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Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/collision_mesh_collision_1.obj

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+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/collision_mesh_collision_10.obj

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+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/collision_mesh_collision_11.obj

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+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/collision_mesh_collision_2.obj

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Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/collision_mesh_collision_3.obj

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Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/collision_mesh_collision_4.obj

@@ -0,0 +1,475 @@
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Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/collision_mesh_collision_5.obj

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Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/collision_mesh_collision_6.obj

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Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/collision_mesh_collision_7.obj

@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/collision_mesh_collision_8.obj

@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/collision_mesh_collision_9.obj

@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_0.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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+v 0.07791349 -0.10215042 -0.49410505
+v 0.07245496 -0.10784720 0.12292350
+v 0.06163192 -0.00546439 0.26646241
+v 0.00756839 -0.00546439 -0.50000000
+v 0.08332597 -0.00546439 -0.50000000
+v 0.04952206 -0.04798134 0.26444957
+v 0.05778029 -0.12382476 -0.43194964
+v 0.07334215 -0.09423222 0.14755754
+v 0.00545260 -0.12982857 -0.49299499
+v 0.00764026 -0.00552469 0.20842829
+v 0.07431735 -0.11107288 -0.48592871
+v 0.06900779 -0.00546439 0.26295233
+v 0.00550406 -0.13012064 0.12432535
+v 0.03484191 -0.12464653 -0.49299499
+v 0.06325414 -0.02846201 0.26187075
+v 0.00698843 -0.07793295 0.21897137
+v 0.06067978 -0.11369551 -0.49299499
+v 0.05766600 -0.12362695 -0.47475251
+v 0.05598726 -0.04069262 0.26270793
+f 7 1 3
+f 8 3 1
+f 9 3 2
+f 9 2 6
+f 9 7 3
+f 10 6 2
+f 10 5 6
+f 11 7 4
+f 11 4 5
+f 12 2 3
+f 12 3 8
+f 13 9 6
+f 13 6 5
+f 13 5 4
+f 14 10 8
+f 14 8 1
+f 14 1 7
+f 14 11 5
+f 14 5 10
+f 15 10 2
+f 16 13 4
+f 16 4 7
+f 16 9 13
+f 17 14 7
+f 17 7 11
+f 17 11 14
+f 18 15 2
+f 18 2 12
+f 19 12 8
+f 19 8 10
+f 19 10 15
+f 19 18 12
+f 19 15 18
+f 20 16 7
+f 20 7 9
+f 20 9 16

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_1.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.06900779 -0.00546439 0.26295233
+v 0.13401393 -0.00546439 -0.09816419
+v 0.10993743 0.07747128 -0.09826510
+v -0.07641718 0.07475901 0.16580398
+v -0.05303767 -0.00546439 -0.09848485
+v 0.02404774 0.05744151 0.26555589
+v 0.06668558 0.01878215 0.26243163
+v 0.00764026 -0.00552469 0.20842829
+v -0.09742191 0.09238493 -0.09811833
+v 0.06163192 -0.00546439 0.26646241
+v 0.05395590 0.04321083 0.26230065
+v -0.09877989 -0.00546439 0.17671001
+v 0.06762000 0.04196264 0.21524237
+v 0.03045990 0.05339608 0.26750862
+v 0.06469999 0.03321098 0.24569348
+f 5 3 2
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 4 3
+f 9 3 5
+f 10 1 7
+f 10 8 1
+f 11 3 6
+f 12 5 8
+f 12 9 5
+f 12 4 9
+f 12 6 4
+f 12 10 6
+f 12 8 10
+f 13 7 3
+f 13 3 11
+f 14 10 7
+f 14 7 11
+f 14 11 6
+f 14 6 10
+f 15 13 11
+f 15 11 7
+f 15 7 13

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_10.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.04685575 -0.05584071 0.24739450
+v -0.02278027 0.04006919 0.20873371
+v -0.01872805 0.04820223 0.38538581
+v -0.05020519 -0.06116431 0.21846615
+v -0.07061020 0.03535676 0.21675355
+v -0.04845915 0.06236269 0.21770743
+v -0.06916948 -0.03993511 0.21577776
+v -0.04145478 0.03027118 0.38451851
+v -0.02197069 0.06596048 0.26447579
+v -0.05384099 0.05825348 0.21562750
+v -0.05582655 -0.05569685 0.21619062
+v -0.03014736 0.04173754 0.38447497
+v -0.05125429 -0.01445219 0.36901300
+v -0.01993715 0.05477656 0.33848586
+v -0.02744113 0.06329348 0.22113026
+v -0.03969161 0.01585929 0.38947567
+v -0.04991703 0.01818820 0.36883929
+v -0.06587703 -0.01425977 0.27744858
+v -0.03843950 -0.02081732 0.38646518
+v -0.04757375 -0.01862723 0.38565411
+v -0.06455116 0.01799993 0.27723186
+f 1 2 3
+f 2 1 4
+f 7 5 2
+f 9 6 3
+f 10 6 2
+f 10 2 5
+f 10 5 8
+f 11 7 2
+f 11 2 4
+f 12 3 6
+f 12 10 8
+f 12 6 10
+f 14 9 3
+f 14 3 2
+f 14 2 9
+f 15 9 2
+f 15 2 6
+f 15 6 9
+f 16 12 8
+f 16 3 12
+f 17 8 5
+f 18 5 7
+f 18 13 17
+f 19 1 3
+f 19 3 16
+f 20 7 11
+f 20 11 4
+f 20 4 1
+f 20 1 19
+f 20 19 16
+f 20 17 13
+f 20 16 8
+f 20 8 17
+f 20 18 7
+f 20 13 18
+f 21 18 17
+f 21 17 5
+f 21 5 18

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_11.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.04706408 -0.11633004 0.13717300
+v -0.04802211 -0.11798942 -0.49509249
+v -0.05303767 -0.08122197 -0.50000000
+v -0.10569397 -0.07455135 0.12489209
+v -0.05783909 -0.12390136 -0.44710060
+v -0.06185157 -0.09648836 0.15412167
+v -0.04730888 -0.12998071 -0.44705377
+v -0.07246601 -0.10784082 0.12292350
+v -0.10504527 -0.07400696 -0.49360806
+v -0.09430507 -0.07770855 0.14078219
+v -0.04716011 -0.12957168 -0.47562554
+v -0.10385151 -0.08815679 -0.44705061
+v -0.08150730 -0.09713634 0.13557601
+v -0.08444804 -0.09974046 -0.49299499
+v -0.05767718 -0.12362066 -0.47475165
+v -0.09879942 -0.08391767 0.12292350
+v -0.06069082 -0.11368913 -0.49299499
+v -0.09842314 -0.08360181 -0.49255614
+f 1 2 3
+f 6 1 3
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 11 2 1
+f 11 1 7
+f 12 5 8
+f 12 4 9
+f 13 8 1
+f 13 1 6
+f 13 6 10
+f 13 10 4
+f 14 9 3
+f 14 3 2
+f 15 11 7
+f 15 7 5
+f 15 14 11
+f 15 5 12
+f 15 12 14
+f 16 12 8
+f 16 4 12
+f 16 13 4
+f 16 8 13
+f 17 14 2
+f 17 2 11
+f 17 11 14
+f 18 14 12
+f 18 12 9
+f 18 9 14

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_12.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.12398472 -0.03402188 0.12687200
+v 0.12592058 -0.04436317 -0.48551462
+v 0.13045902 0.03508636 -0.18948464
+v 0.12279517 0.03781165 0.12639671
+v 0.12045210 -0.03273605 -0.49654580
+v 0.12715000 -0.02965922 0.12292350
+v 0.12382281 -0.04911447 0.03784541
+v 0.12880300 -0.00546439 -0.49299499
+v 0.12424850 -0.00546439 -0.49665499
+v 0.12579283 0.03338797 0.12292350
+v 0.12328235 -0.04891773 -0.48800089
+v 0.12559575 -0.04424504 0.03775535
+v 0.12868608 0.03995578 -0.18939458
+v 0.12637667 -0.02937780 -0.49299499
+f 5 1 4
+f 7 1 5
+f 7 6 1
+f 8 6 2
+f 8 3 6
+f 9 5 4
+f 10 6 3
+f 10 4 1
+f 10 1 6
+f 11 7 5
+f 11 2 7
+f 12 7 2
+f 12 2 6
+f 12 6 7
+f 13 9 4
+f 13 3 8
+f 13 8 9
+f 13 10 3
+f 13 4 10
+f 14 9 8
+f 14 5 9
+f 14 11 5
+f 14 8 2
+f 14 2 11

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_13.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00658349 -0.04525056 0.49789074
+v -0.02052982 -0.04710005 0.38582553
+v -0.00640143 0.04844004 0.45999872
+v -0.00604588 0.04642479 0.49725899
+v -0.04928031 -0.01373329 0.45383647
+v -0.00704618 -0.04787381 0.46154966
+v -0.03672906 -0.03723403 0.48771951
+v -0.04145478 0.03027118 0.38451851
+v -0.01872805 0.04820223 0.38538581
+v -0.04350367 -0.02776733 0.38484487
+v -0.04080483 -0.02550307 0.49603803
+v -0.01878237 -0.05160408 0.44413579
+v -0.03943876 0.02857943 0.49474954
+v -0.03014736 0.04173754 0.38447497
+v -0.03636686 0.04115338 0.44290620
+v -0.05291689 -0.01505708 0.42281750
+v -0.03009240 -0.03741987 0.49631304
+v -0.01905800 -0.05236150 0.42281750
+v -0.03194887 -0.04063552 0.38491466
+v -0.02889119 0.03956178 0.49457702
+v -0.03698752 0.04167424 0.42356545
+v -0.03887814 -0.03903791 0.42281750
+v -0.05155970 0.01878582 0.42281750
+v -0.02737066 -0.04785690 0.42359242
+v -0.04811981 0.01753373 0.45332801
+v -0.02696270 -0.04714988 0.44289031
+f 1 3 4
+f 6 3 1
+f 9 6 2
+f 9 3 6
+f 11 1 4
+f 12 6 1
+f 12 1 7
+f 13 11 4
+f 13 5 11
+f 14 9 2
+f 15 4 3
+f 15 3 9
+f 16 8 10
+f 16 11 5
+f 16 7 11
+f 17 11 7
+f 17 7 1
+f 17 1 11
+f 18 2 6
+f 18 6 12
+f 19 10 8
+f 19 8 14
+f 19 14 2
+f 20 15 13
+f 20 13 4
+f 20 4 15
+f 21 15 9
+f 21 9 14
+f 21 14 8
+f 22 16 10
+f 22 7 16
+f 22 10 19
+f 23 8 16
+f 23 21 8
+f 23 13 15
+f 23 15 21
+f 24 19 2
+f 24 2 18
+f 24 22 19
+f 24 18 12
+f 25 23 16
+f 25 16 5
+f 25 5 13
+f 25 13 23
+f 26 24 12
+f 26 12 7
+f 26 7 22
+f 26 22 24

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_14.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06974430 0.05645895 0.19069979
+v 0.08332597 0.05514167 -0.50000000
+v 0.08425318 0.08622271 0.14463851
+v -0.04949375 0.07930645 0.18487752
+v -0.06092492 0.06176000 0.19595454
+v -0.07060172 0.11586617 -0.35583836
+v 0.06193915 0.07464483 0.18144749
+v 0.09544155 0.06530782 0.15307483
+v 0.00756839 0.05514167 -0.50000000
+v 0.08234820 0.08462425 -0.49906029
+v -0.09867046 0.09343202 -0.35568374
+v 0.00756839 0.08544470 -0.50000000
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 2 1
+f 9 1 5
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 11 5 4
+f 11 4 6
+f 11 9 5
+f 12 6 10
+f 12 11 6
+f 12 9 11
+f 12 10 2
+f 12 2 9

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_15.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.13401393 -0.00546439 -0.09816419
+v 0.13487896 -0.00546439 -0.23490575
+v 0.11059820 0.07802573 -0.23462328
+v -0.11973211 0.06287238 -0.09834186
+v -0.13487715 -0.00546439 -0.23461831
+v 0.10993743 0.07747128 -0.09826510
+v -0.13401454 -0.00546439 -0.09826013
+v -0.12054269 0.06316741 -0.23470004
+v 0.13045902 0.03508636 -0.18948464
+v 0.12585979 0.04856389 -0.23497014
+v 0.12363653 0.05326940 -0.15912554
+f 6 3 4
+f 7 6 4
+f 7 1 6
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 7 4
+f 8 5 7
+f 9 1 2
+f 10 8 3
+f 10 2 5
+f 10 5 8
+f 10 9 2
+f 11 6 1
+f 11 1 9
+f 11 9 10
+f 11 10 3
+f 11 3 6

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_16.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.10905788 -0.00546439 0.16236368
+v -0.12054269 0.06316741 -0.23470004
+v -0.09544993 0.06530231 0.15306999
+v -0.13487896 -0.00546439 -0.23490585
+v -0.12579456 0.03338324 0.12292350
+v -0.10994328 0.07746416 -0.09826517
+v -0.12586150 0.04855915 -0.23497023
+v -0.10480292 0.05743857 0.14781847
+v -0.12946539 -0.00546439 0.12335132
+v -0.11853037 0.05140553 0.12468715
+v -0.12568137 0.04849359 -0.20466842
+v -0.11489590 -0.00546439 0.15341397
+v -0.13401393 -0.00546439 -0.09816429
+f 1 2 3
+f 2 1 4
+f 6 3 2
+f 7 2 4
+f 8 1 3
+f 10 6 2
+f 10 2 5
+f 10 5 8
+f 10 8 3
+f 10 3 6
+f 11 5 2
+f 11 2 7
+f 11 7 4
+f 12 8 5
+f 12 1 8
+f 12 5 9
+f 12 9 4
+f 12 4 1
+f 13 9 5
+f 13 4 9
+f 13 11 4
+f 13 5 11

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_17.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.05201271 -0.10974974 0.14275538
+v -0.04558522 -0.09861696 0.16356455
+v -0.11252659 0.03406867 0.14909123
+v -0.05064162 0.11159768 0.14117141
+v -0.04845915 0.06236269 0.21770743
+v -0.11971991 -0.04761576 0.12516225
+v -0.04512601 0.08689280 0.17805790
+v -0.08636212 0.09041789 0.13717300
+v -0.06295285 0.10667820 0.13789023
+v -0.05020519 -0.06116431 0.21846615
+v -0.04736044 0.10591456 0.15253242
+v -0.06762644 0.04195578 0.21524003
+v -0.11853037 0.05140553 0.12468715
+v -0.10216229 -0.07158793 0.13717300
+v -0.05384099 0.05825348 0.21562750
+v -0.06916948 -0.03993511 0.21577776
+v -0.11168043 0.05994182 0.13405646
+v -0.07635209 -0.09942047 0.13717300
+v -0.08212471 0.08686229 0.14674977
+v -0.11286996 -0.05615199 0.13453165
+v -0.09775140 0.01905431 0.17727762
+v -0.11412580 0.04980245 0.13717300
+v -0.07335395 -0.09422758 0.14755436
+v -0.10989311 -0.04403892 0.14747205
+v -0.09721770 -0.05612850 0.16027795
+v -0.09543010 -0.02913821 0.17550822
+f 2 1 4
+f 7 5 2
+f 9 4 1
+f 9 1 6
+f 9 8 5
+f 9 5 4
+f 10 1 2
+f 10 2 5
+f 11 7 2
+f 11 2 4
+f 11 4 5
+f 11 5 7
+f 13 6 3
+f 13 9 6
+f 13 8 9
+f 15 12 5
+f 16 10 5
+f 16 5 12
+f 16 14 10
+f 17 12 8
+f 17 8 13
+f 18 14 6
+f 18 6 1
+f 18 1 10
+f 19 15 5
+f 19 5 8
+f 19 8 12
+f 19 12 15
+f 20 6 14
+f 21 16 12
+f 21 12 3
+f 22 17 13
+f 22 13 3
+f 22 3 12
+f 22 12 17
+f 23 18 10
+f 23 10 14
+f 23 14 18
+f 24 6 20
+f 24 21 3
+f 24 3 6
+f 25 20 14
+f 25 14 16
+f 25 24 20
+f 25 16 24
+f 26 24 16
+f 26 16 21
+f 26 21 24

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_18.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02025512 -0.12784958 0.12345969
+v 0.09096989 -0.08763596 0.13253379
+v 0.02170364 -0.07545860 0.21842549
+v -0.04736084 -0.07138951 0.19731089
+v -0.06185157 -0.09648836 0.15412167
+v 0.04734875 -0.07139409 0.19731417
+v 0.05850872 -0.10993510 0.13668237
+v -0.04706408 -0.11633004 0.13717300
+v 0.07634104 -0.09942685 0.13717300
+v 0.08581235 -0.08330828 0.14581413
+v 0.04380005 -0.11070213 0.14843637
+v 0.07858331 -0.10331054 0.12522710
+v 0.00466658 -0.12537115 0.13717300
+v -0.02171794 -0.07545616 0.21842492
+v 0.06100135 -0.11425222 0.12340259
+v 0.00550406 -0.13012064 0.12432535
+v 0.01938945 -0.12294020 0.13673986
+v -0.04381221 -0.11069728 0.14843318
+v -0.01950400 -0.10835520 0.16091459
+f 5 4 2
+f 8 5 2
+f 10 2 4
+f 10 4 6
+f 10 9 2
+f 10 6 3
+f 10 3 9
+f 11 9 3
+f 11 7 9
+f 12 8 2
+f 12 2 9
+f 12 9 7
+f 14 4 5
+f 14 6 4
+f 14 3 6
+f 14 13 3
+f 15 11 1
+f 15 7 11
+f 15 12 7
+f 16 8 12
+f 16 13 8
+f 16 1 13
+f 16 15 1
+f 16 12 15
+f 17 11 3
+f 17 3 13
+f 17 13 1
+f 17 1 11
+f 18 14 5
+f 18 5 8
+f 19 18 8
+f 19 8 13
+f 19 13 14
+f 19 14 18

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_19.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.07634104 -0.09942685 0.13717300
+v 0.11558403 -0.07014867 -0.03798776
+v 0.11252167 0.03407245 0.14909728
+v 0.07698072 0.10475732 0.12402381
+v 0.08101897 -0.10752917 -0.03790798
+v 0.11350476 0.07262685 -0.03800493
+v 0.07545361 0.03712484 0.20098910
+v 0.11251422 -0.06757297 0.12292350
+v 0.07919057 0.10858502 -0.03793112
+v 0.11230028 0.07161601 0.11133700
+v 0.08814187 -0.10285241 -0.03796415
+v 0.07479092 -0.04375703 0.19744601
+v 0.09804962 0.04947124 0.16236501
+v 0.08460750 0.10083100 0.12292350
+v 0.08722276 0.10394795 -0.03798333
+v 0.08150653 -0.09713542 0.13557916
+v 0.10988791 -0.04404263 0.14747798
+v 0.09774531 0.01905727 0.17728418
+v 0.09671405 0.08640293 0.12292350
+v 0.09721388 -0.05612629 0.16028402
+v 0.09542416 -0.02914141 0.17551456
+v 0.09775432 -0.06790180 0.14712109
+f 8 2 3
+f 9 5 1
+f 10 3 2
+f 10 2 6
+f 11 6 2
+f 11 5 9
+f 11 2 8
+f 12 9 1
+f 12 7 4
+f 12 4 9
+f 13 7 3
+f 13 3 10
+f 14 9 4
+f 14 4 7
+f 14 7 13
+f 15 11 9
+f 15 6 11
+f 15 9 14
+f 15 14 10
+f 15 10 6
+f 16 11 8
+f 16 1 5
+f 16 5 11
+f 16 12 1
+f 17 8 3
+f 18 3 7
+f 18 7 12
+f 18 17 3
+f 19 14 13
+f 19 13 10
+f 19 10 14
+f 20 12 16
+f 20 8 17
+f 21 18 12
+f 21 17 18
+f 21 20 17
+f 21 12 20
+f 22 20 16
+f 22 16 8
+f 22 8 20

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_2.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.07262186 -0.11514239 -0.41641898
+v -0.05303767 -0.08122197 -0.50000000
+v -0.05303767 -0.00546439 -0.35606061
+v -0.09867046 0.09343202 -0.35568374
+v -0.12637839 -0.02937307 -0.49299499
+v -0.05303767 0.05514167 -0.50000000
+v -0.13564572 -0.00546439 -0.35611312
+v -0.08240843 -0.08043970 -0.49945654
+v -0.11801800 0.05121908 -0.49330392
+v -0.09864380 -0.09406276 -0.41654027
+v -0.12658201 0.04882139 -0.35617750
+v -0.12880300 0.02271150 -0.49299499
+v -0.12847954 -0.04528945 -0.44707378
+v -0.12592341 -0.04435884 -0.48551101
+v -0.12472270 0.04814454 -0.48504943
+v -0.11855102 -0.04719035 -0.49400862
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 6 2
+f 9 4 6
+f 10 1 7
+f 10 8 1
+f 11 7 4
+f 12 8 5
+f 12 9 6
+f 12 6 8
+f 13 10 7
+f 13 12 5
+f 13 7 12
+f 14 8 10
+f 14 13 5
+f 14 10 13
+f 15 11 4
+f 15 4 9
+f 15 9 12
+f 15 12 7
+f 15 7 11
+f 16 14 5
+f 16 5 8
+f 16 8 14

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_20.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.06376176 0.10401922 0.14117665
+v -0.00593297 0.13669230 -0.35612073
+v -0.01326756 0.11768254 0.14769607
+v -0.01958223 0.12817262 0.12292350
+v -0.04710926 0.12943216 -0.35617396
+v -0.00488545 0.13075157 0.12295626
+v -0.04757869 0.12144392 0.12468949
+v -0.07060172 0.11586617 -0.35583836
+v -0.03482246 0.12867580 0.09757817
+v -0.06921185 0.11345903 0.08353788
+v -0.04704267 0.12924923 -0.32587218
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 8 5 2
+f 9 6 2
+f 9 4 6
+f 9 7 4
+f 10 5 8
+f 10 7 9
+f 10 8 1
+f 10 1 7
+f 11 10 9
+f 11 5 10
+f 11 9 2
+f 11 2 5

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_21.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.09700891 -0.06238789 0.15424555
+v -0.11371136 -0.07640307 -0.44671873
+v -0.10905788 -0.00546439 0.16236368
+v -0.11489590 -0.00546439 0.15341397
+v -0.12715172 -0.02965448 0.12292350
+v -0.13622066 -0.00546439 -0.44701854
+v -0.10582058 -0.05358633 0.14844403
+v -0.12946539 -0.00546439 0.12335132
+v -0.12847954 -0.04528945 -0.44707378
+v -0.11971991 -0.04761576 0.12516225
+v -0.12568754 -0.04427309 0.02260435
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
+f 9 6 2
+f 10 7 5
+f 10 2 1
+f 10 1 7
+f 11 5 6
+f 11 6 9
+f 11 10 5
+f 11 9 2
+f 11 2 10

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_22.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.08101897 -0.10752917 -0.03790798
+v 0.11532239 -0.06992928 -0.48609106
+v 0.11558403 -0.07014867 -0.03798776
+v 0.13363055 -0.00546439 -0.03756056
+v 0.08332597 -0.00546439 -0.50000000
+v 0.08814187 -0.10285241 -0.03796415
+v 0.07791349 -0.10215042 -0.49410505
+v 0.12424850 -0.00546439 -0.49665499
+v 0.08444196 -0.09974772 -0.49299499
+v 0.11486509 -0.06100566 -0.49299499
+v 0.09841482 -0.08360719 -0.49256006
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 2 3
+f 6 3 1
+f 7 1 5
+f 8 5 4
+f 8 4 2
+f 8 7 5
+f 9 6 1
+f 9 1 7
+f 9 2 6
+f 10 8 2
+f 10 9 7
+f 10 7 8
+f 11 10 2
+f 11 2 9
+f 11 9 10

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_23.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.08582055 -0.08330277 0.14580919
+v -0.08240843 -0.08043970 -0.49945654
+v -0.08334070 -0.05091894 -0.50000000
+v -0.11548295 -0.04607368 0.13717300
+v -0.11532939 -0.06992300 -0.48608746
+v -0.09700891 -0.06238789 0.15424555
+v -0.10504527 -0.07400696 -0.49360806
+v -0.11252030 -0.06756571 0.12292350
+v -0.11855102 -0.04719035 -0.49400862
+v -0.11076706 -0.05950876 0.13673731
+v -0.11486681 -0.06100093 -0.49299499
+v -0.10216229 -0.07158793 0.13717300
+v -0.10203594 -0.06660605 0.14288453
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 9 3 2
+f 10 6 4
+f 10 4 8
+f 11 7 5
+f 11 5 9
+f 11 9 2
+f 11 2 7
+f 12 10 8
+f 12 8 1
+f 13 6 10
+f 13 10 12
+f 13 12 1
+f 13 1 6

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_24.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01226821 -0.10787516 0.16332839
+v 0.00698843 -0.07793295 0.21897137
+v -0.07641718 0.07475901 0.16580398
+v 0.01521548 0.09851001 0.17548790
+v -0.05430425 0.05620447 0.22005620
+v -0.06185157 -0.09648836 0.15412167
+v 0.00758412 0.05523089 0.20881378
+v -0.04394022 -0.06546425 0.21574378
+f 2 1 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 5 2
+f 7 2 4
+f 7 4 5
+f 8 5 3
+f 8 3 6
+f 8 6 2
+f 8 2 5

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_25.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13363055 -0.00546439 -0.03756056
+v 0.13439913 -0.00546439 -0.15905537
+v 0.11409211 0.07311970 -0.15921220
+v 0.07919057 0.10858502 -0.03793112
+v 0.07957394 0.10924911 -0.15913838
+v 0.11350476 0.07262685 -0.03800493
+v 0.08772331 0.10454439 -0.15919045
+v 0.08722276 0.10394795 -0.03798333
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 7 6 3
+f 8 4 6
+f 8 6 7
+f 8 7 5
+f 8 5 4

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_26.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13487896 -0.00546439 -0.23490575
+v 0.13564572 -0.00546439 -0.35611303
+v 0.12658029 0.04882613 -0.35617742
+v -0.12586150 0.04855915 -0.23497023
+v -0.13564572 -0.00546439 -0.35611312
+v 0.12585979 0.04856389 -0.23497014
+v -0.13487896 -0.00546439 -0.23490585
+v -0.12658201 0.04882139 -0.35617750
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_27.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.13564572 -0.00546439 -0.35611303
+v 0.12880300 -0.00546439 -0.49299499
+v 0.11800892 0.05122114 -0.49331019
+v 0.00756839 0.05514167 -0.35606061
+v 0.00756839 -0.00546439 -0.35606061
+v 0.12658029 0.04882613 -0.35617742
+v 0.00756839 -0.00546439 -0.50000000
+v 0.12880300 0.02271150 -0.49299499
+v 0.00756839 0.05514167 -0.50000000
+v 0.12471906 0.04814857 -0.48505471
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 2 5
+f 7 5 4
+f 8 1 2
+f 9 7 4
+f 9 4 3
+f 9 3 8
+f 9 8 2
+f 9 2 7
+f 10 6 1
+f 10 1 8
+f 10 8 3
+f 10 3 6

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_28.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.12363653 0.05326940 -0.15912554
+v 0.11800892 0.05122114 -0.49331019
+v 0.11348216 0.07260811 -0.48522512
+v 0.07957394 0.10924911 -0.15913838
+v 0.08332597 0.05514167 -0.50000000
+v 0.11409211 0.07311970 -0.15921220
+v 0.07677568 0.10440243 -0.49299499
+v 0.11423895 0.07324291 -0.18951402
+v 0.11023111 0.07771770 -0.15886873
+v 0.11350793 0.06473443 -0.49299499
+v 0.08459095 0.10081172 -0.49193941
+v 0.08772331 0.10454439 -0.15919045
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 5 4
+f 8 6 1
+f 8 1 3
+f 9 4 1
+f 9 1 6
+f 9 6 8
+f 10 3 2
+f 10 2 5
+f 10 5 7
+f 11 7 4
+f 11 10 7
+f 11 3 10
+f 12 9 8
+f 12 8 3
+f 12 4 9
+f 12 11 4
+f 12 3 11

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_29.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00466658 -0.12537115 0.13717300
+v 0.00545260 -0.12982857 -0.49299499
+v 0.00756839 -0.00546439 -0.50000000
+v -0.09877989 -0.00546439 0.17671001
+v -0.04624184 -0.12704865 -0.48648933
+v 0.00756839 -0.00546439 0.14393939
+v -0.04501850 -0.12368750 0.12292350
+v -0.04802211 -0.11798942 -0.49509249
+v -0.04706408 -0.11633004 0.13717300
+v -0.03485620 -0.12464401 -0.49299499
+v -0.05303767 -0.00546439 -0.50000000
+v -0.01940379 -0.12293798 0.13673904
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 8 3 2
+f 8 5 4
+f 9 4 7
+f 10 8 2
+f 10 2 5
+f 10 5 8
+f 11 8 4
+f 11 4 3
+f 11 3 8
+f 12 9 7
+f 12 7 1
+f 12 1 4
+f 12 4 9

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_3.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.04749070 0.05049955 0.26404228
+v 0.11852706 0.05140969 0.12469158
+v 0.04756710 0.12144953 0.12469191
+v -0.04757869 0.12144392 0.12468949
+v -0.06092492 0.06176000 0.19595454
+v 0.11425895 0.06500773 0.12298645
+v -0.01943906 0.06675611 0.26223678
+v -0.04749698 0.05049246 0.26404058
+v -0.06376176 0.10401922 0.14117665
+v 0.10958687 0.06327014 0.13626463
+v 0.01942477 0.06675860 0.26223724
+v -0.03477768 0.11327075 0.14875127
+v 0.11412407 0.04980719 0.13717300
+v -0.04389109 0.05445124 0.26234183
+v 0.08996677 0.09345490 0.12461719
+v 0.04388035 0.05445721 0.26234294
+v 0.04522453 0.11739211 0.13717300
+v -0.04523558 0.11738573 0.13717300
+v 0.09804962 0.04947124 0.16236501
+v 0.03476335 0.11327260 0.14875237
+f 6 2 4
+f 6 4 3
+f 8 1 7
+f 9 4 2
+f 9 2 5
+f 9 5 8
+f 10 2 6
+f 11 7 1
+f 12 7 11
+f 13 8 5
+f 13 5 2
+f 13 10 1
+f 13 2 10
+f 14 8 7
+f 14 9 8
+f 15 10 6
+f 15 6 3
+f 15 1 10
+f 16 11 1
+f 16 1 15
+f 17 3 4
+f 17 11 16
+f 17 16 15
+f 17 15 3
+f 18 7 12
+f 18 14 7
+f 18 4 9
+f 18 9 14
+f 18 17 4
+f 18 12 17
+f 19 13 1
+f 19 1 8
+f 19 8 13
+f 20 17 12
+f 20 12 11
+f 20 11 17

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_30.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.07161528 -0.11339928 -0.09824977
+v -0.07262186 -0.11514239 -0.41641898
+v -0.05303767 -0.00546439 -0.41666667
+v -0.13401393 -0.00546439 -0.09816429
+v -0.09864380 -0.09406276 -0.41654027
+v -0.05303767 -0.00546439 -0.09848485
+v -0.09710182 -0.09276906 -0.09837120
+v -0.13602666 -0.00546439 -0.41633357
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_31.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00756839 -0.00546439 -0.35606061
+v 0.00756839 -0.00546439 -0.50000000
+v 0.00593533 0.13678924 -0.37127162
+v -0.04710926 0.12943216 -0.35617396
+v -0.05303767 -0.00546439 -0.35606061
+v -0.04730473 0.12096953 -0.49330688
+v 0.00591869 0.13669484 -0.35612071
+v 0.00473048 0.12995590 -0.49299499
+v -0.05301801 0.00980378 -0.50000000
+v -0.04640224 0.12748927 -0.48520842
+v -0.05303767 -0.00546439 -0.50000000
+v -0.00474477 0.12995338 -0.49299499
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 9 5 4
+f 9 4 6
+f 9 8 2
+f 10 6 4
+f 10 4 3
+f 11 9 2
+f 11 5 9
+f 11 2 1
+f 11 1 5
+f 12 9 6
+f 12 8 9
+f 12 6 10
+f 12 10 3
+f 12 3 8

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_4.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01780196 -0.04891007 0.38415706
+v 0.05687401 -0.03899889 0.22046247
+v 0.05311213 -0.01513374 0.35359866
+v -0.04757375 -0.01862723 0.38565411
+v -0.04394022 -0.06546425 0.21574378
+v -0.06593278 -0.01979466 0.26478270
+v 0.04757176 -0.01863187 0.38565574
+v 0.04392900 -0.06547034 0.21574529
+v -0.03615222 -0.03675070 0.38367395
+v 0.06593075 -0.01979928 0.26478478
+v -0.05311415 -0.01512912 0.35359657
+v -0.05688030 -0.03899181 0.22046078
+v 0.00493493 -0.05113476 0.38451296
+v 0.03614633 -0.03675758 0.38367531
+v -0.05599355 -0.04068554 0.26270625
+v 0.05598726 -0.04069262 0.26270793
+v 0.05969251 -0.02304353 0.25108076
+v -0.02740583 -0.04791845 0.35284134
+v 0.00463555 -0.06459039 0.29286063
+v -0.04854838 -0.02802941 0.35280432
+v 0.04854812 -0.02802926 0.35280627
+v -0.05969451 -0.02303890 0.25107870
+v -0.02781720 -0.06378143 0.26205836
+v 0.02780608 -0.06378768 0.26205957
+v -0.00465021 -0.06458797 0.29286025
+f 7 3 4
+f 8 5 2
+f 10 3 7
+f 11 6 4
+f 11 4 3
+f 11 10 6
+f 11 3 10
+f 12 2 5
+f 13 7 4
+f 13 1 7
+f 13 4 9
+f 14 7 1
+f 14 1 8
+f 15 5 9
+f 15 12 5
+f 15 6 12
+f 16 8 2
+f 16 2 10
+f 16 14 8
+f 17 10 2
+f 17 2 12
+f 18 13 9
+f 18 9 5
+f 19 1 13
+f 19 5 8
+f 20 15 9
+f 20 9 4
+f 20 4 6
+f 20 6 15
+f 21 16 10
+f 21 10 7
+f 21 7 14
+f 21 14 16
+f 22 17 12
+f 22 12 6
+f 22 6 10
+f 22 10 17
+f 23 18 5
+f 23 13 18
+f 24 19 8
+f 24 8 1
+f 24 1 19
+f 25 19 13
+f 25 13 23
+f 25 23 5
+f 25 5 19

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_5.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08425318 0.08622271 0.14463851
+v 0.08234820 0.08462425 -0.49906029
+v 0.04704267 0.12924923 -0.32587215
+v -0.00488545 0.13075157 0.12295626
+v 0.00756839 0.08544470 -0.50000000
+v 0.03480817 0.12867830 0.09757855
+v 0.07269888 0.11249231 -0.48476305
+v -0.01326756 0.11768254 0.14769607
+v -0.01629682 0.13486244 -0.35574310
+v 0.04522453 0.11739211 0.13717300
+v 0.07677568 0.10440243 -0.49299499
+v 0.07296544 0.11295450 -0.14407048
+v 0.00539578 0.13372968 -0.48791389
+v -0.00593297 0.13669230 -0.35612073
+v 0.01956794 0.12817513 0.12292350
+v 0.07451254 0.10048254 0.13717300
+v 0.06046856 0.09834112 0.15254096
+v 0.00653060 0.12501351 -0.49665499
+v 0.04640204 0.12748871 -0.48521005
+v 0.05690596 0.11138180 0.13547957
+v 0.05885127 0.11475121 -0.49299499
+f 5 2 1
+f 8 5 1
+f 9 8 4
+f 9 5 8
+f 11 1 2
+f 12 11 7
+f 12 1 11
+f 12 7 3
+f 12 3 6
+f 14 9 4
+f 14 4 6
+f 14 13 9
+f 14 6 3
+f 14 3 13
+f 15 10 6
+f 15 6 4
+f 15 4 8
+f 15 8 10
+f 16 12 6
+f 16 1 12
+f 17 10 8
+f 17 8 1
+f 17 16 10
+f 17 1 16
+f 18 5 9
+f 18 9 13
+f 18 2 5
+f 19 7 11
+f 19 18 13
+f 19 13 3
+f 19 3 7
+f 20 16 6
+f 20 6 10
+f 20 10 16
+f 21 11 2
+f 21 2 18
+f 21 19 11
+f 21 18 19

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_6.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.06185157 -0.09648836 0.15412167
+v -0.07161528 -0.11339928 -0.09824977
+v -0.04523558 0.11738573 0.13717300
+v -0.04953018 0.12482411 0.08328899
+v -0.10994328 0.07746416 -0.09826517
+v -0.09710182 -0.09276906 -0.09837120
+v -0.09742191 0.09238493 -0.09811833
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+v -0.05691757 0.11137639 0.13547668
+v -0.07881824 0.10791465 0.08327614
+f 1 2 3
+f 3 2 4
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+f 9 8 5
+f 9 1 8
+f 10 8 3
+f 10 3 4
+f 11 7 5
+f 11 5 8
+f 11 4 7
+f 11 10 4
+f 11 8 10

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_7.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.04555305 -0.01789709 0.45964180
+v 0.06801144 -0.01504198 0.26264834
+v 0.03942966 0.02858428 0.49475490
+v -0.00604588 0.04642479 0.49725899
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+f 27 20 23

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_8.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.11412580 0.04980245 0.13717300
+v -0.05303767 0.05514167 -0.50000000
+v -0.09544993 0.06530231 0.15306999
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+v -0.11348932 0.07260152 -0.48522151
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+v -0.11350965 0.06472969 -0.49299499
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+v -0.06089393 0.11826358 0.08324108
+v -0.07271026 0.11248688 -0.48476074
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+f 21 12 5
+f 21 5 16

Assets/robocasa/data/objects/objaverse/beer/beer_0/collision/model_normalized_collision_9.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01808350 -0.04968450 0.48771951
+v 0.04349733 -0.02777468 0.38484623
+v 0.03672297 -0.03724129 0.48771951
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+f 25 12 1

Assets/robocasa/data/objects/objaverse/beer/beer_0/model.xml

@@ -0,0 +1,47 @@
+<mujoco model="beer_18">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.029" texture="image0" specular="0.5" shininess="0.25"/>
+    <mesh file="collision/collision_mesh_collision_0.obj" name="beer_collision_mesh_0" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_1.obj" name="beer_collision_mesh_1" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_2.obj" name="beer_collision_mesh_2" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_3.obj" name="beer_collision_mesh_3" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_4.obj" name="beer_collision_mesh_4" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_5.obj" name="beer_collision_mesh_5" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_6.obj" name="beer_collision_mesh_6" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_7.obj" name="beer_collision_mesh_7" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_8.obj" name="beer_collision_mesh_8" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_9.obj" name="beer_collision_mesh_9" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_10.obj" name="beer_collision_mesh_10" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/collision_mesh_collision_11.obj" name="beer_collision_mesh_11" scale="0.16999999999999993 0.16999999999999993 0.16999999999999993" refquat="1.0 0.0 0.0 0.0"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5" density="1000.0"/>
+    </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.029"/>
+        <geom class="region" name="reg_bbox" type="box" pos="0.0 0.0 -9.056155000000283e-05" size="0.02411185649999999 0.024322010499999987 0.08584444184999998"/>
+        <geom mesh="beer_collision_mesh_0" type="mesh" class="collision"/>
+        <geom mesh="beer_collision_mesh_1" type="mesh" class="collision"/>
+        <geom mesh="beer_collision_mesh_2" type="mesh" class="collision"/>
+        <geom mesh="beer_collision_mesh_3" type="mesh" class="collision"/>
+        <geom mesh="beer_collision_mesh_4" type="mesh" class="collision"/>
+        <geom mesh="beer_collision_mesh_5" type="mesh" class="collision"/>
+        <geom mesh="beer_collision_mesh_6" type="mesh" class="collision"/>
+        <geom mesh="beer_collision_mesh_7" type="mesh" class="collision"/>
+        <geom mesh="beer_collision_mesh_8" type="mesh" class="collision"/>
+        <geom mesh="beer_collision_mesh_9" type="mesh" class="collision"/>
+        <geom mesh="beer_collision_mesh_10" type="mesh" class="collision"/>
+        <geom mesh="beer_collision_mesh_11" type="mesh" class="collision"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>

Assets/robocasa/data/objects/objaverse/beer/beer_0/visual/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png

Assets/robocasa/data/objects/objaverse/beer/beer_1/collision/collision_mesh_collision_0.obj

@@ -0,0 +1,1222 @@
+# https://github.com/mikedh/trimesh
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Assets/robocasa/data/objects/objaverse/beer/beer_1/collision/model_normalized_collision_0.obj

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