9 8 4
+f 9 6 8
+f 13 9 4
+f 15 2 5
+f 15 5 11
+f 16 12 4
+f 16 4 3
+f 16 3 10
+f 16 10 14
+f 16 14 7
+f 16 7 12
+f 17 5 9
+f 17 9 13
+f 17 11 5
+f 18 12 7
+f 18 17 13
+f 18 7 11
+f 18 11 17
+f 19 15 10
+f 19 2 15
+f 19 10 3
+f 19 3 2
+f 20 14 10
+f 20 10 15
+f 20 7 14
+f 20 15 11
+f 20 11 7
+f 21 13 4
+f 21 4 12
+f 22 18 13
+f 22 13 21
+f 22 21 12
+f 22 12 18

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_26.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.09338834 -0.26515151 0.18848124
+v -0.09275662 -0.26556203 -0.21785609
+v -0.10069391 -0.00771759 0.18487924
+v -0.22975198 -0.00757575 0.18848124
+v -0.22975198 -0.26515151 -0.22060967
+v -0.09338834 -0.18939393 -0.20545816
+v -0.22975198 -0.26515151 0.18848124
+v -0.23464574 -0.00679109 -0.20034428
+v -0.09338834 -0.23484848 -0.22060967
+v -0.10602994 -0.00090582 -0.12548417
+v -0.18707224 -0.00156338 -0.19353834
+v -0.22975198 -0.20454545 -0.22060967
+v -0.10853986 -0.00757575 -0.16000361
+v -0.16914592 -0.20454545 -0.22060967
+v -0.12369137 -0.21969696 -0.22060967
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 7 4
+f 8 5 7
+f 9 6 2
+f 9 2 5
+f 10 4 3
+f 10 3 6
+f 11 9 8
+f 11 8 4
+f 11 4 10
+f 12 9 5
+f 12 5 8
+f 13 6 9
+f 13 9 11
+f 13 11 10
+f 13 10 6
+f 14 12 8
+f 14 9 12
+f 15 14 8
+f 15 8 9
+f 15 9 14

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_27.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.10358135 0.06818183 0.09757215
+v 0.10358135 0.08333334 -0.14485209
+v 0.10253527 0.09652222 0.14331480
+v -0.00595575 0.10516914 0.17278051
+v -0.00247925 0.06818183 -0.09939755
+v 0.09062450 0.10570812 -0.13413449
+v -0.00247925 0.08333334 0.17332972
+v 0.10806781 0.09386207 0.14283748
+v -0.01519378 0.08996714 -0.10458991
+v -0.01763077 0.06818183 0.08242063
+v 0.10690604 0.07976924 -0.06028428
+v 0.10534487 0.10350441 -0.13546520
+v 0.04298249 0.10383517 -0.12628576
+v 0.04297529 0.08333334 -0.12970058
+v -0.01763077 0.08333334 0.17332972
+v -0.02054992 0.08182893 -0.09371904
+v 0.08842984 0.08333334 -0.14485209
+v 0.08842984 0.06818183 0.09757215
+v -0.01789666 0.09936526 0.17322051
+f 5 2 1
+f 6 4 3
+f 8 7 1
+f 8 3 4
+f 8 4 7
+f 10 5 1
+f 11 8 1
+f 11 1 2
+f 12 6 3
+f 12 3 8
+f 12 11 2
+f 12 8 11
+f 13 9 4
+f 13 4 6
+f 14 5 9
+f 14 9 13
+f 15 1 7
+f 16 9 5
+f 16 5 10
+f 16 10 15
+f 17 12 2
+f 17 6 12
+f 17 13 6
+f 17 14 13
+f 17 2 5
+f 17 5 14
+f 18 15 10
+f 18 10 1
+f 18 1 15
+f 19 15 7
+f 19 7 4
+f 19 16 15
+f 19 4 9
+f 19 9 16

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_28.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.22900776 -0.23228389 0.25495797
+v -0.22833623 -0.23487953 -0.20650021
+v -0.22975198 -0.00757575 -0.22060967
+v -0.33581259 -0.00757575 0.29454185
+v -0.35096410 -0.23484848 0.23393578
+v -0.22975198 -0.00757575 0.26423881
+v -0.29035804 -0.23484848 0.26423881
+v -0.35096410 -0.18939393 -0.20545816
+v -0.34665557 -0.00587219 0.26789444
+v -0.22975198 -0.20454545 0.27939033
+v -0.35096410 -0.15909090 0.26423881
+v -0.24490350 -0.23484848 -0.22060967
+v -0.27467919 -0.00704279 0.29092657
+v -0.35047718 -0.00730402 -0.20114161
+v -0.22973513 -0.12867643 0.27888586
+v -0.29035804 -0.18939393 0.27939033
+v -0.35096410 -0.20454545 0.24908730
+v -0.35096410 -0.08333332 0.27939033
+v -0.30550956 -0.00757575 -0.22060967
+v -0.35096410 -0.23484848 -0.19030664
+v -0.27520653 -0.09848484 0.29454185
+v -0.26005501 -0.20454545 0.27939033
+v -0.32066107 -0.20454545 0.26423881
+v -0.30550956 -0.08333332 0.29454185
+v -0.32066107 -0.14393938 0.27939033
+v -0.30550956 -0.06818181 -0.22060967
+v -0.32066107 -0.23484848 -0.20545816
+v -0.33581259 -0.02272726 0.29454185
+v -0.29035804 -0.09848484 0.29454185
+v -0.33581259 -0.21969696 -0.20545816
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 9 6 3
+f 10 7 1
+f 11 8 5
+f 12 3 2
+f 13 9 4
+f 13 6 9
+f 14 9 3
+f 15 10 1
+f 15 1 6
+f 15 6 13
+f 17 11 5
+f 17 5 7
+f 18 4 9
+f 18 9 14
+f 18 14 8
+f 18 8 11
+f 19 3 12
+f 19 14 3
+f 19 8 14
+f 20 2 5
+f 20 5 8
+f 21 13 4
+f 21 15 13
+f 21 10 15
+f 22 16 7
+f 22 7 10
+f 22 10 21
+f 23 16 11
+f 23 7 16
+f 23 17 7
+f 23 11 17
+f 24 21 4
+f 25 18 11
+f 25 11 16
+f 25 24 18
+f 25 16 24
+f 26 19 12
+f 26 12 8
+f 26 8 19
+f 27 12 2
+f 27 2 20
+f 28 24 4
+f 28 4 18
+f 28 18 24
+f 29 22 21
+f 29 21 24
+f 29 24 16
+f 29 16 22
+f 30 27 20
+f 30 20 8
+f 30 8 12
+f 30 12 27

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_29.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.04297529 -0.46212120 -0.16000361
+v 0.14903590 -0.40151514 -0.22060967
+v 0.14635023 -0.42483748 -0.13831851
+v 0.07327832 -0.17424242 -0.16000361
+v 0.04297529 -0.29545454 -0.26606422
+v 0.14903590 -0.26515151 -0.14485209
+v 0.02772818 -0.19456462 -0.13906716
+v 0.11873287 -0.44696969 -0.16000361
+v 0.02782378 -0.38636363 -0.25091270
+v 0.14903590 -0.43181817 -0.16000361
+v 0.14913764 -0.26497578 -0.26511486
+v 0.02658659 -0.45068588 -0.13817160
+v 0.02782378 -0.20454545 -0.20545816
+v 0.10380230 -0.17454432 -0.14463900
+v 0.10358135 -0.43181817 -0.20545816
+v 0.14903590 -0.34090908 -0.26606422
+v 0.07762093 -0.18149282 -0.13582912
+v 0.11561628 -0.43703527 -0.13646257
+v 0.02782378 -0.44696969 -0.19030664
+v 0.02782378 -0.18939393 -0.17515512
+v 0.02782378 -0.24999999 -0.25091270
+v 0.10358135 -0.17424242 -0.20545816
+v 0.05812681 -0.34090908 -0.26606422
+v 0.10358135 -0.23484848 -0.26606422
+v 0.11873287 -0.40151514 -0.23576119
+v 0.04187102 -0.45032011 -0.13676353
+v 0.02782378 -0.46212120 -0.16000361
+v 0.05812681 -0.44696969 -0.19030664
+v 0.07327832 -0.21969696 -0.25091270
+v 0.08842984 -0.17424242 -0.20545816
+v 0.04297529 -0.32575757 -0.26606422
+v 0.07327832 -0.24999999 -0.26606422
+v 0.08842984 -0.38636363 -0.25091270
+v 0.14903590 -0.37121211 -0.25091270
+v 0.08842984 -0.23484848 -0.26606422
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 11 10 2
+f 11 6 10
+f 14 6 11
+f 15 2 8
+f 17 3 6
+f 17 6 14
+f 17 14 4
+f 17 4 7
+f 18 8 3
+f 18 3 17
+f 18 1 8
+f 19 12 9
+f 20 7 4
+f 20 13 12
+f 20 12 7
+f 21 5 9
+f 21 9 12
+f 21 12 13
+f 22 14 11
+f 22 4 14
+f 23 16 9
+f 23 5 16
+f 24 16 5
+f 24 11 16
+f 24 22 11
+f 25 19 9
+f 25 2 15
+f 26 17 7
+f 26 7 12
+f 26 18 17
+f 26 1 18
+f 27 19 1
+f 27 12 19
+f 27 26 12
+f 27 1 26
+f 28 1 19
+f 28 15 8
+f 28 8 1
+f 28 25 15
+f 28 19 25
+f 29 21 13
+f 29 22 24
+f 30 20 4
+f 30 4 22
+f 30 13 20
+f 30 29 13
+f 30 22 29
+f 31 23 9
+f 31 9 5
+f 31 5 23
+f 32 24 5
+f 32 5 21
+f 33 25 9
+f 33 9 16
+f 34 2 25
+f 34 16 11
+f 34 11 2
+f 34 33 16
+f 34 25 33
+f 35 29 24
+f 35 24 32
+f 35 32 21
+f 35 21 29

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_3.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.36611562 -0.23484848 0.21878427
+v -0.35096410 -0.23484848 -0.19030664
+v -0.35096410 0.20454546 0.17332972
+v -0.39641865 0.29545455 0.12787518
+v -0.50247925 -0.09848484 0.00666306
+v -0.34855334 0.20459732 -0.21263257
+v -0.36611562 -0.00757575 0.27939033
+v -0.34478909 -0.17059978 0.23794875
+v -0.45702471 -0.23484848 -0.00848846
+v -0.37268504 0.28851622 0.12243413
+v -0.47217622 0.15909092 -0.11454906
+v -0.39641865 0.25000001 0.17332972
+v -0.48732774 -0.06818181 0.14302669
+v -0.34629578 -0.23159291 0.21226389
+v -0.36611562 -0.17424242 0.24908730
+v -0.34665557 -0.00587219 0.26789444
+v -0.34836323 -0.14308286 -0.19080982
+v -0.47217622 -0.11363635 -0.14485209
+v -0.36165797 0.24863158 -0.20011994
+v -0.37383340 0.24492493 0.16816537
+v -0.45702471 -0.21969696 0.11272366
+v -0.45702471 0.11363637 0.17332972
+v -0.50247925 0.08333334 0.05211760
+v -0.36611562 -0.03787878 0.27939033
+v -0.35096410 -0.21969696 0.23393578
+v -0.34474343 -0.03506668 0.26594552
+v -0.35096410 0.06818183 -0.22060967
+v -0.34447613 -0.11181058 0.25272225
+v -0.47217622 -0.14393938 -0.12970058
+v -0.48732774 0.06818183 -0.12970058
+v -0.37675791 0.29198599 0.11054784
+v -0.41157016 0.23484849 -0.19030664
+v -0.44187319 -0.23484848 0.12787518
+v -0.48732774 -0.14393938 0.09757215
+v -0.47217622 0.02272728 0.17332972
+v -0.41157016 0.23484849 0.17332972
+v -0.50247925 -0.05303029 0.09757215
+v -0.47217622 0.18939395 0.08242063
+v -0.44187319 -0.11363635 0.20363275
+v -0.36611562 -0.11363635 0.26423881
+v -0.36611562 -0.21969696 0.23393578
+v -0.44187319 -0.05303029 -0.19030664
+v -0.48732774 -0.15909090 0.00666306
+v -0.48732774 -0.06818181 -0.12970058
+v -0.41157016 -0.20454545 -0.17515512
+v -0.50247925 0.08333334 0.00666306
+v -0.39641865 0.29545455 0.11272366
+v -0.44187319 0.18939395 -0.17515512
+v -0.38126713 0.21969698 -0.22060967
+v -0.45702471 -0.23484848 0.08242063
+v -0.45702471 -0.17424242 0.15817821
+v -0.48732774 0.11363637 0.11272366
+v -0.44187319 0.15909092 0.17332972
+v -0.48732774 0.03787880 0.14302669
+v -0.48732774 -0.11363635 0.12787518
+v -0.50247925 -0.09848484 0.05211760
+v -0.45702471 0.20454546 -0.09939755
+v -0.42672168 0.25000001 0.12787518
+v -0.47217622 -0.05303029 0.17332972
+v -0.41157016 -0.11363635 0.23393578
+v -0.41157016 -0.23484848 0.18848124
+v -0.36611562 -0.14393938 -0.20545816
+v -0.45702471 -0.20454545 -0.09939755
+v -0.48732774 -0.09848484 -0.11454906
+f 9 2 1
+f 10 3 6
+f 14 1 2
+f 17 14 2
+f 17 8 14
+f 19 10 6
+f 20 12 7
+f 20 3 10
+f 20 10 4
+f 20 4 12
+f 20 16 3
+f 20 7 16
+f 24 16 7
+f 25 14 8
+f 25 1 14
+f 26 6 3
+f 26 3 16
+f 26 16 24
+f 27 17 2
+f 27 6 17
+f 28 17 6
+f 28 8 17
+f 28 6 26
+f 28 25 8
+f 28 26 24
+f 31 4 10
+f 31 10 19
+f 33 9 1
+f 35 7 22
+f 35 24 7
+f 36 7 12
+f 36 12 4
+f 37 23 5
+f 40 15 25
+f 40 28 24
+f 40 25 28
+f 41 25 15
+f 41 1 25
+f 44 18 29
+f 44 5 30
+f 44 42 18
+f 44 30 42
+f 45 29 18
+f 45 18 42
+f 46 11 30
+f 46 38 11
+f 46 23 38
+f 46 30 5
+f 46 5 23
+f 47 31 19
+f 47 4 31
+f 47 19 32
+f 47 38 4
+f 48 30 11
+f 48 42 30
+f 49 32 19
+f 49 19 6
+f 49 6 27
+f 49 27 42
+f 49 48 32
+f 49 42 48
+f 50 33 21
+f 50 9 33
+f 50 43 9
+f 50 21 34
+f 50 34 43
+f 51 34 21
+f 51 21 33
+f 52 38 23
+f 53 22 7
+f 53 7 36
+f 53 52 22
+f 53 38 52
+f 54 37 13
+f 54 13 35
+f 54 35 22
+f 54 22 52
+f 54 52 23
+f 54 23 37
+f 55 37 34
+f 55 13 37
+f 55 51 13
+f 55 34 51
+f 56 37 5
+f 56 34 37
+f 56 43 34
+f 56 5 43
+f 57 11 38
+f 57 48 11
+f 57 32 48
+f 57 47 32
+f 57 38 47
+f 58 36 4
+f 58 4 38
+f 58 53 36
+f 58 38 53
+f 59 35 13
+f 59 51 39
+f 59 13 51
+f 59 39 24
+f 59 24 35
+f 60 15 40
+f 60 41 15
+f 60 40 24
+f 60 24 39
+f 61 33 1
+f 61 1 41
+f 61 51 33
+f 61 39 51
+f 61 60 39
+f 61 41 60
+f 62 42 27
+f 62 27 2
+f 62 45 42
+f 62 2 45
+f 63 43 29
+f 63 9 43
+f 63 29 45
+f 63 45 2
+f 63 2 9
+f 64 43 5
+f 64 29 43
+f 64 44 29
+f 64 5 44

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_30.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.22975198 -0.00757575 0.17332972
+v -0.22975198 -0.00757575 -0.22060967
+v -0.22863034 0.20569456 -0.22504087
+v -0.35096410 0.20454546 0.17332972
+v -0.35096410 -0.00757575 0.17332972
+v -0.22975198 0.20454546 0.17332972
+v -0.35096410 0.03787880 -0.22060967
+v -0.24490350 0.09848486 -0.23576119
+v -0.35047718 -0.00730402 -0.20114161
+v -0.34855334 0.20459732 -0.21263257
+v -0.22975198 0.09848486 -0.23576119
+v -0.32066107 -0.00757575 -0.22060967
+v -0.32066107 0.20454546 -0.23576119
+v -0.30550956 0.14393940 -0.23576119
+v -0.32066107 0.17424243 -0.23576119
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 4
+f 9 5 7
+f 10 7 4
+f 10 4 3
+f 11 3 2
+f 11 2 8
+f 12 8 2
+f 12 9 7
+f 12 2 5
+f 12 5 9
+f 13 7 10
+f 13 10 3
+f 13 11 8
+f 13 3 11
+f 14 12 7
+f 14 13 8
+f 14 8 12
+f 15 14 7
+f 15 7 13
+f 15 13 14

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_31.obj

@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.22917805 -0.00656288 0.29731681
+v -0.22975198 -0.00757575 0.17332972
+v -0.22487658 0.37907114 0.16806503
+v -0.24490350 0.38636365 0.18848124
+v -0.45702471 -0.00757575 0.18848124
+v -0.22975198 0.25000001 0.29454185
+v -0.27520653 -0.00757575 0.30969336
+v -0.44675839 0.05161958 0.16601557
+v -0.22975198 0.18939395 0.30969336
+v -0.22975198 0.31060607 0.26423881
+v -0.45058435 -0.00776468 0.16850111
+v -0.43103934 0.12532795 0.16463721
+v -0.38126713 0.15909092 0.24908730
+v -0.22975198 0.38636365 0.18848124
+v -0.36611562 -0.00757575 0.27939033
+v -0.45702471 0.05303031 0.18848124
+v -0.38126713 0.26515152 0.17332972
+v -0.30550956 0.17424243 0.29454185
+v -0.24490350 0.38636365 0.17332972
+v -0.42672168 0.17424243 0.17332972
+v -0.39641865 0.09848486 0.24908730
+v -0.32066107 0.26515152 0.24908730
+v -0.27520653 0.21969698 0.29454185
+v -0.29035804 0.11363637 0.30969336
+v -0.29035804 0.35606062 0.18848124
+v -0.29035804 0.35606062 0.17332972
+v -0.44187319 0.12878789 0.18848124
+v -0.36611562 0.06818183 0.27939033
+v -0.38126713 0.26515152 0.18848124
+v -0.33581259 0.21969698 0.26423881
+v -0.24490350 0.18939395 0.30969336
+v -0.27520653 0.26515152 0.27939033
+v -0.33581259 -0.00757575 0.29454185
+v -0.41157016 0.09848486 0.23393578
+v -0.35096410 0.12878789 0.27939033
+v -0.42672168 0.17424243 0.18848124
+v -0.38126713 0.21969698 0.21878427
+v -0.24490350 0.25000001 0.29454185
+v -0.26005501 0.17424243 0.30969336
+v -0.32066107 0.20454546 0.27939033
+v -0.26005501 0.35606062 0.21878427
+v -0.29035804 0.02272728 0.30969336
+v -0.33581259 0.08333334 0.29454185
+v -0.35096410 0.18939395 0.26423881
+v -0.24490350 0.31060607 0.26423881
+v -0.29035804 0.29545455 0.24908730
+f 1 2 3
+f 7 2 1
+f 9 1 3
+f 9 3 6
+f 9 7 1
+f 10 6 3
+f 11 2 7
+f 11 8 2
+f 12 3 2
+f 12 2 8
+f 14 10 3
+f 14 4 10
+f 15 5 11
+f 16 11 5
+f 16 8 11
+f 17 3 12
+f 19 14 3
+f 19 4 14
+f 20 12 8
+f 20 8 16
+f 20 17 12
+f 21 16 5
+f 21 5 15
+f 24 7 9
+f 25 4 19
+f 26 19 3
+f 26 3 17
+f 26 25 19
+f 26 17 25
+f 27 20 16
+f 28 13 21
+f 28 21 15
+f 29 17 20
+f 29 25 17
+f 29 22 25
+f 30 22 29
+f 31 9 6
+f 31 24 9
+f 32 22 30
+f 33 15 11
+f 33 11 7
+f 33 28 15
+f 34 21 13
+f 34 13 27
+f 34 27 16
+f 34 16 21
+f 35 13 28
+f 36 27 13
+f 36 29 20
+f 36 20 27
+f 37 30 29
+f 37 36 13
+f 37 29 36
+f 38 31 6
+f 38 23 31
+f 38 32 23
+f 38 6 10
+f 39 31 23
+f 39 23 18
+f 39 18 24
+f 39 24 31
+f 40 32 30
+f 40 18 23
+f 40 23 32
+f 40 35 18
+f 41 25 22
+f 41 4 25
+f 42 33 7
+f 42 7 24
+f 42 24 33
+f 43 33 24
+f 43 28 33
+f 43 35 28
+f 43 24 18
+f 43 18 35
+f 44 13 35
+f 44 37 13
+f 44 30 37
+f 44 40 30
+f 44 35 40
+f 45 38 10
+f 45 32 38
+f 45 10 4
+f 45 4 41
+f 46 45 41
+f 46 41 22
+f 46 22 32
+f 46 32 45

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_4.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.27024802 -0.00757575 0.14302669
+v 0.27024802 -0.00757575 -0.14485209
+v 0.27024802 0.23484849 0.14302669
+v 0.02782378 0.23484849 0.14302669
+v 0.02782378 0.09848486 -0.14485209
+v 0.02701692 0.10816495 0.14370025
+v 0.14903590 -0.00757575 0.12787518
+v 0.16418741 0.23484849 -0.20545816
+v 0.02782378 0.23484849 -0.20545816
+v 0.16418741 -0.00757575 -0.14485209
+v 0.16937095 -0.00695676 0.14262510
+v 0.27024802 0.23484849 -0.14485209
+v 0.14903590 0.09848486 -0.23576119
+v 0.14903590 -0.00757575 -0.06909452
+v 0.16482016 0.11397208 -0.23520379
+v 0.02838839 0.13938798 -0.19637905
+v 0.16863198 0.10364477 -0.23142394
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 6 5
+f 8 4 3
+f 9 6 4
+f 9 5 6
+f 9 4 8
+f 10 2 7
+f 11 7 1
+f 11 1 6
+f 11 6 7
+f 12 8 3
+f 12 3 2
+f 13 2 10
+f 14 10 7
+f 14 7 5
+f 14 5 10
+f 15 13 9
+f 15 9 8
+f 15 8 12
+f 15 12 2
+f 16 13 10
+f 16 10 5
+f 16 5 9
+f 16 9 13
+f 17 15 2
+f 17 2 13
+f 17 13 15

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_5.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.38437736 -0.26141130 0.10844080
+v 0.42176317 -0.14393938 -0.17515512
+v 0.39146014 -0.00757575 0.11272366
+v 0.27024802 -0.00757575 0.11272366
+v 0.27024802 -0.26515151 -0.26606422
+v 0.34600559 -0.00757575 -0.31151876
+v 0.27024802 -0.26515151 0.11272366
+v 0.39146014 -0.26515151 -0.14485209
+v 0.42176317 -0.00757575 -0.17515512
+v 0.39466591 -0.00560538 -0.24579286
+v 0.27024802 -0.00757575 -0.31151876
+v 0.36115711 -0.12878787 -0.28121573
+v 0.40661166 -0.06818181 -0.25091270
+v 0.27024802 -0.17424242 -0.29636725
+v 0.34600559 -0.23484848 -0.23576119
+v 0.37630863 -0.15909090 -0.25091270
+v 0.36115711 -0.08333332 -0.29636725
+v 0.28539953 -0.06818181 -0.31151876
+v 0.30055105 -0.21969696 -0.28121573
+v 0.33085408 -0.26515151 -0.22060967
+v 0.39146014 -0.14393938 -0.23576119
+v 0.36115711 -0.18939393 -0.25091270
+v 0.37630863 -0.12878787 -0.26606422
+v 0.31570256 -0.06818181 -0.31151876
+v 0.27024802 -0.05303029 -0.31151876
+v 0.28539953 -0.26515151 -0.26606422
+v 0.34600559 -0.11363635 -0.29636725
+v 0.40661166 -0.09848484 -0.23576119
+v 0.40661166 -0.18939393 -0.17515512
+v 0.34600559 -0.18939393 -0.26606422
+v 0.34600559 -0.02272726 -0.31151876
+v 0.28539953 -0.17424242 -0.29636725
+v 0.31570256 -0.23484848 -0.26606422
+v 0.33085408 -0.05303029 -0.31151876
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 9 3 2
+f 10 4 3
+f 10 3 9
+f 11 5 4
+f 11 10 6
+f 11 4 10
+f 13 10 9
+f 13 9 2
+f 13 6 10
+f 14 5 11
+f 18 11 6
+f 19 5 14
+f 20 15 8
+f 20 8 5
+f 22 16 8
+f 22 8 15
+f 22 12 16
+f 23 16 12
+f 23 13 16
+f 23 17 13
+f 23 12 17
+f 24 18 6
+f 24 14 18
+f 25 18 14
+f 25 14 11
+f 25 11 18
+f 26 5 19
+f 26 20 5
+f 27 17 12
+f 27 12 19
+f 28 13 2
+f 28 21 16
+f 28 16 13
+f 29 2 8
+f 29 8 16
+f 29 16 21
+f 29 28 2
+f 29 21 28
+f 30 19 12
+f 30 12 22
+f 30 22 15
+f 31 24 6
+f 31 6 13
+f 31 13 17
+f 32 19 14
+f 32 14 24
+f 32 27 19
+f 32 24 27
+f 33 26 19
+f 33 19 30
+f 33 30 15
+f 33 15 20
+f 33 20 26
+f 34 27 24
+f 34 24 31
+f 34 31 17
+f 34 17 27

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_6.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.23994499 0.23484849 0.14302669
+v 0.23994499 0.23484849 -0.14485209
+v 0.24394689 0.35999537 0.14765018
+v -0.23501375 0.36511868 0.18173713
+v -0.22975198 0.23484849 0.17332972
+v 0.02782378 0.35606062 -0.14485209
+v 0.02782378 0.23484849 0.17332972
+v 0.23994499 0.35606062 -0.14485209
+v -0.22975198 0.35606062 -0.11454906
+v 0.02782378 0.35606062 0.17332972
+v -0.22975198 0.23484849 -0.11454906
+v 0.02782378 0.23484849 -0.14485209
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
+f 9 4 6
+f 10 7 3
+f 10 3 4
+f 10 4 7
+f 11 5 4
+f 11 4 9
+f 11 2 5
+f 11 9 6
+f 12 11 6
+f 12 6 2
+f 12 2 11

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_7.obj

@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.27031980 -0.00754299 0.21612923
+v 0.27024802 -0.00757575 0.14302669
+v 0.23994499 0.38636365 0.15817821
+v 0.02766965 0.42922211 0.18615826
+v -0.01789666 0.09936526 0.17322051
+v 0.02782378 0.31060607 0.27939033
+v 0.27024802 0.23484849 0.14302669
+v 0.16418741 -0.00757575 0.17332972
+v 0.25509650 0.21969698 0.23393578
+v 0.08842984 0.41666668 0.21878427
+v -0.01763077 0.12878789 0.27939033
+v 0.02782378 0.41666668 0.14302669
+v 0.16937095 -0.00695676 0.14262510
+v 0.27024802 0.23484849 0.21878427
+v 0.17933893 0.43181819 0.15817821
+v 0.02782378 0.38636365 0.24908730
+v 0.13388438 0.37121213 0.23393578
+v 0.02782378 0.15909092 0.27939033
+v 0.20964196 -0.00757575 0.21878427
+v -0.02153229 0.10763250 0.22754647
+v 0.02701692 0.10816495 0.14370025
+v 0.20341715 0.40823717 0.13566876
+v 0.25509650 0.12878789 0.23393578
+v 0.08842984 0.43181819 0.20363275
+v 0.14892658 0.43158935 0.14285457
+v -0.02039962 0.32131409 0.26538211
+v 0.07327832 0.34090910 0.26423881
+v 0.22479347 0.31060607 0.21878427
+v 0.19449044 0.41666668 0.17332972
+v 0.05812681 0.38636365 0.24908730
+v 0.04297529 0.21969698 0.27939033
+v -0.00247925 0.12878789 0.27939033
+v 0.23518177 0.38018339 0.13668125
+v 0.20964196 0.41666668 0.15817821
+v 0.17511700 0.42380234 0.13677444
+v 0.01267226 0.32575758 0.27939033
+v -0.02478734 0.12213178 0.25456109
+v -0.01763077 0.32575758 0.17332972
+v 0.23994499 0.35606062 0.18848124
+v 0.19449044 0.31060607 0.23393578
+v 0.13388438 0.41666668 0.20363275
+v 0.16418741 0.43181819 0.17332972
+v 0.08842984 0.37121213 0.24908730
+v 0.04297529 0.26515152 0.27939033
+v 0.04297529 0.35606062 0.26423881
+v 0.20964196 0.38636365 0.18848124
+v 0.14903590 0.38636365 0.21878427
+f 7 1 2
+f 13 8 5
+f 13 2 8
+f 14 7 3
+f 14 1 7
+f 18 6 11
+f 19 11 8
+f 19 8 2
+f 19 2 1
+f 20 5 8
+f 20 8 11
+f 21 13 5
+f 21 5 12
+f 22 2 13
+f 22 13 21
+f 23 14 9
+f 23 1 14
+f 23 18 1
+f 24 4 16
+f 25 12 4
+f 25 24 15
+f 25 4 24
+f 26 16 4
+f 27 6 9
+f 28 9 14
+f 30 24 16
+f 30 10 24
+f 31 6 18
+f 31 23 9
+f 31 18 23
+f 32 18 11
+f 32 1 18
+f 32 19 1
+f 32 11 19
+f 33 7 2
+f 33 2 22
+f 33 3 7
+f 34 33 22
+f 34 3 33
+f 34 29 3
+f 34 15 29
+f 35 12 25
+f 35 22 21
+f 35 21 12
+f 35 25 15
+f 35 34 22
+f 35 15 34
+f 36 26 11
+f 36 11 6
+f 36 16 26
+f 36 6 27
+f 37 20 11
+f 37 11 26
+f 37 5 20
+f 38 26 4
+f 38 4 12
+f 38 12 5
+f 38 37 26
+f 38 5 37
+f 39 28 14
+f 39 14 3
+f 39 3 29
+f 40 27 9
+f 40 9 28
+f 40 28 39
+f 41 10 30
+f 41 24 10
+f 42 29 15
+f 42 15 24
+f 42 41 29
+f 42 24 41
+f 43 30 27
+f 43 41 30
+f 43 40 17
+f 43 27 40
+f 44 31 9
+f 44 9 6
+f 44 6 31
+f 45 36 27
+f 45 27 30
+f 45 30 16
+f 45 16 36
+f 46 39 29
+f 46 40 39
+f 46 17 40
+f 46 29 41
+f 47 46 41
+f 47 17 46
+f 47 43 17
+f 47 41 43

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_8.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24394689 0.35999537 0.14765018
+v 0.31570256 0.37121213 -0.20545816
+v 0.22479347 0.46212122 0.02181457
+v 0.02782378 0.50757577 0.06726912
+v 0.02782378 0.35606062 -0.14485209
+v 0.08842984 0.49242425 -0.20545816
+v 0.14903590 0.46212122 0.14302669
+v 0.23994499 0.43181819 0.09757215
+v 0.27979392 0.34716390 -0.24165354
+v 0.02782378 0.35606062 0.14302669
+v 0.22479347 0.44696971 -0.19030664
+v 0.10358135 0.50757577 -0.00848846
+v 0.02782378 0.47727274 -0.23576119
+v 0.31570256 0.37121213 -0.14485209
+v 0.23994499 0.40151516 0.14302669
+v 0.16418741 0.47727274 0.09757215
+v 0.02652425 0.47938360 -0.19913082
+v 0.02782378 0.44696971 0.18848124
+v 0.30453451 0.34872602 -0.20139928
+v 0.27024802 0.41666668 -0.17515512
+v 0.19449044 0.41666668 -0.26606422
+v 0.02782378 0.50757577 -0.05394300
+v 0.13388438 0.49242425 -0.16000361
+v 0.23994499 0.44696971 0.05211760
+v 0.20964196 0.43181819 0.14302669
+v 0.23994499 0.41666668 0.12787518
+v 0.16418741 0.49242425 0.02181457
+v 0.08842984 0.49242425 0.11272366
+v 0.02830169 0.39848348 -0.27225780
+v 0.02782378 0.46212122 0.17332972
+v 0.02797437 0.42220285 0.19380846
+v 0.31120769 0.35210400 -0.14682742
+v 0.29206346 0.34845848 -0.22985450
+v 0.22479347 0.46212122 -0.03879149
+v 0.25509650 0.41666668 -0.22060967
+v 0.13388438 0.47727274 -0.22060967
+v 0.28539953 0.37121213 -0.25091270
+v 0.07327832 0.50757577 -0.03879149
+v 0.20964196 0.44696971 0.11272366
+v 0.19449044 0.47727274 0.03696609
+v 0.13388438 0.43181819 0.18848124
+v 0.22479347 0.43181819 0.12787518
+v 0.16418741 0.49242425 0.00666306
+v 0.13388438 0.47727274 0.12787518
+v 0.14903590 0.49242425 0.06726912
+v 0.02782378 0.44696971 -0.26606422
+v 0.14898879 0.35589578 -0.28050931
+v 0.02782378 0.49242425 0.11272366
+v 0.16418741 0.47727274 -0.19030664
+v 0.30055105 0.38636365 -0.20545816
+v 0.22479347 0.41666668 -0.25091270
+v 0.08842984 0.47727274 -0.23576119
+v 0.30055105 0.37121213 -0.23576119
+v 0.04297529 0.50757577 -0.05394300
+v 0.11873287 0.49242425 -0.19030664
+v 0.08842984 0.44696971 0.18848124
+v 0.12966395 0.40847940 0.17927173
+v 0.10358135 0.50757577 0.03696609
+v 0.13388438 0.49242425 0.08242063
+v 0.22148485 0.35101748 -0.26974475
+v 0.13388438 0.41666668 -0.28121573
+v 0.19449044 0.47727274 -0.03879149
+v 0.16418741 0.44696971 -0.25091270
+v 0.22479347 0.40151516 -0.26606422
+f 10 5 9
+f 15 1 14
+f 17 5 10
+f 18 17 10
+f 19 10 9
+f 19 1 10
+f 22 4 12
+f 22 6 13
+f 22 17 4
+f 22 13 17
+f 24 14 3
+f 24 8 14
+f 26 15 14
+f 26 14 8
+f 29 5 17
+f 30 17 18
+f 31 18 10
+f 31 10 1
+f 32 14 1
+f 32 1 19
+f 32 19 2
+f 32 2 14
+f 33 19 9
+f 33 2 19
+f 34 20 11
+f 38 22 12
+f 39 24 16
+f 39 8 24
+f 40 24 3
+f 40 16 24
+f 40 3 34
+f 41 15 25
+f 41 1 15
+f 41 25 7
+f 42 26 8
+f 42 25 15
+f 42 15 26
+f 42 8 39
+f 42 39 16
+f 42 16 25
+f 43 23 12
+f 43 12 27
+f 43 27 40
+f 44 25 16
+f 44 7 25
+f 45 40 27
+f 45 16 40
+f 46 29 17
+f 46 17 13
+f 47 5 29
+f 48 30 28
+f 48 28 4
+f 48 4 17
+f 48 17 30
+f 49 11 35
+f 50 20 34
+f 50 34 3
+f 50 14 2
+f 50 3 14
+f 50 35 11
+f 50 11 20
+f 51 49 35
+f 52 13 6
+f 52 6 36
+f 52 46 13
+f 53 33 9
+f 53 9 37
+f 53 2 33
+f 53 50 2
+f 53 35 50
+f 53 51 35
+f 53 37 51
+f 54 38 6
+f 54 6 22
+f 54 22 38
+f 55 6 38
+f 55 23 49
+f 55 49 36
+f 55 36 6
+f 55 38 12
+f 55 12 23
+f 56 18 31
+f 56 31 41
+f 56 30 18
+f 56 41 7
+f 56 7 44
+f 56 44 28
+f 56 28 30
+f 57 41 31
+f 57 31 1
+f 57 1 41
+f 58 45 27
+f 58 27 12
+f 58 12 4
+f 58 4 28
+f 59 28 44
+f 59 44 16
+f 59 16 45
+f 59 58 28
+f 59 45 58
+f 60 9 5
+f 60 5 47
+f 60 37 9
+f 61 60 47
+f 61 46 52
+f 61 47 29
+f 61 29 46
+f 62 34 11
+f 62 11 49
+f 62 43 40
+f 62 40 34
+f 62 49 23
+f 62 23 43
+f 63 36 49
+f 63 49 51
+f 63 52 36
+f 63 61 52
+f 63 21 61
+f 64 51 37
+f 64 63 51
+f 64 21 63
+f 64 61 21
+f 64 37 60
+f 64 60 61

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/collision/model_normalized_collision_9.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22975198 0.20454546 0.17332972
+v -0.22863034 0.20569456 -0.22504087
+v -0.22388161 0.43467042 0.06418819
+v -0.24490350 0.44696971 0.06726912
+v -0.45702471 0.20454546 -0.02363997
+v -0.24490350 0.41666668 -0.20545816
+v -0.22487658 0.37907114 0.16806503
+v -0.36152483 0.20410118 -0.20821224
+v -0.22406639 0.40848480 -0.19934800
+v -0.38126713 0.34090910 -0.00848846
+v -0.24490350 0.41666668 0.14302669
+v -0.38600822 0.20765195 0.17885882
+v -0.22299275 0.40535046 0.13615265
+v -0.32066107 0.20454546 -0.23576119
+v -0.45702471 0.20454546 0.09757215
+v -0.38126713 0.29545455 -0.19030664
+v -0.22975198 0.35606062 -0.25091270
+v -0.22975198 0.44696971 -0.03879149
+v -0.38126713 0.34090910 0.08242063
+v -0.26005501 0.38636365 0.17332972
+v -0.22369630 0.41939601 -0.17383072
+v -0.24490350 0.43181819 0.11272366
+v -0.42672168 0.28030304 0.08242063
+v -0.42672168 0.20454546 -0.17515512
+v -0.32066107 0.38636365 -0.14485209
+v -0.42672168 0.25000001 -0.14485209
+v -0.22539146 0.38107250 -0.22522995
+v -0.22975198 0.28030304 -0.25091270
+v -0.27520653 0.37121213 -0.23576119
+v -0.32066107 0.40151516 -0.00848846
+v -0.33581259 0.35606062 0.14302669
+v -0.24490350 0.43181819 -0.17515512
+v -0.22430198 0.41965438 0.10866694
+v -0.45702471 0.21969698 0.09757215
+v -0.39641865 0.32575758 0.00666306
+v -0.44187319 0.20454546 -0.14485209
+v -0.36611562 0.26515152 -0.22060967
+v -0.39641865 0.29545455 -0.16000361
+v -0.45702471 0.21969698 -0.02363997
+v -0.42672168 0.21969698 -0.17515512
+v -0.24490350 0.28030304 -0.25091270
+v -0.26005501 0.38636365 -0.23576119
+v -0.30550956 0.38636365 -0.19030664
+v -0.33581259 0.38636365 0.08242063
+v -0.33581259 0.38636365 -0.02363997
+v -0.26005501 0.40151516 0.15817821
+v -0.36611562 0.32575758 0.14302669
+v -0.27520653 0.43181819 -0.02363997
+v -0.39641865 0.32575758 0.06726912
+v -0.33581259 0.32575758 -0.22060967
+v -0.32066107 0.29545455 -0.23576119
+v -0.42672168 0.28030304 -0.00848846
+v -0.35096410 0.35606062 -0.14485209
+v -0.44187319 0.21969698 -0.14485209
+v -0.39641865 0.26515152 -0.19030664
+v -0.24490350 0.35606062 -0.25091270
+v -0.27520653 0.40151516 -0.20545816
+v -0.29035804 0.40151516 -0.17515512
+v -0.35096410 0.34090910 -0.19030664
+v -0.27520653 0.43181819 0.06726912
+v -0.30550956 0.35606062 0.17332972
+v -0.32066107 0.38636365 0.11272366
+v -0.41157016 0.29545455 0.09757215
+v -0.38126713 0.28030304 0.17332972
+f 13 7 1
+f 13 1 2
+f 13 11 7
+f 14 2 1
+f 14 1 8
+f 15 8 1
+f 15 5 8
+f 15 1 12
+f 17 6 9
+f 18 4 3
+f 20 12 1
+f 20 1 7
+f 20 7 11
+f 21 3 13
+f 21 18 3
+f 21 13 2
+f 21 2 9
+f 22 3 4
+f 22 11 13
+f 24 14 8
+f 27 17 9
+f 27 9 2
+f 28 2 14
+f 28 27 2
+f 28 17 27
+f 30 10 19
+f 32 21 9
+f 32 9 6
+f 32 18 21
+f 33 22 13
+f 33 13 3
+f 33 3 22
+f 34 5 15
+f 34 15 12
+f 35 19 10
+f 36 24 8
+f 36 8 5
+f 37 14 24
+f 38 16 26
+f 39 34 23
+f 39 5 34
+f 39 36 5
+f 40 26 16
+f 40 24 36
+f 40 37 24
+f 41 28 14
+f 41 17 28
+f 42 6 17
+f 43 42 29
+f 44 30 19
+f 44 19 31
+f 45 30 25
+f 45 10 30
+f 46 20 11
+f 46 11 22
+f 47 31 19
+f 48 32 25
+f 48 25 30
+f 48 4 18
+f 48 18 32
+f 49 35 23
+f 49 23 19
+f 49 19 35
+f 50 37 16
+f 51 14 37
+f 51 41 14
+f 51 50 29
+f 51 37 50
+f 52 38 26
+f 52 35 38
+f 52 26 39
+f 52 39 23
+f 52 23 35
+f 53 38 35
+f 53 35 10
+f 53 25 43
+f 53 45 25
+f 53 10 45
+f 54 39 26
+f 54 36 39
+f 54 40 36
+f 54 26 40
+f 55 40 16
+f 55 16 37
+f 55 37 40
+f 56 42 17
+f 56 29 42
+f 56 51 29
+f 56 17 41
+f 56 41 51
+f 57 6 42
+f 57 42 43
+f 57 43 32
+f 57 32 6
+f 58 43 25
+f 58 25 32
+f 58 32 43
+f 59 16 38
+f 59 53 43
+f 59 38 53
+f 59 50 16
+f 59 43 29
+f 59 29 50
+f 60 30 44
+f 60 48 30
+f 60 4 48
+f 60 22 4
+f 61 46 31
+f 61 20 46
+f 61 31 47
+f 61 12 20
+f 62 44 31
+f 62 31 46
+f 62 46 22
+f 62 60 44
+f 62 22 60
+f 63 47 19
+f 63 19 23
+f 63 23 34
+f 64 34 12
+f 64 61 47
+f 64 12 61
+f 64 63 34
+f 64 47 63

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_0/model.xml

@@ -0,0 +1,86 @@
+<mujoco model="bagel_0">
+  <asset>
+    <texture file="/home/abhiram03/Desktop/mimicgen/robosuite-kitchen/robosuite/models/assets/textures/ceramic.png" name="tex-bagel_0" type="2d"/>
+    <material name="bagel_0" reflectance="0.5" texrepeat="1 1" texture="tex-bagel_0" texuniform="false"/>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="1a6b053c492d_bagel__3d_asset_0_g_texture_kd" file="visual/1a6b053c492d_bagel__3d_asset_0_g_texture_kd.png"/>
+    <material name="Material_0" texture="1a6b053c492d_bagel__3d_asset_0_g_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="-0.00019834000000000128 7.999999995789152e-10 -7.301599999999867e-05" size="0.03980165999999999 0.040606061599999986 0.024848484799999997"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_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/bagel/bagel_1/collision/model_normalized_collision_0.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.36246208 -0.23920269 0.10860007
+v -0.35606063 -0.23281999 -0.06975217
+v -0.35188902 0.20367314 0.13057549
+v -0.46212124 0.20657397 0.06661148
+v -0.50757579 -0.09645634 0.00600541
+v -0.37121214 0.20657397 -0.14550974
+v -0.43181821 -0.06615331 0.14236905
+v -0.35243114 -0.12528205 0.14429833
+v -0.46212124 -0.23281999 -0.00914610
+v -0.35149208 0.20360769 -0.13348659
+v -0.37121214 0.20657397 0.14236905
+v -0.47727275 0.14596791 -0.08490368
+v -0.49242427 0.08536184 0.08176299
+v -0.37121214 -0.12675938 0.15752057
+v -0.46212124 -0.21766847 0.06661148
+v -0.35606063 0.14596791 -0.16066126
+v -0.44696972 0.20657397 -0.08490368
+v -0.47727275 -0.03585028 -0.11520671
+v -0.50757579 0.08536184 0.00600541
+v -0.43181821 0.16111942 0.12721754
+v -0.40151518 0.03990730 0.15752057
+v -0.37121214 0.13081639 0.15752057
+v -0.47727275 -0.20251695 0.03630844
+v -0.49242427 -0.08130483 0.08176299
+v -0.44696972 -0.23281999 0.06661148
+v -0.44696972 -0.20251695 0.09691451
+v -0.35452530 0.08476917 -0.14891398
+v -0.46212124 0.19142245 -0.08490368
+v -0.49242427 -0.08130483 -0.08490368
+v -0.44696972 0.11566487 -0.13035823
+v -0.50757579 -0.06615331 0.05145996
+v -0.49242427 0.14596791 0.05145996
+v -0.41666669 0.19142245 0.12721754
+v -0.46212124 0.16111942 0.09691451
+v -0.44696972 0.11566487 0.12721754
+v -0.40151518 -0.05100180 0.15752057
+v -0.35277599 0.12907978 0.14325207
+v -0.41666669 0.13081639 0.14236905
+v -0.47727275 -0.20251695 -0.00914610
+v -0.46212124 -0.23281999 0.03630844
+v -0.49242427 -0.12675938 0.06661148
+v -0.41666669 -0.12675938 0.14236905
+v -0.46212124 -0.12675938 0.11206602
+v -0.41666669 -0.23281999 0.09691451
+v -0.43181821 -0.08130483 -0.14550974
+v -0.46212124 0.20657397 0.00600541
+v -0.41666669 0.19142245 -0.13035823
+v -0.49242427 0.07021033 -0.08490368
+v -0.46212124 0.16111942 -0.10005520
+v -0.50757579 0.08536184 0.05145996
+v -0.49242427 0.14596791 0.00600541
+v -0.40151518 0.20657397 0.12721754
+v -0.49242427 0.13081639 0.06661148
+v -0.46212124 0.19142245 0.08176299
+v -0.43181821 0.07021033 0.14236905
+v -0.47727275 0.11566487 0.09691451
+v -0.38636366 0.19142245 0.14236905
+v -0.38636366 0.10051336 0.15752057
+v -0.49242427 -0.15706241 0.03630844
+v -0.44696972 -0.21766847 -0.06975217
+v -0.49242427 -0.15706241 0.00600541
+v -0.38636366 -0.11160786 0.15752057
+v -0.47727275 -0.11160786 0.09691451
+v -0.44696972 -0.11160786 0.12721754
+f 8 1 2
+f 9 2 1
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 11 6 4
+f 11 3 6
+f 14 1 8
+f 16 6 10
+f 17 4 6
+f 22 14 8
+f 22 3 11
+f 22 21 14
+f 24 7 13
+f 26 15 25
+f 27 16 10
+f 27 10 2
+f 29 5 19
+f 31 19 5
+f 31 24 13
+f 35 13 7
+f 36 21 7
+f 36 14 21
+f 37 22 8
+f 37 8 3
+f 37 3 22
+f 38 20 35
+f 39 9 23
+f 40 23 9
+f 40 15 23
+f 40 25 15
+f 40 9 1
+f 40 1 25
+f 41 23 15
+f 41 15 26
+f 41 24 31
+f 44 26 25
+f 44 25 1
+f 44 42 26
+f 44 1 14
+f 44 14 42
+f 45 16 27
+f 45 30 16
+f 45 18 30
+f 45 27 2
+f 45 29 18
+f 46 4 17
+f 46 17 28
+f 46 32 4
+f 47 28 17
+f 47 17 6
+f 47 6 16
+f 47 16 30
+f 48 29 19
+f 48 19 12
+f 48 18 29
+f 48 30 18
+f 48 12 30
+f 49 30 12
+f 49 12 28
+f 49 47 30
+f 49 28 47
+f 50 31 13
+f 50 19 31
+f 50 32 19
+f 51 28 12
+f 51 12 19
+f 51 19 32
+f 51 46 28
+f 51 32 46
+f 52 33 11
+f 52 11 4
+f 52 4 33
+f 53 50 13
+f 53 32 50
+f 53 4 32
+f 54 33 4
+f 54 4 53
+f 54 34 20
+f 54 20 33
+f 55 35 7
+f 55 7 21
+f 55 38 35
+f 56 13 35
+f 56 53 13
+f 56 54 53
+f 56 34 54
+f 56 35 20
+f 56 20 34
+f 57 22 11
+f 57 11 33
+f 57 33 20
+f 57 20 38
+f 58 21 22
+f 58 57 38
+f 58 22 57
+f 58 55 21
+f 58 38 55
+f 59 39 23
+f 59 23 41
+f 59 41 31
+f 59 31 5
+f 60 39 29
+f 60 9 39
+f 60 29 45
+f 60 45 2
+f 60 2 9
+f 61 5 29
+f 61 29 39
+f 61 59 5
+f 61 39 59
+f 62 42 14
+f 62 14 36
+f 62 36 7
+f 62 7 42
+f 63 24 41
+f 63 41 26
+f 63 26 43
+f 63 7 24
+f 64 42 7
+f 64 63 43
+f 64 7 63
+f 64 43 26
+f 64 26 42

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_1.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.39604641 -0.21480283 0.08968766
+v 0.40151515 -0.21766847 -0.14550974
+v 0.40151515 0.19142245 0.00600541
+v 0.26515151 0.19142245 0.00600541
+v 0.26517254 -0.21756470 -0.15255396
+v 0.40151515 0.08536184 0.09691451
+v 0.26515151 -0.21766847 0.09691451
+v 0.40151515 0.19142245 -0.16066126
+v 0.26515151 0.08536184 0.09691451
+v 0.38636364 -0.20251695 -0.16066126
+v 0.26596325 0.19187744 -0.15096365
+v 0.40151515 -0.17221392 -0.16066126
+v 0.37121212 -0.21766847 -0.16066126
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 4 5
+f 7 1 6
+f 8 3 2
+f 9 7 6
+f 9 6 4
+f 9 4 7
+f 11 5 4
+f 11 4 3
+f 11 3 8
+f 12 10 8
+f 12 8 2
+f 12 2 10
+f 13 10 2
+f 13 8 10
+f 13 11 8
+f 13 5 11
+f 13 7 5
+f 13 2 7

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_10.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.14393938 0.35808912 0.00600541
+v 0.14401516 0.35785711 -0.15126317
+v 0.14393938 0.47930125 -0.08490368
+v -0.08333335 0.49445276 0.02115693
+v -0.23141312 0.35288583 -0.12106072
+v 0.06818181 0.44899822 0.09691451
+v -0.20057225 0.35227468 -0.13275391
+v -0.14393941 0.46414973 -0.10005520
+v 0.13991522 0.46644483 0.00025000
+v -0.21969699 0.35808912 0.12721754
+v -0.00757577 0.49445276 -0.08490368
+v -0.18939396 0.38839216 -0.14550974
+v 0.08333332 0.43384670 0.09691451
+v 0.08333332 0.49445276 0.02115693
+v -0.23355012 0.35487965 0.10709853
+v -0.09848487 0.44899822 0.09691451
+v -0.11363638 0.47930125 -0.08490368
+v 0.05303029 0.44899822 -0.14550974
+v -0.20454547 0.37324064 -0.14550974
+v 0.08333332 0.47930125 0.05145996
+v -0.15844922 0.35618134 0.12221803
+v -0.09848487 0.40354367 0.12721754
+v 0.09848484 0.49445276 0.00600541
+v -0.23484851 0.43384670 0.05145996
+v -0.02272729 0.47930125 -0.11520671
+v -0.08333335 0.49445276 -0.00914610
+v 0.14393938 0.43384670 -0.14550974
+v -0.06818183 0.40354367 -0.16066126
+v -0.23484851 0.41869519 -0.10005520
+v -0.12878790 0.35808912 -0.16066126
+v -0.05303032 0.47930125 0.06661148
+v 0.08196015 0.41501678 0.09120282
+v 0.02272726 0.43384670 0.11206602
+v -0.21969699 0.37324064 0.12721754
+v 0.05303029 0.49445276 -0.08490368
+v -0.18939396 0.46414973 0.00600541
+v -0.08333335 0.47930125 -0.10005520
+v 0.08333332 0.47930125 -0.11520671
+v -0.08333335 0.43384670 -0.14550974
+v 0.14393938 0.40354367 -0.16066126
+v -0.14393941 0.43384670 -0.13035823
+v -0.23484851 0.40354367 -0.11520671
+v -0.12878790 0.37324064 -0.16066126
+v 0.00757574 0.49445276 0.03630844
+v 0.05303029 0.46414973 0.08176299
+v -0.18939396 0.44899822 0.06661148
+v 0.00728994 0.40134234 0.10800550
+v -0.08333335 0.43384670 0.11206602
+v -0.23484851 0.38839216 0.11206602
+v 0.09848484 0.49445276 -0.02429762
+v -0.15909093 0.46414973 -0.08490368
+v -0.21969699 0.44899822 0.00600541
+v -0.14393941 0.47930125 -0.00914610
+v -0.09848487 0.46414973 -0.11520671
+v 0.09848484 0.46414973 -0.13035823
+v 0.12878787 0.47930125 -0.10005520
+v -0.03787880 0.46414973 -0.13035823
+v 0.02272726 0.41869519 -0.16066126
+v -0.12878790 0.41869519 -0.14550974
+v 0.06818181 0.41869519 -0.16066126
+v -0.23484851 0.37324064 -0.13035823
+v -0.20454547 0.40354367 -0.13035823
+v -0.03787880 0.49445276 0.03630844
+v -0.02272729 0.47930125 0.06661148
+f 1 2 3
+f 7 2 1
+f 9 1 3
+f 13 1 9
+f 14 11 4
+f 15 7 1
+f 15 5 7
+f 19 7 5
+f 20 13 9
+f 20 6 13
+f 21 15 1
+f 21 10 15
+f 22 10 21
+f 23 9 3
+f 23 11 14
+f 23 20 9
+f 23 14 20
+f 26 4 11
+f 26 11 17
+f 27 3 2
+f 30 2 7
+f 30 7 19
+f 32 1 13
+f 33 13 6
+f 34 10 22
+f 35 11 23
+f 35 25 11
+f 37 17 11
+f 37 11 25
+f 37 8 17
+f 38 25 35
+f 40 27 2
+f 40 30 28
+f 40 2 30
+f 41 29 8
+f 42 24 29
+f 43 30 19
+f 43 19 12
+f 43 28 30
+f 44 20 14
+f 44 14 4
+f 45 6 20
+f 45 33 6
+f 46 16 31
+f 46 31 4
+f 46 36 24
+f 46 4 36
+f 47 21 1
+f 47 1 32
+f 47 32 13
+f 47 13 33
+f 47 33 22
+f 47 22 21
+f 48 22 33
+f 48 34 22
+f 48 16 34
+f 48 33 45
+f 48 45 31
+f 48 31 16
+f 49 15 10
+f 49 10 34
+f 49 24 42
+f 49 46 24
+f 49 34 16
+f 49 16 46
+f 50 35 23
+f 50 23 3
+f 50 3 35
+f 51 17 8
+f 51 8 29
+f 52 29 24
+f 52 24 36
+f 52 51 29
+f 52 36 51
+f 53 26 17
+f 53 51 36
+f 53 17 51
+f 53 36 4
+f 53 4 26
+f 54 37 25
+f 54 8 37
+f 54 41 8
+f 55 27 18
+f 55 25 38
+f 56 38 35
+f 56 35 3
+f 56 55 38
+f 56 3 27
+f 56 27 55
+f 57 18 39
+f 57 55 18
+f 57 25 55
+f 57 54 25
+f 57 39 41
+f 57 41 54
+f 58 39 18
+f 58 28 39
+f 58 40 28
+f 59 39 28
+f 59 41 39
+f 59 12 41
+f 59 43 12
+f 59 28 43
+f 60 18 27
+f 60 27 40
+f 60 58 18
+f 60 40 58
+f 61 19 5
+f 61 5 15
+f 61 49 42
+f 61 15 49
+f 61 12 19
+f 62 41 12
+f 62 61 42
+f 62 12 61
+f 62 42 29
+f 62 29 41
+f 63 44 4
+f 63 4 31
+f 63 31 44
+f 64 44 31
+f 64 31 45
+f 64 45 20
+f 64 20 44

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_11.obj

@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.14393938 -0.38433514 0.14236905
+v 0.14393938 -0.38433514 -0.16066126
+v 0.15359203 -0.11680960 0.05059130
+v -0.10315454 -0.15589647 0.06397272
+v -0.09848487 -0.38433514 -0.16066126
+v 0.11363635 -0.18736544 0.14236905
+v -0.09848487 -0.36918363 0.14236905
+v 0.12878787 -0.17221392 -0.14550974
+v 0.14547563 -0.23547751 0.14281670
+v 0.12878787 -0.12675938 0.08176299
+v -0.03787880 -0.38433514 0.14236905
+v -0.10495160 -0.15479799 -0.03642671
+v -0.09848487 -0.21766847 0.14236905
+v 0.15229479 -0.13531463 -0.08033045
+v 0.14393938 -0.20251695 -0.16066126
+v 0.14393938 -0.33888059 0.15752057
+v 0.12878787 -0.18736544 0.14236905
+v 0.12878787 -0.11160786 0.05145996
+v -0.09709487 -0.38017207 0.11728620
+v -0.10274452 -0.16676973 0.08908050
+v -0.09898183 -0.26439690 -0.14959924
+v 0.12878787 -0.14191089 -0.11520671
+v 0.15161878 -0.13529354 0.07732486
+v 0.06818181 -0.33888059 0.15752057
+v 0.11363635 -0.23281999 0.15752057
+v 0.11363635 -0.11160786 0.00600541
+v -0.09848487 -0.18736544 0.12721754
+v 0.12878787 -0.20251695 -0.16066126
+v -0.10102122 -0.16287796 -0.06858905
+v 0.14393938 -0.17221392 -0.14550974
+v 0.14859564 -0.14858977 0.09096874
+v 0.03787878 -0.29342605 0.15752057
+v 0.12878787 -0.12675938 -0.08490368
+v 0.12878787 -0.11160786 -0.02429762
+v 0.09848484 -0.15706241 0.11206602
+v -0.03787880 -0.21766847 -0.14550974
+v 0.14393938 -0.14191089 -0.11520671
+v 0.03787878 -0.32372908 0.15752057
+v 0.05303029 -0.26312302 0.15752057
+v 0.15074912 -0.11600756 -0.02013010
+v 0.11363635 -0.11160786 -0.00914610
+v 0.09848484 -0.17221392 0.12721754
+f 1 2 3
+f 5 2 1
+f 11 5 1
+f 12 5 7
+f 14 3 2
+f 15 2 5
+f 15 14 2
+f 16 1 3
+f 16 11 1
+f 18 10 3
+f 19 11 7
+f 19 7 5
+f 19 5 11
+f 20 12 7
+f 20 4 12
+f 20 7 13
+f 20 18 4
+f 20 10 18
+f 21 5 12
+f 23 16 3
+f 23 9 16
+f 23 3 10
+f 23 10 17
+f 24 7 11
+f 24 11 16
+f 25 16 9
+f 25 9 17
+f 25 17 6
+f 25 24 16
+f 25 6 13
+f 26 12 4
+f 26 4 18
+f 27 20 13
+f 27 13 6
+f 27 10 20
+f 28 15 5
+f 28 5 21
+f 28 8 15
+f 29 21 12
+f 30 15 8
+f 30 8 22
+f 30 14 15
+f 31 23 17
+f 31 17 9
+f 31 9 23
+f 32 13 7
+f 32 24 25
+f 33 29 12
+f 33 22 29
+f 34 26 18
+f 34 33 12
+f 35 10 27
+f 35 17 10
+f 35 6 17
+f 36 28 21
+f 36 8 28
+f 36 21 29
+f 36 29 22
+f 36 22 8
+f 37 30 22
+f 37 14 30
+f 37 22 33
+f 38 32 7
+f 38 7 24
+f 38 24 32
+f 39 32 25
+f 39 25 13
+f 39 13 32
+f 40 34 18
+f 40 18 3
+f 40 3 14
+f 40 33 34
+f 40 37 33
+f 40 14 37
+f 41 34 12
+f 41 12 26
+f 41 26 34
+f 42 35 27
+f 42 27 6
+f 42 6 35

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_12.obj

@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.23480600 -0.23237651 0.13832977
+v -0.23484851 -0.23281999 0.00600541
+v -0.23484851 -0.12675938 0.00600541
+v -0.43181821 -0.12675938 0.12721754
+v -0.40151518 -0.23281999 0.11206602
+v -0.46081411 -0.17159666 0.05074352
+v -0.25000002 -0.12675938 0.15752057
+v -0.35606063 -0.23281999 0.14236905
+v -0.35606063 -0.12675938 0.00600541
+v -0.46212124 -0.18736544 0.08176299
+v -0.35606063 -0.23281999 0.00600541
+v -0.23562387 -0.12687863 0.13828033
+v -0.43817414 -0.12455431 0.10136161
+v -0.26515154 -0.20251695 0.15752057
+v -0.41666669 -0.18736544 0.12721754
+v -0.45575283 -0.18454450 0.04874718
+v -0.23484851 -0.12675938 0.09691451
+v -0.37121214 -0.12675938 0.15752057
+v -0.44475993 -0.12604571 0.09474001
+v -0.25000002 -0.18736544 0.15752057
+v -0.38636366 -0.23281999 0.12721754
+v -0.43181821 -0.15706241 0.12721754
+v -0.39847415 -0.22998367 0.09188275
+v -0.34090911 -0.18736544 0.15752057
+v -0.46212124 -0.17221392 0.08176299
+v -0.41666669 -0.21766847 0.11206602
+v -0.44696972 -0.15706241 0.11206602
+v -0.38636366 -0.18736544 0.14236905
+v -0.31060608 -0.20251695 0.15752057
+v -0.37121214 -0.14191089 0.15752057
+v -0.40151518 -0.15706241 0.14236905
+f 1 2 3
+f 8 5 2
+f 8 2 1
+f 9 3 2
+f 11 2 5
+f 11 9 2
+f 11 6 9
+f 12 7 1
+f 13 3 9
+f 14 8 1
+f 16 10 6
+f 16 6 11
+f 16 5 10
+f 17 12 1
+f 17 1 3
+f 17 3 13
+f 17 13 7
+f 17 7 12
+f 18 13 4
+f 18 7 13
+f 18 14 7
+f 19 13 9
+f 19 9 6
+f 19 4 13
+f 20 14 1
+f 20 1 7
+f 20 7 14
+f 21 5 8
+f 21 8 15
+f 22 10 15
+f 22 18 4
+f 23 16 11
+f 23 11 5
+f 23 5 16
+f 24 14 18
+f 25 19 6
+f 25 6 10
+f 26 21 15
+f 26 15 10
+f 26 10 5
+f 26 5 21
+f 27 22 4
+f 27 10 22
+f 27 25 10
+f 27 4 19
+f 27 19 25
+f 28 22 15
+f 28 15 8
+f 28 8 24
+f 29 24 8
+f 29 8 14
+f 29 14 24
+f 30 18 22
+f 30 28 24
+f 30 24 18
+f 31 30 22
+f 31 22 28
+f 31 28 30

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_13.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.09848487 -0.38433514 -0.06975217
+v -0.03798802 -0.26557866 -0.14842999
+v -0.03846126 -0.17643533 -0.06940737
+v -0.15909093 -0.14191089 -0.06975217
+v -0.15909093 -0.36918363 -0.16066126
+v -0.14393941 -0.14191089 -0.13035823
+v -0.12148744 -0.15324712 -0.06802810
+v -0.03787880 -0.26312302 -0.06975217
+v -0.09848487 -0.38433514 -0.16066126
+v -0.15909093 -0.38433514 -0.06975217
+v -0.03787880 -0.21766847 -0.14550974
+v -0.06818183 -0.15706241 -0.06975217
+v -0.16813322 -0.14807223 -0.12123588
+v -0.14393941 -0.38433514 -0.16066126
+v -0.15909093 -0.20251695 -0.16066126
+v -0.03787880 -0.24797150 -0.16066126
+v -0.03787880 -0.17221392 -0.10005520
+v -0.11363638 -0.14191089 -0.10005520
+v -0.15687693 -0.37907612 -0.13651089
+v -0.14393941 -0.20251695 -0.16066126
+v -0.06818183 -0.15706241 -0.08490368
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 2 1
+f 10 7 4
+f 10 1 7
+f 10 9 1
+f 12 7 3
+f 12 4 7
+f 13 4 6
+f 13 10 4
+f 13 5 10
+f 14 5 9
+f 14 9 10
+f 15 13 6
+f 15 5 13
+f 15 9 5
+f 16 11 8
+f 16 8 2
+f 16 2 9
+f 16 9 15
+f 16 6 11
+f 17 3 8
+f 17 8 11
+f 17 12 3
+f 17 11 6
+f 18 6 4
+f 18 4 12
+f 18 17 6
+f 19 14 10
+f 19 10 5
+f 19 5 14
+f 20 16 15
+f 20 15 6
+f 20 6 16
+f 21 18 12
+f 21 12 17
+f 21 17 18

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_14.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.43181818 -0.21766847 0.08176299
+v 0.49242424 -0.11160786 -0.08490368
+v 0.50757576 0.03990730 0.03630844
+v 0.40686895 0.19381796 0.08785381
+v 0.39773360 -0.12532794 -0.14670534
+v 0.43181818 0.19142245 -0.14550974
+v 0.43181818 0.08536184 0.12721754
+v 0.49242424 -0.14191089 0.00600541
+v 0.41666667 -0.21766847 -0.13035823
+v 0.39463255 -0.18413499 0.10340693
+v 0.49242424 0.10051336 -0.11520671
+v 0.39942902 0.19031473 -0.14120725
+v 0.46212121 -0.11160786 0.09691451
+v 0.44696970 0.19142245 0.08176299
+v 0.50757576 -0.06615331 -0.02429762
+v 0.46212121 -0.21766847 -0.02429762
+v 0.39890315 0.08531645 0.12043048
+v 0.39604641 -0.21480283 0.08968766
+v 0.46212121 -0.06615331 -0.14550974
+v 0.40151515 0.17627094 -0.16066126
+v 0.39641002 -0.21467560 -0.12340136
+v 0.49242424 0.05505881 0.06661148
+v 0.49242424 -0.09645634 0.05145996
+v 0.41666667 -0.14191089 0.12721754
+v 0.49242424 0.16111942 0.00600541
+v 0.47727273 0.19142245 -0.02429762
+v 0.49242424 -0.14191089 -0.02429762
+v 0.50757576 0.10051336 -0.02429762
+v 0.49242424 -0.06615331 -0.11520671
+v 0.46212121 -0.21766847 0.02115693
+v 0.44696970 -0.21766847 -0.10005520
+v 0.39525132 -0.13983615 0.11598973
+v 0.41666667 -0.21766847 0.09691451
+v 0.41666667 -0.12675938 -0.16066126
+v 0.46212121 0.11566487 -0.14550974
+v 0.46212121 0.10051336 0.09691451
+v 0.49242424 -0.05100180 0.06661148
+v 0.50757576 -0.05100180 0.02115693
+v 0.44696970 -0.17221392 0.09691451
+v 0.43181818 -0.09645634 0.12721754
+v 0.49242424 0.11566487 0.05145996
+v 0.46212121 0.19142245 -0.11520671
+v 0.47727273 0.19142245 0.02115693
+v 0.47727273 -0.15706241 -0.10005520
+v 0.47727273 -0.18736544 0.00600541
+v 0.47727273 0.17627094 -0.10005520
+v 0.49242424 -0.09645634 -0.10005520
+v 0.41666667 -0.18736544 0.11206602
+v 0.43181818 -0.17221392 -0.14550974
+v 0.40151515 -0.20251695 -0.14550974
+v 0.41666667 0.17627094 -0.16066126
+v 0.43181818 -0.08130483 -0.16066126
+v 0.47727273 -0.09645634 0.08176299
+v 0.50757576 -0.00554725 0.03630844
+v 0.50757576 -0.06615331 0.00600541
+v 0.46212121 -0.17221392 0.06661148
+v 0.43181818 -0.20251695 0.09691451
+v 0.44696970 -0.11160786 0.11206602
+v 0.50757576 0.08536184 0.02115693
+v 0.47727273 0.08536184 0.08176299
+v 0.46212121 0.14596791 0.08176299
+v 0.46212121 0.17627094 -0.13035823
+v 0.47727273 0.16111942 0.05145996
+v 0.47727273 -0.18736544 -0.02429762
+f 12 4 6
+f 14 4 7
+f 16 1 9
+f 17 7 4
+f 17 4 12
+f 20 12 6
+f 20 5 12
+f 21 12 5
+f 21 10 12
+f 21 18 10
+f 21 9 18
+f 24 7 17
+f 27 15 8
+f 27 2 15
+f 28 15 11
+f 28 3 15
+f 29 11 15
+f 29 19 11
+f 30 1 16
+f 31 16 9
+f 32 17 12
+f 32 12 10
+f 32 24 17
+f 32 10 24
+f 33 18 9
+f 33 9 1
+f 34 5 20
+f 35 11 19
+f 36 14 7
+f 37 22 7
+f 37 3 22
+f 38 15 3
+f 40 7 24
+f 40 37 7
+f 40 24 39
+f 41 22 3
+f 42 6 4
+f 42 4 26
+f 43 26 4
+f 43 4 14
+f 43 25 26
+f 43 41 25
+f 44 2 27
+f 45 27 8
+f 45 30 16
+f 45 8 23
+f 46 26 25
+f 46 25 28
+f 46 28 11
+f 46 42 26
+f 47 29 15
+f 47 15 2
+f 47 44 29
+f 47 2 44
+f 48 24 10
+f 48 10 18
+f 48 18 33
+f 49 19 29
+f 49 29 44
+f 49 44 31
+f 49 31 9
+f 50 21 5
+f 50 5 34
+f 50 9 21
+f 50 49 9
+f 50 34 49
+f 51 20 6
+f 51 34 20
+f 52 35 19
+f 52 51 35
+f 52 34 51
+f 52 49 34
+f 52 19 49
+f 53 23 37
+f 53 13 39
+f 53 40 13
+f 53 37 40
+f 54 38 3
+f 54 3 37
+f 54 37 23
+f 54 23 38
+f 55 8 15
+f 55 15 38
+f 55 38 23
+f 55 23 8
+f 56 53 39
+f 56 23 53
+f 56 45 23
+f 56 30 45
+f 56 39 1
+f 56 1 30
+f 57 33 1
+f 57 1 39
+f 57 48 33
+f 57 39 24
+f 57 24 48
+f 58 40 39
+f 58 39 13
+f 58 13 40
+f 59 28 25
+f 59 25 41
+f 59 41 3
+f 59 3 28
+f 60 41 36
+f 60 22 41
+f 60 36 7
+f 60 7 22
+f 61 41 14
+f 61 14 36
+f 61 36 41
+f 62 6 42
+f 62 51 6
+f 62 35 51
+f 62 11 35
+f 62 46 11
+f 62 42 46
+f 63 43 14
+f 63 14 41
+f 63 41 43
+f 64 44 27
+f 64 16 31
+f 64 31 44
+f 64 45 16
+f 64 27 45

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_15.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.26522451 -0.14196460 0.14201374
+v 0.26601611 -0.14296535 -0.15031892
+v 0.26682359 0.10086260 -0.14002432
+v 0.16883550 0.10537215 0.06102896
+v 0.14859564 -0.14858977 0.09096874
+v 0.14393938 -0.12675938 -0.10005520
+v 0.26515151 0.10051336 0.08176299
+v 0.26824157 -0.08233026 -0.14614761
+v 0.21073444 -0.14867645 0.13136524
+v 0.21969696 -0.12675938 -0.16066126
+v 0.15909090 0.10051336 -0.06975217
+v 0.14950707 -0.14707152 -0.09461360
+v 0.23484848 -0.08130483 0.14236905
+v 0.26688936 -0.08145500 0.13811341
+v 0.24999999 -0.08130483 -0.16066126
+v 0.18603211 0.10404985 -0.09215178
+v 0.14393938 0.10051336 0.03630844
+v 0.21969696 -0.14191089 -0.16066126
+v 0.18124909 0.10276211 0.07633578
+v 0.20454545 -0.12675938 0.14236905
+v 0.23484848 0.10051336 -0.14550974
+v 0.14393938 0.10051336 -0.02429762
+v 0.14393938 -0.12675938 0.09691451
+v 0.18939393 -0.14191089 -0.14550974
+v 0.17424242 -0.14191089 0.12721754
+v 0.20454545 0.10051336 -0.13035823
+v 0.17424242 -0.12675938 0.12721754
+v 0.18939393 -0.12675938 -0.14550974
+f 7 3 4
+f 8 1 2
+f 9 2 1
+f 12 5 6
+f 12 9 5
+f 12 2 9
+f 14 1 8
+f 14 13 1
+f 14 7 13
+f 14 8 3
+f 14 3 7
+f 15 8 2
+f 15 3 8
+f 16 4 3
+f 18 2 12
+f 18 15 2
+f 18 10 15
+f 19 13 7
+f 19 7 4
+f 19 4 17
+f 20 9 1
+f 20 1 13
+f 20 13 19
+f 21 15 10
+f 21 3 15
+f 21 16 3
+f 22 16 11
+f 22 4 16
+f 22 17 4
+f 22 11 6
+f 22 6 17
+f 23 17 6
+f 23 6 5
+f 23 19 17
+f 24 18 12
+f 24 12 6
+f 24 10 18
+f 25 5 9
+f 25 9 20
+f 25 23 5
+f 26 6 11
+f 26 11 16
+f 26 16 21
+f 26 21 10
+f 27 25 20
+f 27 20 19
+f 27 19 23
+f 27 23 25
+f 28 24 6
+f 28 6 26
+f 28 26 10
+f 28 10 24

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_16.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11363635 -0.49039575 0.02115693
+v 0.26515151 -0.39948666 -0.11520671
+v 0.23484848 -0.38433514 0.11206602
+v -0.23154972 -0.37668176 0.08652852
+v -0.21969699 -0.39948666 -0.13035823
+v 0.25961621 -0.37557240 -0.10800196
+v -0.02272729 -0.44494120 0.11206602
+v 0.24999999 -0.44494120 0.02115693
+v 0.11363635 -0.46009272 -0.11520671
+v 0.26515151 -0.38433514 0.09691451
+v 0.18529357 -0.37696831 0.11549655
+v -0.21542352 -0.37673707 -0.11975307
+v 0.12878787 -0.39948666 -0.16066126
+v 0.15909090 -0.44494120 0.09691451
+v -0.15909093 -0.47524423 0.00600541
+v 0.12878787 -0.49039575 -0.02429762
+v 0.26515151 -0.42978969 0.03630844
+v 0.14393938 -0.41463817 0.12721754
+v -0.23240524 -0.37960937 -0.11031476
+v 0.20454545 -0.39948666 -0.14550974
+v -0.09848487 -0.38433514 -0.16066126
+v 0.06818181 -0.46009272 0.09691451
+v 0.18939393 -0.46009272 0.05145996
+v 0.26515151 -0.39948666 0.09691451
+v -0.08333335 -0.46009272 -0.11520671
+v -0.23484851 -0.41463817 0.08176299
+v 0.17424242 -0.47524423 0.02115693
+v -0.09848487 -0.49039575 -0.02429762
+v 0.18939393 -0.44494120 -0.10005520
+v 0.26515151 -0.42978969 -0.02429762
+v 0.18939393 -0.39948666 0.12721754
+v -0.09848487 -0.39948666 0.12721754
+v 0.20112406 -0.37699481 -0.13365866
+v 0.11363635 -0.42978969 -0.14550974
+v -0.17424244 -0.39948666 -0.14550974
+v 0.09848484 -0.47524423 0.06661148
+v -0.06818183 -0.49039575 0.03630844
+v 0.06818181 -0.44494120 0.11206602
+v 0.18939393 -0.44494120 0.08176299
+v 0.03787878 -0.47524423 -0.08490368
+v -0.23484851 -0.42978969 -0.02429762
+v -0.23484851 -0.39948666 0.09691451
+v 0.21969696 -0.46009272 -0.02429762
+v 0.12878787 -0.49039575 0.00600541
+v 0.14393938 -0.47524423 0.05145996
+v 0.20454545 -0.46009272 0.03630844
+v -0.17424244 -0.44494120 -0.10005520
+v 0.14393938 -0.46009272 -0.10005520
+v 0.21969696 -0.41463817 -0.13035823
+v 0.23484848 -0.39948666 0.11206602
+v 0.20454545 -0.41463817 0.11206602
+v -0.06818183 -0.41463817 0.12721754
+v -0.09709487 -0.38017207 0.11728620
+v 0.12754825 -0.37998719 -0.14654025
+v -0.17079877 -0.37709697 -0.13410411
+v 0.17424242 -0.41463817 -0.14550974
+v -0.08333335 -0.42978969 -0.14550974
+v -0.02272729 -0.46009272 0.09691451
+v -0.09848487 -0.49039575 0.00600541
+v 0.06818181 -0.49039575 0.03630844
+v -0.15909093 -0.46009272 0.05145996
+v 0.15909090 -0.42978969 0.11206602
+v -0.02272729 -0.47524423 -0.08490368
+v -0.21969699 -0.44494120 0.03630844
+f 10 2 6
+f 11 6 4
+f 11 10 6
+f 11 3 10
+f 12 4 6
+f 17 2 10
+f 19 12 5
+f 19 4 12
+f 20 6 2
+f 24 10 3
+f 24 17 10
+f 28 16 1
+f 30 17 8
+f 30 2 17
+f 31 3 11
+f 32 18 31
+f 33 20 13
+f 33 6 20
+f 34 9 25
+f 35 5 12
+f 36 14 22
+f 37 28 1
+f 38 18 7
+f 38 7 22
+f 38 22 14
+f 39 17 24
+f 39 23 8
+f 39 8 17
+f 40 25 9
+f 40 9 16
+f 40 16 28
+f 41 19 5
+f 42 4 19
+f 42 41 26
+f 42 19 41
+f 42 32 4
+f 42 26 7
+f 43 27 16
+f 43 8 27
+f 43 30 8
+f 43 16 29
+f 43 29 2
+f 43 2 30
+f 44 27 1
+f 44 1 16
+f 44 16 27
+f 45 27 23
+f 45 1 27
+f 45 36 1
+f 45 14 36
+f 45 39 14
+f 45 23 39
+f 46 27 8
+f 46 8 23
+f 46 23 27
+f 47 28 15
+f 47 25 28
+f 47 41 5
+f 47 15 41
+f 48 29 16
+f 48 16 9
+f 48 9 29
+f 49 20 2
+f 49 2 29
+f 49 29 9
+f 50 24 3
+f 50 3 31
+f 51 31 18
+f 51 50 31
+f 51 24 50
+f 51 39 24
+f 51 14 39
+f 52 7 18
+f 52 18 32
+f 52 42 7
+f 52 32 42
+f 53 32 31
+f 53 31 11
+f 53 11 4
+f 53 4 32
+f 54 33 13
+f 54 13 21
+f 55 12 6
+f 55 6 33
+f 55 33 54
+f 55 54 21
+f 55 35 12
+f 55 21 35
+f 56 34 13
+f 56 13 20
+f 56 20 49
+f 56 49 9
+f 56 9 34
+f 57 34 25
+f 57 21 13
+f 57 13 34
+f 57 35 21
+f 57 5 35
+f 57 47 5
+f 57 25 47
+f 58 22 7
+f 58 7 26
+f 58 37 36
+f 58 36 22
+f 59 37 15
+f 59 15 28
+f 59 28 37
+f 60 37 1
+f 60 1 36
+f 60 36 37
+f 61 15 37
+f 61 58 26
+f 61 37 58
+f 62 38 14
+f 62 18 38
+f 62 51 18
+f 62 14 51
+f 63 40 28
+f 63 28 25
+f 63 25 40
+f 64 41 15
+f 64 26 41
+f 64 61 26
+f 64 15 61

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_17.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.15909093 -0.14191089 0.12721754
+v -0.15909093 -0.14191089 -0.06975217
+v -0.14393941 0.08536184 0.06661148
+v -0.19318905 0.11695852 0.12014529
+v -0.23547229 -0.14211579 0.13880435
+v -0.23484851 0.10051336 -0.08490368
+v -0.15909093 0.11566487 0.11206602
+v -0.14393941 0.07021033 0.05145996
+v -0.20454547 0.10051336 0.14236905
+v -0.23484851 -0.14191089 -0.06975217
+v -0.15909093 -0.12675938 0.12721754
+v -0.17094008 0.10386128 -0.09412802
+v -0.18939396 -0.14191089 0.14236905
+v -0.23663136 0.10095741 0.13744147
+v -0.17424244 0.11566487 0.12721754
+v -0.16564790 0.11885030 0.09330845
+v -0.14393941 0.08536184 -0.06975217
+v -0.23484851 -0.00554725 -0.08490368
+v -0.18939396 -0.11160786 0.14236905
+v -0.14393941 0.07021033 -0.05460065
+v -0.15909093 0.07021033 -0.10005520
+v -0.15737869 0.10539220 -0.06575010
+v -0.17487168 0.10068599 -0.09970194
+f 5 2 1
+f 8 1 2
+f 8 3 1
+f 10 2 5
+f 11 1 3
+f 11 3 7
+f 13 9 5
+f 13 5 1
+f 13 1 11
+f 14 5 9
+f 14 10 5
+f 14 4 6
+f 15 14 9
+f 15 4 14
+f 15 11 7
+f 16 12 6
+f 16 6 4
+f 16 15 7
+f 16 4 15
+f 17 7 3
+f 17 3 8
+f 18 14 6
+f 18 10 14
+f 19 13 11
+f 19 9 13
+f 19 15 9
+f 19 11 15
+f 20 17 8
+f 20 8 2
+f 20 2 17
+f 21 17 2
+f 21 12 17
+f 21 2 10
+f 21 10 18
+f 22 16 7
+f 22 7 17
+f 22 17 12
+f 22 12 16
+f 23 21 18
+f 23 18 6
+f 23 6 12
+f 23 12 21

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_18.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.15909093 -0.38433514 -0.06975217
+v -0.15909093 -0.36918363 -0.16066126
+v -0.16902606 0.09910796 -0.08748907
+v -0.23484851 0.10051336 -0.08490368
+v -0.24107868 -0.39539858 -0.07006298
+v -0.18939396 0.10051336 -0.14550974
+v -0.17327745 -0.05301339 -0.06567583
+v -0.15909093 -0.05100180 -0.08490368
+v -0.20454547 -0.38433514 -0.14550974
+v -0.15909093 -0.18736544 -0.16066126
+v -0.17424244 0.10051336 -0.13035823
+v -0.17755551 -0.00567658 -0.06882759
+v -0.23484851 -0.00554725 -0.06975217
+v -0.15687693 -0.37907612 -0.13651089
+v -0.23484851 -0.32372908 -0.16066126
+v -0.15909093 -0.14191089 -0.14550974
+v -0.23552991 0.10084027 -0.14307663
+v -0.23484851 -0.38433514 -0.13035823
+v -0.20454547 -0.35403211 -0.16066126
+v -0.23484851 -0.11160786 -0.16066126
+v -0.23484851 -0.36918363 -0.14550974
+v -0.17424244 -0.36918363 -0.16066126
+v -0.21969699 -0.11160786 -0.16066126
+f 7 5 1
+f 8 7 1
+f 8 3 7
+f 11 4 3
+f 11 10 6
+f 12 7 3
+f 12 3 4
+f 13 4 5
+f 13 5 7
+f 13 12 4
+f 13 7 12
+f 14 8 1
+f 14 2 10
+f 14 9 2
+f 14 1 5
+f 14 5 9
+f 15 10 2
+f 16 3 8
+f 16 14 10
+f 16 8 14
+f 16 11 3
+f 16 10 11
+f 17 11 6
+f 17 4 11
+f 17 5 4
+f 18 9 5
+f 19 15 2
+f 20 17 6
+f 20 10 15
+f 20 15 5
+f 20 5 17
+f 21 18 5
+f 21 5 15
+f 21 15 19
+f 21 19 9
+f 21 9 18
+f 22 19 2
+f 22 2 9
+f 22 9 19
+f 23 20 6
+f 23 6 10
+f 23 10 20

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_19.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.35606063 -0.23281999 -0.06975217
+v -0.35091181 -0.22934301 -0.13246293
+v -0.35606063 0.08536184 -0.06975217
+v -0.41666669 0.08536184 -0.06975217
+v -0.47727275 -0.14191089 -0.08490368
+v -0.38636366 0.08536184 -0.16066126
+v -0.47542354 -0.08095608 -0.06932819
+v -0.43181821 -0.23281999 -0.10005520
+v -0.35452530 0.08476917 -0.14891398
+v -0.44696972 -0.21766847 -0.06975217
+v -0.47727275 -0.08130483 -0.10005520
+v -0.37121214 -0.23281999 -0.14550974
+v -0.47727275 -0.14191089 -0.06975217
+v -0.42089635 -0.22496162 -0.07014735
+v -0.46212124 -0.18736544 -0.08490368
+v -0.46212124 -0.14191089 -0.11520671
+v -0.41666669 0.08536184 -0.14550974
+v -0.37121214 -0.15706241 -0.16066126
+v -0.46212124 -0.18736544 -0.06975217
+v -0.44696972 -0.21766847 -0.08490368
+v -0.47727275 -0.12675938 -0.10005520
+v -0.44696972 -0.18736544 -0.11520671
+v -0.43181821 -0.08130483 -0.14550974
+v -0.35297809 -0.15555811 -0.14620642
+v -0.46212124 -0.17221392 -0.10005520
+v -0.40151518 -0.23281999 -0.13035823
+v -0.38636366 -0.12675938 -0.16066126
+v -0.44696972 -0.12675938 -0.13035823
+v -0.43181821 -0.21766847 -0.11520671
+v -0.38636366 -0.21766847 -0.14550974
+v -0.40151518 -0.18736544 -0.14550974
+v -0.43181821 -0.09645634 -0.14550974
+v -0.43181821 -0.17221392 -0.13035823
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 9 6 3
+f 9 3 2
+f 10 1 7
+f 11 7 4
+f 12 2 1
+f 12 1 8
+f 13 11 5
+f 13 7 11
+f 14 10 8
+f 14 8 1
+f 14 1 10
+f 15 13 5
+f 17 11 4
+f 17 4 6
+f 18 2 12
+f 18 6 9
+f 19 10 7
+f 19 7 13
+f 19 15 10
+f 19 13 15
+f 20 15 8
+f 20 8 10
+f 20 10 15
+f 21 5 11
+f 21 15 5
+f 22 8 15
+f 22 21 16
+f 23 11 17
+f 23 21 11
+f 23 17 6
+f 24 18 9
+f 24 9 2
+f 24 2 18
+f 25 22 15
+f 25 15 21
+f 25 21 22
+f 26 12 8
+f 27 23 6
+f 27 6 18
+f 28 22 16
+f 28 16 21
+f 29 26 8
+f 29 8 22
+f 30 27 18
+f 30 18 12
+f 30 12 26
+f 30 26 29
+f 31 27 30
+f 32 23 27
+f 32 27 31
+f 32 28 21
+f 32 21 23
+f 33 22 28
+f 33 32 31
+f 33 28 32
+f 33 31 30
+f 33 30 29
+f 33 29 22

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_2.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.14393941 0.10051336 0.08176299
+v 0.05303029 0.20657397 -0.11520671
+v 0.00757574 0.23687700 0.08176299
+v -0.23484851 0.23687700 0.09691451
+v -0.23484851 0.11566487 -0.16066126
+v -0.14600900 0.23973678 -0.14596014
+v -0.09848487 0.16111942 0.09691451
+v 0.00757574 0.17627094 0.06661148
+v -0.15909093 0.10051336 -0.11520671
+v -0.23484851 0.10051336 0.09691451
+v 0.05362163 0.24309330 -0.12264355
+v -0.23411757 0.23609802 -0.14928728
+v -0.09848487 0.23687700 0.09691451
+v 0.05294771 0.19059204 -0.05471915
+v -0.00757577 0.17627094 0.08176299
+v -0.18939396 0.10051336 -0.14550974
+v -0.23552991 0.10084027 -0.14307663
+v -0.16966957 0.10288284 0.09087636
+v 0.05303029 0.22172548 -0.13035823
+v -0.14393941 0.22172548 -0.16066126
+v 0.00817373 0.19963191 0.07550284
+v 0.05303029 0.23687700 -0.05460065
+v 0.05303029 0.19142245 -0.10005520
+v -0.12878790 0.10051336 0.03630844
+v -0.21969699 0.11566487 -0.16066126
+v -0.12878790 0.10051336 -0.03944913
+v -0.14393941 0.10051336 -0.08490368
+f 10 7 4
+f 10 9 1
+f 11 6 4
+f 12 4 6
+f 13 7 3
+f 13 4 7
+f 13 11 4
+f 13 3 11
+f 15 1 8
+f 15 3 7
+f 16 9 10
+f 17 10 4
+f 17 16 10
+f 17 5 16
+f 17 12 5
+f 17 4 12
+f 18 10 1
+f 18 7 10
+f 18 15 7
+f 18 1 15
+f 19 11 2
+f 19 2 16
+f 20 12 6
+f 20 5 12
+f 20 6 11
+f 20 11 19
+f 21 14 3
+f 21 8 14
+f 21 15 8
+f 21 3 15
+f 22 14 11
+f 22 11 3
+f 22 3 14
+f 23 2 11
+f 23 11 14
+f 23 16 2
+f 23 9 16
+f 24 14 8
+f 24 8 1
+f 24 1 9
+f 25 19 16
+f 25 16 5
+f 25 20 19
+f 25 5 20
+f 26 23 14
+f 26 14 24
+f 26 24 9
+f 27 26 9
+f 27 9 23
+f 27 23 26

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_20.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23483822 0.20661212 0.14345274
+v -0.23484729 0.20644634 -0.15030954
+v -0.22826165 0.42456870 0.01574835
+v -0.25000002 0.43384670 0.03630844
+v -0.46212124 0.20657397 0.05145996
+v -0.28030305 0.37324064 -0.11520671
+v -0.23484851 0.35808912 0.12721754
+v -0.44917142 0.20036057 0.02541929
+v -0.23484851 0.37324064 -0.13035823
+v -0.40151518 0.31263458 0.00600541
+v -0.22898029 0.40867494 0.06106871
+v -0.37121214 0.22172548 0.14236905
+v -0.37121214 0.20657397 0.14236905
+v -0.41666669 0.20657397 -0.11520671
+v -0.23484851 0.28233155 -0.16066126
+v -0.25000002 0.41869519 -0.08490368
+v -0.23484851 0.31263458 0.14236905
+v -0.23060178 0.42193450 0.03137051
+v -0.25000002 0.41869519 0.06661148
+v -0.40151518 0.31263458 0.05145996
+v -0.40151518 0.20657397 0.12721754
+v -0.31060608 0.20657397 -0.16066126
+v -0.41666669 0.26718003 -0.08490368
+v -0.44696972 0.20657397 -0.08490368
+v -0.23484851 0.34293761 -0.14550974
+v -0.25000002 0.37324064 -0.13035823
+v -0.23484851 0.41869519 -0.08490368
+v -0.32575760 0.38839216 0.00600541
+v -0.31060608 0.28233155 0.14236905
+v -0.46212124 0.22172548 0.02115693
+v -0.31060608 0.38839216 0.06661148
+v -0.44696972 0.20657397 0.08176299
+v -0.40151518 0.25202852 0.11206602
+v -0.37121214 0.20657397 -0.14550974
+v -0.35606063 0.34293761 -0.06975217
+v -0.41666669 0.25202852 -0.10005520
+v -0.25000002 0.34293761 -0.14550974
+v -0.25000002 0.43384670 0.00600541
+v -0.25000002 0.31263458 0.14236905
+v -0.41666669 0.29748306 0.03630844
+v -0.44696972 0.22172548 -0.08490368
+v -0.32575760 0.38839216 0.03630844
+v -0.31060608 0.34293761 0.11206602
+v -0.44696972 0.23687700 0.06661148
+v -0.40151518 0.22172548 0.12721754
+v -0.29545457 0.38839216 -0.08490368
+v -0.38636366 0.31263458 -0.06975217
+v -0.38636366 0.23687700 -0.13035823
+v -0.31060608 0.22172548 -0.16066126
+v -0.28030305 0.41869519 0.02115693
+v -0.25000002 0.35808912 0.12721754
+v -0.41666669 0.29748306 0.02115693
+v -0.38636366 0.32778609 0.05145996
+v -0.28030305 0.41869519 0.03630844
+v -0.29545457 0.38839216 0.08176299
+v -0.37121214 0.26718003 0.12721754
+v -0.44696972 0.22172548 0.08176299
+v -0.46212124 0.22172548 0.05145996
+v -0.28030305 0.38839216 -0.10005520
+v -0.41666669 0.22172548 -0.11520671
+v -0.37121214 0.22172548 -0.14550974
+v -0.38636366 0.26718003 -0.11520671
+v -0.25000002 0.28233155 -0.16066126
+v -0.43181821 0.25202852 -0.06975217
+f 1 2 3
+f 8 2 1
+f 11 1 3
+f 13 8 1
+f 13 1 12
+f 15 3 2
+f 17 11 7
+f 17 1 11
+f 18 11 3
+f 18 3 4
+f 18 4 11
+f 19 11 4
+f 19 7 11
+f 21 8 13
+f 21 13 12
+f 22 2 8
+f 22 15 2
+f 24 14 8
+f 24 8 5
+f 25 9 3
+f 25 3 15
+f 26 16 9
+f 26 6 16
+f 26 9 25
+f 27 3 9
+f 27 9 16
+f 28 10 20
+f 29 12 1
+f 30 24 5
+f 32 5 8
+f 32 8 21
+f 34 22 8
+f 34 8 14
+f 35 10 28
+f 36 23 35
+f 37 25 15
+f 37 26 25
+f 38 27 16
+f 38 4 3
+f 38 3 27
+f 39 29 1
+f 39 1 17
+f 39 17 7
+f 40 20 10
+f 41 24 30
+f 41 23 36
+f 41 14 24
+f 42 28 20
+f 44 20 40
+f 45 21 12
+f 45 32 21
+f 46 35 28
+f 46 28 16
+f 47 35 23
+f 47 10 35
+f 48 6 26
+f 48 26 37
+f 49 15 22
+f 49 22 34
+f 50 4 38
+f 50 28 42
+f 50 38 16
+f 50 16 28
+f 51 39 7
+f 51 29 39
+f 51 7 19
+f 52 30 40
+f 52 40 10
+f 52 10 47
+f 53 42 20
+f 53 20 31
+f 53 31 42
+f 54 42 31
+f 54 50 42
+f 54 4 50
+f 54 31 19
+f 54 19 4
+f 55 19 31
+f 55 31 43
+f 55 51 19
+f 55 43 51
+f 56 12 29
+f 56 51 43
+f 56 29 51
+f 56 45 12
+f 56 33 45
+f 56 20 33
+f 56 43 31
+f 56 31 20
+f 57 5 32
+f 57 32 45
+f 57 45 33
+f 57 33 20
+f 57 20 44
+f 58 44 40
+f 58 40 30
+f 58 30 5
+f 58 57 44
+f 58 5 57
+f 59 46 16
+f 59 16 6
+f 59 6 35
+f 59 35 46
+f 60 34 14
+f 60 14 41
+f 60 41 36
+f 60 36 48
+f 61 48 37
+f 61 60 48
+f 61 34 60
+f 61 49 34
+f 61 37 49
+f 62 48 36
+f 62 6 48
+f 62 36 35
+f 62 35 6
+f 63 49 37
+f 63 37 15
+f 63 15 49
+f 64 41 30
+f 64 30 52
+f 64 23 41
+f 64 52 47
+f 64 47 23

Assets/robocasa/data/objects/aigen_objs/bagel/bagel_1/collision/model_normalized_collision_21.obj

@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.23484851 -0.42978969 0.03630844
+v -0.23484851 -0.38433514 -0.13035823
+v -0.23480600 -0.23237651 0.13832977
+v -0.43553417 -0.22631941 0.04566503
+v -0.44696972 -0.26312302 -0.00914610
+v -0.23457178 -0.23289299 -0.15249361
+v -0.31060608 -0.33888059 0.11206602
+v -0.32575760 -0.38433514 -0.00914610
+v -0.36426637 -0.22655554 0.11540597
+v -0.40964318 -0.22828233 -0.09376426
+v -0.22871984 -0.41999221 -0.00202398
+v -0.23484851 -0.36918363 0.11206602
+v -0.43181821 -0.27827453 0.05145996
+v -0.31060608 -0.36918363 -0.10005520
+v -0.34090911 -0.24797150 0.14236905
+v -0.43923608 -0.22765637 -0.00013137
+v -0.35091181 -0.22934301 -0.13246293
+v -0.25000002 -0.42978969 -0.00914610
+v -0.23484851 -0.32372908 -0.16066126
+v -0.25000002 -0.41463817 0.06661148
+v -0.23484851 -0.30857756 0.14236905
+v -0.23484851 -0.41463817 0.06661148
+v -0.44696972 -0.24797150 0.05145996
+v -0.41666669 -0.26312302 -0.10005520
+v -0.34090911 -0.23281999 0.14236905
+v -0.38636366 -0.26312302 0.11206602
+v -0.37924936 -0.22874867 -0.11828258
+v -0.23484851 -0.39948666 -0.11520671
+v -0.28030305 -0.41463817 -0.00914610
+v -0.31060608 -0.23281999 -0.16066126
+v -0.29545457 -0.35403211 -0.13035823
+v -0.26515154 -0.38433514 0.09691451
+v -0.37121214 -0.33888059 0.05145996
+v -0.26515154 -0.33888059 0.12721754
+v -0.44696972 -0.26312302 0.03630844
+v -0.41666669 -0.23281999 0.09691451
+v -0.38636366 -0.26312302 -0.13035823
+v -0.26515154 -0.39948666 -0.10005520
+v -0.29545457 -0.38433514 -0.08490368
+v -0.28030305 -0.41463817 0.03630844
+v -0.25000002 -0.32372908 -0.16066126
+v -0.25000002 -0.39948666 -0.11520671
+v -0.31060608 -0.36918363 0.08176299
+v -0.25000002 -0.30857756 0.14236905
+v -0.31060608 -0.30857756 0.12721754
+v -0.25000002 -0.36918363 0.11206602
+v -0.43181821 -0.23281999 0.08176299
+v -0.37121214 -0.24797150 0.12721754
+v -0.25000002 -0.42978969 0.03630844
+v -0.32575760 -0.38433514 0.02115693
+v -0.25000002 -0.38433514 -0.13035823
+v -0.35606063 -0.26312302 -0.14550974
+v -0.29545457 -0.36918363 -0.11520671
+v -0.32575760 -0.26312302 0.14236905
+v -0.43181821 -0.24797150 0.08176299
+v -0.34090911 -0.36918363 0.03630844
+v -0.28030305 -0.33888059 -0.14550974
+v -0.31060608 -0.26312302 -0.16066126
+v -0.41666669 -0.24797150 0.09691451
+f 9 3 6
+f 11 6 3
+f 14 8 5
+f 16 10 5
+f 16 4 10
+f 17 9 6
+f 18 11 1
+f 19 11 2
+f 19 6 11
+f 21 12 11
+f 21 11 3
+f 22 1 11
+f 22 11 12
+f 22 20 1
+f 22 12 20
+f 23 16 5
+f 23 4 16
+f 24 14 5
+f 24 5 10
+f 25 3 9
+f 25 21 3
+f 25 15 21
+f 27 10 4
+f 27 4 9
+f 27 9 17
+f 28 2 11
+f 28 11 18
+f 30 17 6
+f 30 6 19
+f 30 27 17
+f 33 5 8
+f 34 12 21
+f 34 7 32
+f 35 23 5
+f 35 13 23
+f 35 33 13
+f 35 5 33
+f 36 9 4
+f 36 25 9
+f 37 24 10
+f 37 10 27
+f 37 27 30
+f 37 31 14
+f 37 14 24
+f 38 18 29
+f 39 29 8
+f 39 8 14
+f 39 38 29
+f 39 14 38
+f 40 29 18
+f 40 8 29
+f 41 19 2
+f 41 30 19
+f 42 2 28
+f 42 28 18
+f 42 18 38
+f 42 38 14
+f 43 32 7
+f 43 7 33
+f 43 33 40
+f 43 40 20
+f 43 20 32
+f 44 34 21
+f 44 21 15
+f 45 7 34
+f 45 26 7
+f 46 34 32
+f 46 12 34
+f 46 32 20
+f 46 20 12
+f 47 36 4
+f 47 4 23
+f 48 15 25
+f 48 25 36
+f 48 45 15
+f 48 26 45
+f 49 40 18
+f 49 18 1
+f 49 1 20
+f 49 20 40
+f 50 33 8
+f 50 8 40
+f 51 41 2
+f 51 42 31
+f 51 2 42
+f 52 31 37
+f 52 37 30
+f 53 42 14
+f 53 14 31
+f 53 31 42
+f 54 44 15
+f 54 15 45
+f 54 45 34
+f 54 34 44
+f 55 47 23
+f 55 23 13
+f 55 36 47
+f 55 13 33
+f 55 33 7
+f 55 7 26
+f 56 50 40
+f 56 40 33
+f 56 33 50
+f 57 51 31
+f 57 41 51
+f 57 52 41
+f 57 31 52
+f 58 52 30
+f 58 30 41
+f 58 41 52
+f 59 48 36
+f 59 36 55
+f 59 55 26
+f 59 26 48