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objects/objaverse/bottled_water/bottled_water_1/collision/model_normalized_collision_12.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.05288910 -0.11886351 0.22462572
+v 0.09335372 -0.07820220 -0.49999999
+v 0.08090462 -0.11120765 0.21165643
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+v 0.01759614 -0.07820220 -0.49999999
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+v 0.06864834 -0.09448333 0.25627047
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+v 0.01526015 -0.12405893 -0.49999999
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+v 0.03918628 -0.12059911 -0.49921149
+v 0.01481189 -0.12122253 0.24186784
+v 0.04031753 -0.10877805 0.25651442
+v 0.08075444 -0.09590784 -0.49999999
+v 0.02965433 -0.11928550 0.24097397
+v 0.06893598 -0.10546998 -0.49914999
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+f 21 19 13
+f 21 16 19
+f 21 13 8
+f 21 8 16

objects/objaverse/bottled_water/bottled_water_1/collision/model_normalized_collision_13.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.11608499 0.04164289 -0.15885404
+v -0.04116281 0.12669064 -0.35686327
+v -0.12054790 0.03916736 -0.29695351
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+v -0.13288345 0.04284585 -0.41677831
+v -0.10526571 0.09011420 -0.41870024
+v -0.08368724 0.08199009 -0.35060624
+v -0.08021348 0.09444494 -0.41370973
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+f 16 13 9
+f 16 11 13

objects/objaverse/bottled_water/bottled_water_1/collision/model_normalized_collision_16.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.09057476 -0.09546401 0.22105997
+v -0.10342090 -0.06294601 -0.03785036
+v -0.09225309 -0.09714234 0.14393940
+v -0.10081148 0.04897536 0.22463359
+v -0.13108110 -0.04259315 0.21102731
+v -0.10934809 0.05309933 0.00962635
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+v -0.10834113 -0.08292736 0.21296286
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+v -0.11890768 -0.02035140 -0.03987281
+v -0.10740461 -0.08199083 0.14393940
+v -0.11721737 -0.06969202 0.21113623
+v -0.13552135 -0.01545069 -0.03594309
+v -0.13131325 -0.04266466 -0.03523495
+v -0.13444789 0.04069449 0.00757577
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+f 15 9 6
+f 15 6 13

objects/objaverse/bottled_water/bottled_water_1/collision/model_normalized_collision_2.obj

@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.09349401 -0.07834250 -0.23483965
+v 0.13664584 -0.01485311 -0.47003731
+v 0.12147786 0.00996300 -0.23562985
+v 0.08790340 0.09816566 -0.35688150
+v 0.08447949 -0.09963101 -0.48724347
+v 0.12062546 0.06404899 -0.40368854
+v 0.09261175 0.05780313 -0.23488187
+v 0.12215090 -0.03968809 -0.31258748
+v 0.08548619 -0.10063770 -0.35724557
+v 0.09077415 0.08588490 -0.49999999
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+v 0.12305208 0.00000000 -0.23555888
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+v 0.08387412 0.10928790 -0.47173743
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+v 0.12155556 0.06452357 -0.46928084
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+v 0.09834991 0.07830914 -0.49999999
+v 0.09255328 0.10281555 -0.46795812
+v 0.10792219 -0.07841161 -0.48343127
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objects/objaverse/bottled_water/bottled_water_1/collision/model_normalized_collision_22.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.05250888 -0.12771486 0.20773773
+v -0.05695331 -0.12128544 0.08333334
+v -0.05756644 -0.07758139 0.26474704
+v -0.09368205 -0.06826827 0.25788575
+v -0.10740461 -0.08199083 0.08333334
+v -0.05374630 -0.09984180 0.26012229
+v -0.07969761 -0.10969782 0.08333334
+v -0.11201850 -0.07476331 0.21623765
+v -0.07505555 -0.09583201 0.08342502
+v -0.11217172 -0.07484183 0.08333334
+v -0.05130487 -0.11020272 0.24310357
+v -0.07715222 -0.10618744 0.22523898
+v -0.10691707 -0.07216392 0.22877433
+v -0.05143263 -0.12560268 0.21292901
+v -0.06643328 -0.09500585 0.25731496
+v -0.10429258 -0.07887880 0.22549952
+v -0.06453740 -0.12158583 0.20773773
+v -0.07225299 -0.09229375 0.25433587
+v -0.06387166 -0.10513094 0.24050380
+v -0.08740450 -0.07714224 0.25433587
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+f 20 18 4
+f 20 4 16
+f 20 16 12
+f 20 12 18

objects/objaverse/bottled_water/bottled_water_1/collision/model_normalized_collision_25.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01569353 -0.12679310 -0.09676827
+v 0.01630218 -0.13063562 -0.35694171
+v 0.01704879 0.13046230 -0.35643327
+v -0.03994533 0.12294002 -0.09685779
+v -0.04110138 -0.12675393 -0.35736014
+v 0.01643406 0.12658037 -0.09743641
+v -0.03997405 -0.12302848 -0.09620673
+v -0.04116281 0.12669064 -0.35686327
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+f 7 2 1
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+f 8 3 5
+f 8 7 4
+f 8 5 7

objects/objaverse/bottled_water/bottled_water_1/collision/model_normalized_collision_26.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.12841390 0.04172309 0.21709216
+v -0.05280098 0.12339974 0.08333334
+v -0.08507405 0.06879948 0.23311566
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+v -0.10489739 0.08974588 0.20773773
+v -0.12895524 0.04189894 0.08333334
+v -0.08974588 0.10489739 0.20773773
+v -0.10409579 0.08894428 0.21021959
+v -0.09380712 0.07716812 0.08351870
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+v -0.11885291 0.06563697 0.21197493
+v -0.06563661 0.11885383 0.21197502
+v -0.06482908 0.11727040 0.08333334
+v -0.08894428 0.10409579 0.21021959
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+f 14 3 12
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+f 14 7 5
+f 14 5 8

objects/objaverse/bottled_water/bottled_water_1/collision/model_normalized_collision_8.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.02066098 -0.11577297 -0.35386956
+v 0.01759614 -0.09335372 -0.49999999
+v 0.02698831 0.11407314 -0.35058180
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+v -0.13223501 -0.04296599 -0.46994266
+v 0.01759614 0.05816143 -0.49999999
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+v -0.13100832 0.02499834 -0.37315892
+v -0.12919979 0.02471221 -0.48411828
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objects/objaverse/bottled_water/bottled_water_1/collision/model_normalized_collision_9.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.08712196 -0.10227347 0.05303031
+v 0.12112035 -0.00204308 -0.18919190
+v 0.13849320 -0.01514708 0.01019203
+v 0.08956544 0.09982718 0.05303031
+v 0.09287574 0.05793053 -0.15905293
+v 0.12294489 0.06523072 0.01019203
+v 0.12440777 0.05082476 0.05303031
+v 0.10024217 -0.07283069 -0.15830732
+v 0.08514853 0.09541079 -0.09684713
+v 0.13625020 0.02505417 -0.02019720
+v 0.12243015 -0.05470647 0.05303031
+v 0.10969782 0.07969761 0.05303031
+v 0.12134247 -0.03942646 -0.11210466
+v 0.10572949 0.01439837 -0.18908759
+v 0.10647778 0.07736136 -0.08041465
+v 0.08571673 -0.10086825 -0.06665751
+v 0.13647456 0.00993818 -0.03538077
+v 0.13690797 0.02515833 0.01019203
+v 0.10905880 -0.05561321 -0.15780266
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+v 0.10752170 -0.00499705 -0.18908759
+v 0.12273693 0.00000000 -0.17296198
+v 0.09287224 0.08798298 -0.09536458
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+v 0.09344045 -0.09344045 -0.06517497
+v 0.12089890 0.04903679 -0.08049716
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objects/objaverse/donut/donut_13/collision/model_normalized_collision_0.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22923708 -0.43322268 0.05923322
+v 0.40530872 -0.25727116 -0.08269642
+v 0.33348482 -0.25856041 0.14437674
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+v 0.02340376 -0.26515152 -0.08752613
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+v 0.34688877 -0.25750358 -0.14937668
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+v 0.41992215 -0.25693238 0.05778948
+v 0.26986068 -0.37126153 0.10846667
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+v 0.17057850 -0.34665169 0.16633060
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+v 0.29750468 -0.36833654 -0.09177704
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+v 0.23425666 -0.26342619 -0.18385826
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+v 0.32835082 -0.29918125 0.12251205
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objects/objaverse/donut/donut_13/collision/model_normalized_collision_17.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_13/collision/model_normalized_collision_18.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_13/collision/model_normalized_collision_21.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_13/collision/model_normalized_collision_3.obj

@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_13/visual/material.mtl

@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.64313725 0.45490196 0.26274510
+Ks 0.50196078 0.50196078 0.50196078
+Ns 62.50000000

objects/objaverse/donut/donut_15/collision/model_normalized_collision_0.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_15/collision/model_normalized_collision_1.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_15/collision/model_normalized_collision_10.obj

@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_15/collision/model_normalized_collision_11.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
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+v 0.16425773 0.11981740 0.12298793
+v -0.07818625 0.20868217 0.14359585
+v -0.10438542 0.20824425 -0.15358897
+v -0.09510210 0.12241478 -0.04461082
+v -0.11011418 0.17040395 -0.12506622
+v -0.09588762 0.12472076 0.05627106
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+f 11 4 10
+f 11 6 2
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+f 15 3 4
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+f 15 4 11
+f 16 11 2
+f 17 8 1
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+f 18 15 11
+f 18 11 16
+f 18 16 2
+f 18 2 5
+f 19 17 1
+f 19 1 12
+f 19 5 17
+f 19 18 5
+f 19 12 15
+f 19 15 18

objects/objaverse/donut/donut_15/collision/model_normalized_collision_12.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.28415560 -0.29146253 0.13997765
+v 0.37743756 -0.24676106 0.09693219
+v 0.38237863 -0.00861337 0.16487543
+v 0.18066084 -0.00532080 0.10692282
+v 0.11411036 -0.18105211 0.14106639
+v 0.42054843 -0.01989521 0.14541297
+v 0.36372198 -0.26299026 0.09907536
+v 0.25771936 -0.23190613 0.16291965
+v 0.22611733 -0.00826372 0.14931970
+v 0.17365054 -0.00699532 0.10021276
+v 0.33869248 -0.21081380 0.14843935
+v 0.11133355 -0.19299210 0.14945406
+v 0.28042451 -0.00785077 0.16386509
+v 0.16239886 -0.05553805 0.09600210
+v 0.39402581 -0.08031683 0.15430504
+v 0.30972304 -0.25466204 0.14628063
+v 0.11031942 -0.19093580 0.14752373
+v 0.25970896 -0.26359479 0.15668167
+v 0.23436706 -0.14634124 0.16343460
+v 0.14227407 -0.13276687 0.12069614
+v 0.36664870 -0.19683148 0.13183774
+v 0.39728884 -0.08326173 0.14910559
+v 0.37758436 -0.06417525 0.16330485
+v 0.27229327 -0.23139984 0.16006808
+v 0.38871368 -0.12556477 0.13996186
+v 0.30234627 -0.18659965 0.16081291
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+f 17 9 4
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+f 18 1 16
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+f 19 13 12
+f 19 12 8
+f 19 8 3
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+f 20 14 7
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+f 21 15 11
+f 21 11 2
+f 22 2 6
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+f 25 21 2
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+f 25 22 15
+f 25 2 22
+f 26 23 8
+f 26 8 24
+f 26 24 11
+f 26 11 23

objects/objaverse/donut/donut_15/collision/model_normalized_collision_13.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.14851667 -0.22044543 0.16103843
+v -0.10400850 -0.19232626 0.14597632
+v -0.17783286 0.15866378 0.15189646
+v -0.22123893 0.15739663 0.16059436
+v -0.22377432 -0.21969697 0.10378508
+v -0.10548296 -0.19531937 0.14931970
+v -0.22251312 -0.21825830 0.17241985
+v -0.15185780 -0.07025499 0.09700032
+v -0.16008419 0.14321501 0.13988808
+v -0.16546207 -0.22312865 0.16416426
+v -0.22722397 -0.16139615 0.16408500
+v -0.10701971 -0.18327984 0.13918192
+f 1 3 4
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+f 6 1 5
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+f 9 6 2
+f 9 3 6
+f 9 8 4
+f 9 4 3
+f 10 7 5
+f 10 5 1
+f 10 1 4
+f 10 4 7
+f 11 7 4
+f 11 4 5
+f 11 5 7
+f 12 2 5
+f 12 5 8
+f 12 9 2
+f 12 8 9

objects/objaverse/donut/donut_15/collision/model_normalized_collision_14.obj

@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.24679448 -0.41675193 0.01498594
+v 0.40761759 -0.26207168 -0.04760587
+v 0.38164928 -0.29434703 0.05292454
+v 0.33188854 -0.26140554 0.12682158
+v 0.23016896 -0.26446488 -0.16553974
+v 0.38969352 -0.25941200 0.08057732
+v 0.26712717 -0.38046067 0.09594187
+v 0.35800941 -0.34134349 -0.00083998
+v 0.38558192 -0.31422787 0.00198814
+v 0.34104174 -0.25874791 0.12085720
+v 0.38530425 -0.25704241 -0.08605636
+v 0.23077113 -0.26515152 0.01287599
+v 0.33399261 -0.29916339 0.10459999
+v 0.29632641 -0.38603732 0.00471593
+v 0.36584036 -0.33047568 -0.03149177
+v 0.40348484 -0.25958145 -0.05597723
+v 0.30053093 -0.25989391 -0.15312284
+v 0.22602514 -0.39189320 -0.09762989
+v 0.30694412 -0.27844602 0.13444844
+v 0.32831517 -0.27594808 0.12313505
+v 0.36824839 -0.29712827 0.07353039
+v 0.38081326 -0.31502683 -0.02609142
+v 0.37999969 -0.28426712 -0.06664973
+v 0.29165654 -0.38772345 -0.03773166
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+v 0.39895294 -0.26975647 -0.05312274
+v 0.29342488 -0.37075193 -0.06894197
+v 0.35445378 -0.34125350 -0.03261087
+v 0.22847050 -0.32231379 -0.15352264
+v 0.27334747 -0.35266252 0.11157090
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+v 0.23774823 -0.38927885 -0.09365125
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+v 0.26686938 -0.37236396 -0.09153184
+v 0.26479248 -0.29756788 -0.15163678
+v 0.32316272 -0.28346503 -0.12050095
+v 0.35665857 -0.25815041 -0.11091626
+v 0.37993602 -0.26860944 -0.08238203
+v 0.26616614 -0.35615942 -0.10542400
+v 0.29381476 -0.26915455 -0.15206679
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+f 43 38 36
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+f 43 39 34
+f 43 36 39
+f 44 39 17
+f 44 34 39
+f 44 40 34
+f 44 17 37
+f 44 37 40

objects/objaverse/donut/donut_15/collision/model_normalized_collision_15.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.14715545 -0.15225245 0.13820471
+v 0.16340464 -0.13614452 -0.14265244
+v 0.16312079 -0.13590149 0.13847434
+v 0.16239886 -0.05553805 0.09600210
+v -0.04283703 -0.13113723 0.01224850
+v 0.16275327 -0.05565732 -0.10018002
+v -0.04232921 -0.12949150 0.05846382
+v 0.15936132 -0.14775120 0.14347015
+v 0.06846950 -0.15278714 -0.09849075
+v 0.12928557 -0.06276442 -0.02669637
+v 0.15964237 -0.14799760 -0.14764805
+v -0.02682654 -0.14404933 -0.04770009
+v 0.12911812 -0.06268179 0.02219470
+v 0.14739642 -0.15253855 -0.14238283
+v -0.03629390 -0.13398027 0.05714687
+v -0.02952269 -0.14250118 -0.04399212
+f 6 3 2
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+f 12 9 1
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+f 13 7 4
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+f 14 11 8
+f 14 8 1
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+f 15 12 1
+f 15 1 7
+f 16 5 6
+f 16 6 12
+f 16 15 5
+f 16 12 15

objects/objaverse/donut/donut_15/collision/model_normalized_collision_16.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.15020736 -0.05813119 0.08540661
+v 0.15557950 -0.05322240 -0.09258822
+v 0.16223441 0.15027457 -0.14420282
+v 0.09901910 0.16598786 -0.11521043
+v 0.08160537 0.13993465 -0.06904030
+v 0.14622818 0.16635671 -0.14414871
+v 0.16332356 0.01070488 0.09499490
+v 0.13645678 -0.05882488 -0.04422769
+v 0.15020736 -0.05813119 -0.08920976
+v 0.15847415 0.16212532 -0.14919802
+v 0.15522539 -0.05310224 0.08841032
+v 0.08798210 0.10566446 0.02316442
+v 0.11603387 0.16877960 -0.12700992
+v 0.16144849 0.10246464 0.11125167
+v 0.13628951 -0.05874236 0.03972685
+v 0.16406516 0.08616580 0.10835977
+v 0.15160222 0.10615905 0.10488881
+v 0.10458571 0.10643672 0.05063565
+v 0.13534712 0.10549131 0.09098198
+f 7 2 3
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+f 9 2 1
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+f 10 2 9
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+f 14 1 11
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+f 17 13 4
+f 17 1 14
+f 18 4 5
+f 18 5 12
+f 18 12 1
+f 19 17 4
+f 19 4 18
+f 19 18 1
+f 19 1 17

objects/objaverse/donut/donut_15/collision/model_normalized_collision_17.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.17895645 0.02277613 0.10311684
+v 0.00259871 0.17594919 0.10172548
+v -0.02683273 0.28073204 0.16278935
+v -0.23284748 0.37503547 0.13900094
+v -0.17007801 0.02438244 0.09572324
+v -0.08758262 0.36922187 0.15648186
+v -0.22752123 0.03862456 0.15016581
+v -0.01740630 0.14991034 0.09548389
+v -0.25136735 0.35292074 0.14477873
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+v -0.18648643 0.02352417 0.11034578
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+v -0.02583592 0.26558298 0.15871303
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+v -0.21819911 0.36334566 0.15010461
+v -0.08664893 0.33707932 0.16499502
+v -0.25617881 0.31171400 0.16030361
+v -0.14478803 0.35134088 0.16137913
+v -0.22226155 0.36907763 0.14536313
+v -0.24755882 0.34814478 0.14914191
+v -0.22707810 0.17645017 0.16473939
+v -0.11966642 0.35264163 0.16225330
+v -0.23707528 0.36734201 0.14205703
+v -0.23556362 0.30840706 0.16526693
+v -0.05786934 0.28413612 0.16498230
+v -0.25323766 0.31033817 0.16119033
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+f 13 1 8
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+f 18 3 6
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+f 28 26 14
+f 28 14 19

objects/objaverse/donut/donut_15/collision/model_normalized_collision_18.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.03177946 -0.15417120 0.10862983
+v -0.02756613 -0.14775751 -0.06184060
+v -0.01240105 -0.14589806 0.05803111
+v -0.15648521 -0.01006492 0.08482559
+v -0.14878360 -0.14481396 -0.13747855
+v -0.15091306 -0.00776612 -0.04695396
+v -0.01758618 -0.15247491 0.09660917
+v -0.12508027 -0.15233997 -0.12748944
+v -0.14814010 -0.14406392 0.13373823
+v -0.03074898 -0.13353657 -0.01200044
+v -0.14984085 -0.00869145 -0.04318016
+v -0.15645729 -0.12103797 -0.12743624
+v -0.02485810 -0.14386566 0.09388122
+v -0.05231810 -0.12389924 0.10051504
+v -0.07582261 -0.15116726 -0.10029401
+v -0.10488298 -0.11878323 0.11508749
+v -0.15547798 -0.07186283 -0.10003324
+v -0.15379251 -0.10607119 0.12029353
+f 7 2 3
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+f 10 3 2
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+f 11 4 3
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+f 17 12 4
+f 17 4 6
+f 17 6 2
+f 17 2 15
+f 17 15 5
+f 17 5 12
+f 18 12 9
+f 18 9 4
+f 18 4 12

objects/objaverse/donut/donut_15/collision/model_normalized_collision_19.obj

@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.13349825 -0.46254512 0.05354446
+v 0.29132682 -0.38035236 0.02211405
+v 0.25234864 -0.40142381 0.09404442
+v 0.22880398 -0.35427029 0.12954280
+v 0.13746253 -0.39444535 -0.13118934
+v 0.27334747 -0.35266252 0.11157090
+v 0.13849967 -0.39357674 0.13792100
+v 0.19218575 -0.44579725 -0.02573202
+v 0.26329814 -0.39025389 0.09288100
+v 0.23940704 -0.37967960 0.11586163
+v 0.25739523 -0.34875260 0.11829934
+v 0.22602514 -0.39189320 -0.09762989
+v 0.18146483 -0.43267141 0.08919579
+v 0.13515092 -0.40278962 -0.12401542
+v 0.13944015 -0.38328079 0.14326517
+v 0.24576274 -0.41663780 0.02705477
+v 0.24942611 -0.39081486 0.10434935
+v 0.26975513 -0.39370663 -0.05619003
+v 0.15182906 -0.39213497 -0.12875409
+v 0.13518559 -0.43783302 0.09415750
+v 0.16409851 -0.45915932 0.02272034
+v 0.22867432 -0.40121489 0.10394556
+v 0.14976710 -0.43151493 -0.09204919
+v 0.13986204 -0.38636364 0.01287599
+v 0.18045623 -0.37776388 0.13896571
+v 0.26284596 -0.37550783 0.10406955
+v 0.25022542 -0.41530773 -0.02552736
+v 0.14640613 -0.45755412 0.05289987
+v 0.22651484 -0.41320917 0.09174516
+v 0.22464157 -0.42872211 0.03665977
+v 0.17781082 -0.38716014 0.13235208
+v 0.13585788 -0.46603267 -0.02578397
+v 0.20576751 -0.41184143 -0.08722690
+v 0.26889455 -0.39877253 -0.05064337
+v 0.14964134 -0.46127134 -0.02579205
+v 0.13540079 -0.43382484 -0.09448436
+v 0.19266922 -0.41600599 -0.09074149
+v 0.22301454 -0.40093625 -0.09083622
+v 0.16353922 -0.45930001 -0.01326769
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+f 39 21 32
+f 39 32 35

objects/objaverse/donut/donut_15/collision/model_normalized_collision_2.obj

@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.23104454 -0.40206965 -0.07819844
+v 0.41091971 -0.21887371 -0.07753488
+v 0.01899135 -0.14918690 -0.06147588
+v -0.22377432 -0.14393940 -0.07803310
+v -0.22606463 -0.19140284 -0.17275052
+v -0.23093305 -0.40088279 -0.08236256
+v 0.40106937 -0.24425483 -0.07231329
+v 0.25808362 -0.21707426 -0.16927470
+v 0.13116955 -0.12300965 -0.10968488
+v -0.08741069 -0.26515152 -0.06288158
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objects/objaverse/donut/donut_15/collision/model_normalized_collision_20.obj

@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_15/collision/model_normalized_collision_21.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_15/collision/model_normalized_collision_22.obj

@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_15/collision/model_normalized_collision_23.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_15/collision/model_normalized_collision_24.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.25970896 -0.26359479 0.15668167
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objects/objaverse/donut/donut_15/collision/model_normalized_collision_25.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/donut/donut_15/collision/model_normalized_collision_26.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.39743779 0.09848484 0.01287599
+v 0.43070599 0.10510176 -0.11187757
+v 0.41753437 0.24827646 0.01933989
+v 0.09440749 0.23484847 0.01287599
+v 0.13875082 0.08762591 -0.08326028
+v 0.40480419 0.23977212 -0.08040265
+v 0.09278248 0.09730201 0.01319602
+v 0.09440749 0.23484847 -0.06288158
+v 0.11039751 0.11221782 -0.05645871
+v 0.15501355 0.23484847 -0.07803310
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 4 3
+f 8 7 4
+f 9 8 5
+f 9 5 7
+f 9 7 8
+f 10 6 2
+f 10 2 5
+f 10 5 8
+f 10 8 3
+f 10 3 6

objects/objaverse/donut/donut_15/collision/model_normalized_collision_27.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.39461443 -0.00763839 0.16277840
+v 0.39370743 -0.00733125 -0.15502210
+v 0.39033903 0.09707202 -0.15312284
+v 0.27713407 0.10007551 0.16873541
+v 0.28042451 -0.00785077 0.16386509
+v 0.39084983 0.09629152 0.16175250
+v 0.28061129 -0.00786363 -0.16771864
+v 0.33278838 0.09711285 -0.16818594
+v 0.34723018 0.06723640 -0.16604089
+v 0.27943061 0.09957252 -0.17149311
+v 0.34751275 -0.00728258 -0.16740177
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 9 8 3
+f 9 3 2
+f 10 7 4
+f 10 4 3
+f 10 3 8
+f 11 9 2
+f 11 2 7
+f 11 8 9
+f 11 10 8
+f 11 7 10

objects/objaverse/donut/donut_15/collision/model_normalized_collision_28.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.22200745 -0.23283402 0.16956575
+v -0.22377432 -0.23484849 -0.07803310
+v -0.22377432 0.20454544 -0.07803310
+v -0.34196996 0.20266103 0.15112726
+v -0.36809341 -0.25029053 -0.10576436
+v -0.22576698 0.20629318 0.16967383
+v -0.33374937 -0.22733177 0.14514527
+v -0.37752926 0.22629210 -0.11708268
+v -0.34041499 -0.09693367 0.16155860
+v -0.26556463 -0.23163501 0.16138489
+v -0.34031882 0.11205254 0.16118026
+v -0.32746717 -0.14214767 0.16078609
+v -0.29553014 0.20187250 0.16161501
+v -0.29520407 -0.20165404 0.16016182
+v -0.32526941 0.15684078 0.16059292
+v -0.31044688 0.18656198 0.16056914
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 9 1 6
+f 9 5 7
+f 9 8 5
+f 9 4 8
+f 10 7 5
+f 10 5 1
+f 11 9 6
+f 11 4 9
+f 12 9 7
+f 12 1 9
+f 13 6 4
+f 14 12 7
+f 14 7 10
+f 14 10 1
+f 14 1 12
+f 15 11 6
+f 15 6 13
+f 15 4 11
+f 16 15 13
+f 16 13 4
+f 16 4 15

objects/objaverse/donut/donut_15/collision/model_normalized_collision_29.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.37823562 0.09376405 0.16663571
+v 0.39743779 0.09848484 0.01287599
+v 0.41753437 0.24827646 0.01933989
+v 0.27296071 0.23124122 0.16253896
+v 0.27622567 0.09848484 0.01287599
+v 0.38634571 0.22815374 0.13017126
+v 0.39583213 0.09745209 0.15976439
+v 0.27713407 0.10007551 0.16873541
+v 0.27622567 0.23484847 0.01287599
+v 0.32973481 0.21237843 0.15994402
+v 0.34558307 0.22746728 0.14782734
+v 0.37251923 0.20079462 0.14460971
+v 0.34356821 0.18607101 0.16116167
+v 0.28938938 0.22869980 0.16141621
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 2 5
+f 9 5 4
+f 9 4 3
+f 10 4 1
+f 11 10 6
+f 11 6 4
+f 12 7 6
+f 12 6 10
+f 13 10 1
+f 13 1 7
+f 13 12 10
+f 13 7 12
+f 14 11 4
+f 14 4 10
+f 14 10 11

objects/objaverse/donut/donut_15/collision/model_normalized_collision_3.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.13941278 -0.13571386 0.12772144
+v -0.14323440 -0.18224074 -0.15552206
+v -0.07715536 0.20461555 -0.14019215
+v -0.22377432 0.23484847 0.10378508
+v -0.22606463 -0.19140284 -0.17275052
+v -0.07818625 0.20868217 0.14359585
+v -0.14956357 -0.19170760 -0.15858085
+v -0.21191660 -0.13601923 0.15688215
+v -0.22223275 0.23308997 -0.17538743
+v -0.10357668 0.23690699 -0.16039719
+v -0.21148749 -0.19190675 -0.16989694
+v -0.16541972 0.23821768 -0.16899654
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 8 7 1
+f 9 5 4
+f 10 3 2
+f 10 2 7
+f 10 7 5
+f 10 6 3
+f 10 4 6
+f 11 8 5
+f 11 5 7
+f 11 7 8
+f 12 10 5
+f 12 5 9
+f 12 9 4
+f 12 4 10

objects/objaverse/donut/donut_15/collision/model_normalized_collision_30.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24679448 -0.41675193 0.01498594
+v 0.23104454 -0.40206965 -0.07819844
+v 0.23077113 -0.26515152 0.01287599
+v -0.08741069 -0.26515152 0.01287599
+v -0.09324559 -0.43086042 -0.10788628
+v 0.23077113 -0.26515152 -0.07803310
+v -0.08741069 -0.40151515 0.01287599
+v -0.08741069 -0.26515152 -0.07803310
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6

objects/objaverse/donut/donut_15/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28415560 -0.29146253 0.13997765
+v 0.39711511 -0.27716680 0.02083139
+v 0.42054843 -0.01989521 0.14541297
+v 0.24735402 -0.00667291 0.15498313
+v 0.26107416 -0.26515152 0.01287599
+v 0.37460897 -0.26002089 0.09278312
+v 0.38228627 -0.00757577 0.01287599
+v 0.26107416 -0.00757577 0.01287599
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7

objects/objaverse/donut/donut_15/collision/model_normalized_collision_4.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.39597889 -0.22884754 -0.09446734
+v 0.37078507 -0.21201298 -0.12483531
+v 0.40480419 0.23977212 -0.08040265
+v 0.15501355 0.23484847 -0.07803310
+v 0.15501355 -0.21969697 -0.07803310
+v 0.15743449 0.23847130 -0.16786280
+v 0.43070599 0.10510176 -0.11187757
+v 0.17241745 -0.22306753 -0.16899121
+v 0.15547226 -0.22038374 -0.16586529
+v 0.36903140 -0.15255388 -0.15312284
+v 0.33111098 0.23102671 -0.15312284
+v 0.27265953 -0.21656952 -0.16642255
+v 0.38345362 0.16735000 -0.13823379
+v 0.33838174 -0.21060611 -0.15261707
+v 0.34751275 -0.00728258 -0.16740177
+v 0.38549171 0.22778772 -0.10961409
+v 0.31711306 -0.15683772 -0.16512002
+v 0.27250286 0.23158363 -0.16564624
+v 0.39033903 0.09707202 -0.15312284
+v 0.35254737 0.19735338 -0.15271253
+v 0.28727526 -0.20180405 -0.16571261
+v 0.34709637 -0.06720951 -0.16553019
+v 0.38294483 0.12386735 -0.15312284
+v 0.35349572 0.22573201 -0.13742024
+v 0.28712886 0.21685864 -0.16505859
+v 0.36761743 0.16700805 -0.15261846
+v 0.33216921 0.12720432 -0.16574733
+f 5 1 3
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+f 6 4 3
+f 7 3 1
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+f 9 5 4
+f 9 4 6
+f 9 8 5
+f 9 6 8
+f 10 7 1
+f 10 1 2
+f 11 6 3
+f 12 1 8
+f 14 2 1
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+f 14 10 2
+f 15 12 8
+f 15 8 6
+f 16 11 3
+f 16 3 7
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+f 17 10 14
+f 17 12 15
+f 18 15 6
+f 18 6 11
+f 19 7 10
+f 21 17 14
+f 21 14 12
+f 21 12 17
+f 22 17 15
+f 22 10 17
+f 22 19 10
+f 22 15 19
+f 23 13 7
+f 23 7 19
+f 24 20 11
+f 24 11 16
+f 24 16 20
+f 25 18 11
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+f 26 13 23
+f 26 20 16
+f 26 16 13
+f 27 23 19
+f 27 19 15
+f 27 15 18
+f 27 18 25
+f 27 26 23
+f 27 25 20
+f 27 20 26

objects/objaverse/donut/donut_15/collision/model_normalized_collision_5.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.39711511 -0.27716680 0.02083139
+v 0.38369906 -0.26602963 -0.07888558
+v 0.38228627 -0.00757577 -0.07803310
+v 0.11710210 0.07309440 0.03182721
+v 0.13116955 -0.12300965 -0.10968488
+v 0.38228627 -0.00757577 0.01287599
+v 0.26107416 -0.26515152 -0.07803310
+v 0.13875082 0.08762591 -0.08326028
+v 0.15501355 -0.14393940 0.01287599
+v 0.27622567 0.09848484 -0.07803310
+v 0.26107416 -0.26515152 0.01287599
+v 0.27622567 0.09848484 0.01287599
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 9 4 5
+f 10 3 5
+f 10 5 8
+f 10 6 3
+f 11 7 1
+f 11 1 4
+f 11 4 9
+f 11 9 5
+f 11 5 7
+f 12 10 8
+f 12 8 4
+f 12 4 6
+f 12 6 10

objects/objaverse/donut/donut_15/collision/model_normalized_collision_6.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26107416 -0.14393940 0.10378508
+v 0.26107416 -0.14393940 0.01287599
+v 0.27622567 0.23484847 0.01287599
+v 0.15508877 0.23454437 0.17105770
+v 0.14227407 -0.13276687 0.12069614
+v 0.27296071 0.23124122 0.16253896
+v 0.28010433 0.05380260 0.16481001
+v 0.15501355 -0.14393940 0.01287599
+v 0.27663921 -0.00760291 0.16284698
+v 0.27622567 -0.00757577 0.01287599
+v 0.15501355 0.23484847 0.01287599
+f 6 3 4
+f 7 3 6
+f 7 6 4
+f 8 2 1
+f 8 1 5
+f 8 3 2
+f 9 1 2
+f 9 5 1
+f 9 7 4
+f 9 4 5
+f 10 2 3
+f 10 3 7
+f 10 9 2
+f 10 7 9
+f 11 8 5
+f 11 5 4
+f 11 4 3
+f 11 3 8

objects/objaverse/donut/donut_15/collision/model_normalized_collision_7.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02027378 -0.41111537 0.13328232
+v 0.01864992 -0.38636364 0.01287599
+v 0.01838328 -0.16036448 0.09411261
+v -0.21191660 -0.13601923 0.15688215
+v -0.23093305 -0.40088279 -0.08236256
+v 0.01899135 -0.14918690 -0.06147588
+v -0.09469786 -0.42301277 -0.11531657
+v -0.22488364 -0.38838610 0.10903051
+v 0.01864992 -0.26515152 -0.06288158
+v -0.22377432 -0.14393940 -0.07803310
+v -0.08075250 -0.13397653 -0.08123615
+f 1 3 4
+f 6 3 1
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 6 1
+f 9 1 2
+f 9 7 6
+f 9 2 7
+f 10 8 4
+f 10 5 8
+f 10 7 5
+f 11 4 3
+f 11 3 6
+f 11 10 4
+f 11 6 7
+f 11 7 10

objects/objaverse/donut/donut_15/collision/model_normalized_collision_8.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22576698 0.20629318 0.16967383
+v -0.22377432 0.20454544 -0.07803310
+v -0.21653153 0.41836157 0.10024042
+v -0.21790839 0.43971154 0.05022800
+v -0.43676476 0.19750050 -0.04347240
+v -0.21653202 0.37552587 -0.12563081
+v -0.28108357 0.20234212 0.16476935
+v -0.37320556 0.28393890 0.08309113
+v -0.21738206 0.43400949 -0.02871435
+v -0.32742244 0.20293331 -0.15813817
+v -0.35081192 0.19994741 -0.15312284
+v -0.22427800 0.30937743 0.16531305
+v -0.28325411 0.37177369 0.09266831
+v -0.42298184 0.19817616 0.08478223
+v -0.33170404 0.32926016 -0.09070706
+v -0.22241439 0.30857096 -0.15982856
+v -0.35081192 0.19994741 0.14931970
+v -0.21986697 0.39285415 0.13384411
+v -0.24104753 0.39955512 0.11423508
+v -0.31497366 0.36941421 0.02199830
+v -0.41811577 0.25327031 0.00715712
+v -0.23074488 0.40442056 -0.09363950
+v -0.40339906 0.23840798 -0.08760541
+v -0.25814976 0.31312826 -0.15217379
+v -0.43693228 0.19758313 0.03897087
+v -0.24954299 0.30915952 0.16225822
+v -0.28937190 0.31638123 0.14514154
+v -0.21868322 0.40564664 0.12294586
+v -0.34661002 0.31389277 0.08582785
+v -0.28668004 0.39743434 -0.01124233
+v -0.40355481 0.23851085 0.08310430
+v -0.38776681 0.29869541 0.00714458
+v -0.21797527 0.42005766 -0.07452647
+v -0.36089958 0.27068643 -0.10621983
+v -0.42283206 0.19810229 -0.08920976
+v -0.41796021 0.25316761 -0.01165829
+v -0.22147235 0.33746429 -0.15351678
+v -0.23276360 0.33168491 -0.15312284
+v -0.25986648 0.38750634 -0.09152089
+v -0.43249478 0.22569885 0.00734754
+v -0.25986200 0.34570921 0.14469414
+v -0.23097503 0.38920234 0.13234532
+v -0.22993560 0.40278784 0.11980161
+v -0.31450105 0.35372306 0.06732059
+v -0.28678477 0.39758906 0.00674125
+v -0.22976685 0.42839996 -0.02703988
+v -0.39082116 0.25528626 0.08605983
+v -0.40603943 0.22759773 0.08742641
+v -0.37274892 0.31023993 -0.02628698
+v -0.34303620 0.32590984 0.06739799
+v -0.21878042 0.40653898 -0.09706922
+v -0.37305033 0.28383518 -0.08759243
+v -0.38986505 0.22709098 -0.10599173
+v -0.33160185 0.28371893 -0.12087857
+v -0.43232759 0.22561562 -0.01184867
+v -0.27246545 0.34247213 -0.12060768
+v -0.27192436 0.38287176 -0.08718965
+v -0.41632650 0.24034978 0.03734512
+v -0.39020175 0.22725705 0.10181220
+v -0.38761236 0.29859095 -0.01164576
+v -0.31485035 0.36927357 -0.02650192
+v -0.37288876 0.31036348 0.02178582
+v -0.37710401 0.27138962 -0.09232767
+v -0.34289333 0.32578950 -0.07189911
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 9 4 3
+f 9 3 6
+f 11 2 7
+f 11 10 2
+f 12 7 1
+f 16 6 2
+f 16 2 10
+f 17 11 7
+f 17 5 11
+f 18 12 1
+f 19 3 4
+f 20 13 19
+f 24 16 10
+f 24 10 11
+f 25 17 14
+f 25 5 17
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+f 26 7 12
+f 26 12 18
+f 27 17 26
+f 28 18 1
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+f 29 27 19
+f 29 8 27
+f 31 8 21
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+f 35 11 5
+f 36 21 32
+f 37 6 16
+f 38 6 37
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+f 43 28 3
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+f 44 29 13
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+f 45 4 30
+f 45 20 19
+f 45 19 4
+f 45 32 20
+f 46 30 4
+f 46 4 9
+f 46 9 33
+f 47 27 8
+f 47 8 31
+f 48 31 14
+f 48 14 17
+f 48 47 31
+f 48 27 47
+f 50 44 20
+f 50 29 44
+f 50 8 29
+f 51 33 6
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+f 51 22 33
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+f 52 23 36
+f 53 34 11
+f 53 35 23
+f 53 11 35
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+f 54 11 34
+f 54 34 15
+f 54 15 24
+f 55 36 23
+f 55 5 40
+f 55 40 21
+f 55 21 36
+f 55 35 5
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+f 56 24 15
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+f 57 33 22
+f 57 22 39
+f 57 46 33
+f 57 30 46
+f 57 56 15
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+f 58 31 21
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+f 58 14 31
+f 58 40 25
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+f 59 27 48
+f 60 45 30
+f 60 32 45
+f 60 36 32
+f 60 52 36
+f 60 49 52
+f 61 57 15
+f 61 30 57
+f 61 60 30
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+f 64 52 49
+f 64 15 52
+f 64 61 15
+f 64 49 61

objects/objaverse/donut/donut_15/collision/model_normalized_collision_9.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.39044978 -0.30434344 0.00644258
+v 0.46911329 -0.12245702 -0.01227061
+v 0.40968157 -0.04860915 0.15069522
+v 0.38774512 0.22837894 0.12778729
+v 0.38985961 0.12621541 -0.14580481
+v 0.47203585 0.00509716 0.08721926
+v 0.37267081 -0.16949912 0.13853891
+v 0.37310557 -0.20001664 -0.12842484
+v 0.42972952 0.09493493 0.13368362
+v 0.43968087 0.21064072 -0.01195257
+v 0.45859883 -0.16726621 0.04542832
+v 0.37907358 -0.05102463 0.16558453
+v 0.45792433 -0.05202980 -0.09306470
+v 0.41086388 -0.25482629 -0.05008301
+v 0.37460897 -0.26002089 0.09278312
+v 0.37957081 -0.00739821 -0.15880932
+v 0.45623048 -0.03077573 0.10655078
+v 0.39205302 0.23157679 -0.10203665
+v 0.45500742 0.13867207 0.09133721
+v 0.48568398 -0.00586999 0.00816253
+v 0.44278305 -0.13702427 0.08636177
+v 0.39236654 -0.04987784 0.16185140
+v 0.38973718 0.12429303 0.15629919
+v 0.38369906 -0.26602963 -0.07888558
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objects/objaverse/donut/donut_15/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="donut_31">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.060" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0003791938500000002 -4.594695000000161e-05 -0.018415680149999995" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0003791938500000002 -4.594695000000161e-05 0.01810408425" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.050996817899999984 0.05147254664999999 -0.0001557979499999998" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/donut/donut_15/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.jpeg