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objects/objaverse/bottled_water/bottled_water_13/collision/model_normalized_collision_23.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/bottled_water/bottled_water_13/collision/model_normalized_collision_4.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.12501731 -0.11105114 0.26929648
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objects/objaverse/bottled_water/bottled_water_13/collision/model_normalized_collision_7.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.08642500 -0.11792775 -0.23479712
+v 0.11379114 -0.03515480 -0.47016367
+v 0.13418922 -0.05251633 -0.23371889
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+v 0.13438675 0.05772674 -0.23399309
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objects/objaverse/bottled_water/bottled_water_13/model.xml

@@ -0,0 +1,83 @@
+<mujoco model="bottled_water_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.15 0.15 0.15" refquat="1.0 0.0 0.0 0.0"/>
+    <material name="Material.035" specular="0.5" shininess="1.0" rgba="1.000000 1.000000 1.000000 1.0"/>
+    <material name="Material.036" specular="0.5" shininess="0.286086362" rgba="0.047428 0.346032 0.421978 1.0"/>
+  </asset>
+  <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.036"/>
+        <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_1_vis" conaffinity="0" contype="0" group="1" material="Material.035"/>
+        <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_23._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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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="0.0005321902500000003 9.74662499999987e-05 -0.074352324" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0005321902500000003 9.74662499999987e-05 0.0744081405" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0265637745 0.023675744999999998 2.7908250000002743e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/bottled_water/bottled_water_7/collision/model_normalized_collision_0.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01261313 -0.01316730 0.14393939
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objects/objaverse/bottled_water/bottled_water_7/collision/model_normalized_collision_18.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/bottled_water/bottled_water_7/collision/model_normalized_collision_21.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/bottled_water/bottled_water_7/collision/model_normalized_collision_27.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/bottled_water/bottled_water_7/collision/model_normalized_collision_3.obj

@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/bottled_water/bottled_water_7/collision/model_normalized_collision_30.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/bottled_water/bottled_water_7/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

objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_0.obj

@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_1.obj

@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_10.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_11.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_12.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_13.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
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+v 0.26475581 -0.08696284 0.32479359
+v 0.23949666 -0.03000837 0.47682063
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_14.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_15.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01514881 -0.24008007 0.00765667
+v 0.12385566 -0.16489479 -0.35468973
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_16.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02123126 -0.20901404 0.00401987
+v 0.02055157 -0.18717104 -0.35922261
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_17.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_18.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.18748782 -0.18101635 0.40467406
+v 0.22474097 -0.01956527 0.26160893
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_19.obj

@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.10597557 -0.01367081 0.25000002
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_2.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.10597557 0.09238979 0.00757577
+v -0.09082405 0.07723828 -0.44930656
+v -0.09082405 0.07723828 -0.23484848
+v -0.10062521 0.21868446 0.00863803
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+v -0.17804627 0.07527924 -0.49869938
+v -0.09725605 0.16688858 -0.49848352
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+f 27 21 23

objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_20.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.21203077 -0.01384068 0.47566247
+v -0.07593142 0.18286133 0.41635913
+v -0.08582207 0.20147785 0.46802989
+v -0.07151038 0.24627394 0.46809657
+v -0.23046308 0.10159402 0.42984987
+v -0.24883044 -0.01289429 0.43060722
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+v -0.20675087 -0.01252682 0.43858809
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+v -0.22485425 0.09909283 0.46873603
+v -0.08520947 0.24181334 0.46809657
+v -0.09752494 0.24410841 0.42916329
+v -0.23904442 0.05670242 0.45933200
+v -0.24081695 0.02984933 0.47143729
+v -0.09639908 0.24211668 0.44396115
+v -0.24282586 -0.01264714 0.47333713
+v -0.12587387 0.22550007 0.44370097
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+f 19 11 15
+f 20 18 6
+f 20 6 1
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+f 21 8 11
+f 21 11 19
+f 21 19 16
+f 21 16 8

objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_21.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02898748 -0.22883500 -0.09735027
+v 0.02101044 -0.19168787 -0.28372776
+v 0.01523656 -0.13488294 -0.15909090
+v -0.20059017 -0.11364954 -0.09727734
+v -0.11251051 -0.17927217 -0.27905035
+v -0.03021799 -0.13488294 -0.09848484
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+v -0.18479510 -0.11330745 -0.24872463
+v -0.15014544 -0.15014574 -0.27877606
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+v -0.17020972 -0.12548595 -0.27928813
+v -0.16497715 -0.15152105 -0.17222705
+v -0.05496048 -0.22277368 -0.11186609
+v -0.17954951 -0.13589722 -0.15700588
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+f 33 31 12
+f 33 12 24
+f 33 24 31

objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_22.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12548559 -0.24882620 0.32479359
+v 0.15005300 -0.14877276 0.00769552
+v 0.16200586 -0.15851975 0.26433556
+v 0.01523656 -0.15003446 0.26515154
+v 0.01363796 -0.24036412 0.00904965
+v 0.11951678 -0.22244131 0.31091594
+v 0.14277174 -0.21356771 0.17242490
+v 0.01451159 -0.24896305 0.26567904
+v 0.02123126 -0.20901404 0.00401987
+v 0.13989798 -0.19629097 0.00930179
+v 0.14535464 -0.20298153 0.26587872
+v 0.08612267 -0.22502510 0.00912666
+v 0.02863604 -0.23885329 0.00919125
+v 0.12631984 -0.20672998 0.02473825
+v 0.05500795 -0.23752453 0.03968804
+v 0.09640727 -0.22261613 0.02466079
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+f 15 12 1
+f 15 1 13
+f 16 14 1
+f 16 1 12
+f 16 12 14

objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_23.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01451159 -0.24896305 0.26567904
+v 0.01359183 -0.22475674 -0.15757418
+v 0.01523656 -0.15003446 0.26515154
+v -0.03021799 -0.15003446 0.26515154
+v -0.02846760 -0.23887035 0.00918965
+v -0.03021799 -0.13488294 -0.15909090
+v -0.02934064 -0.24746401 0.26578986
+v 0.01523656 -0.13488294 -0.15909090
+v 0.01365363 -0.25567021 0.17242432
+v -0.03021799 -0.13488294 -0.09848484
+v -0.02842121 -0.22326273 -0.15743433
+v -0.01337430 -0.25459544 0.16065113
+v -0.01348530 -0.25568732 0.17242448
+v 0.01523656 -0.13488294 -0.09848484
+v -0.01332814 -0.23898816 -0.00597295
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+f 14 10 3
+f 14 3 8
+f 14 8 10
+f 15 11 2
+f 15 2 9
+f 15 9 12
+f 15 12 13
+f 15 13 5
+f 15 5 11

objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_24.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.23373586 -0.13042825 0.37603603
+v 0.27029310 -0.06886905 0.32479359
+v 0.27216311 0.01507451 0.36664189
+v 0.24240575 0.12263986 0.37114396
+v 0.24040702 0.06144339 0.25016169
+v 0.25466991 -0.01482407 0.38890053
+v 0.25651759 -0.08462799 0.37171640
+v 0.23807386 -0.07291945 0.26549263
+v 0.27370404 0.05772280 0.32479359
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+v 0.24780505 -0.01420908 0.24960834
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+v 0.24859263 0.12592523 0.32479359
+v 0.24030761 -0.12600664 0.37171690
+v 0.26435603 -0.01285006 0.37669091
+v 0.24177907 0.05722636 0.25122132
+v 0.23943561 -0.13324973 0.33983315
+v 0.25526454 0.11336876 0.32479359
+v 0.24724571 0.11732552 0.36786652
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+f 20 9 5
+f 20 5 15
+f 20 10 9
+f 21 15 4
+f 21 4 10
+f 21 20 15
+f 21 10 20

objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_25.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.20563622 0.10405027 -0.09779174
+v 0.19950352 0.08563987 -0.24865999
+v 0.15340158 0.15340128 -0.25571503
+v 0.12045438 0.19686435 -0.09831751
+v 0.15370981 0.13397229 -0.10099353
+v 0.18252049 0.14114306 -0.09673661
+v 0.20073919 0.08629647 -0.23363882
+v 0.13962227 0.18376281 -0.09671816
+v 0.15268246 0.11798285 -0.28273226
+v 0.18011144 0.12402700 -0.23281050
+v 0.19941197 0.11589453 -0.09713510
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+v 0.17897652 0.11308705 -0.27890656
+v 0.15478798 0.11969979 -0.23744068
+v 0.11454458 0.18574265 -0.23350786
+v 0.19327915 0.09748391 -0.24800339
+v 0.15259156 0.16593522 -0.15700236
+v 0.11767072 0.17647372 -0.27977581
+v 0.19147464 0.08942489 -0.27987197
+v 0.16498418 0.13919830 -0.25571503
+v 0.19323325 0.11261136 -0.17224086
+v 0.12566561 0.17007581 -0.27913843
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+f 22 10 11
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+f 23 19 3
+f 23 3 14
+f 23 14 19

objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_26.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.14535464 -0.20298153 0.26587872
+v 0.24026547 -0.01344278 0.00778602
+v 0.24914394 -0.01280516 0.26578146
+v 0.15160020 -0.01367081 0.26515154
+v 0.14725495 -0.19016075 0.00821667
+v 0.24194261 -0.01207340 0.02420006
+v 0.15448742 -0.19560069 0.26657950
+v 0.14343773 -0.20063139 0.06938570
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+v 0.19699412 -0.15278091 0.26659590
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+v 0.23944323 -0.05355023 0.05480516
+v 0.22998367 -0.09792461 0.26619457
+v 0.22485005 -0.09519660 0.03974176
+v 0.16821357 -0.17870222 0.05504953
+v 0.15640686 -0.18280375 0.00910163
+v 0.24043166 -0.02707136 0.02434164
+v 0.22356890 -0.10966728 0.10048303
+v 0.20896398 -0.12510932 0.03981925
+v 0.18101787 -0.18101762 0.16111218
+v 0.20914358 -0.13981408 0.11558611
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_27.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.24804074 -0.01269303 0.25071154
+v 0.24054955 -0.01193183 0.00917908
+v 0.21772425 0.10242249 0.00859209
+v 0.01523656 0.10754131 0.25000002
+v 0.01523656 -0.01367081 0.25000002
+v 0.22778462 0.09971732 0.25122618
+v 0.01523656 -0.01367081 0.00757577
+v 0.24177907 0.05722636 0.25122132
+v 0.01523656 0.10754131 0.00757577
+v 0.24061276 0.08717268 0.17242477
+v 0.24025430 0.01486340 0.00920674
+v 0.23862151 0.05626024 0.05488526
+v 0.22478397 0.08696538 0.00930269
+v 0.22363346 0.09751155 0.03987016
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+f 8 5 1
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+f 10 8 1
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+f 11 1 2
+f 11 2 3
+f 12 10 11
+f 13 12 11
+f 13 11 3
+f 13 10 12
+f 14 13 3
+f 14 3 10
+f 14 10 13

objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_28.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16200586 -0.15851975 0.26433556
+v 0.20919228 -0.01952449 0.00410354
+v 0.15160020 -0.01367081 0.26515154
+v -0.10597557 -0.01367081 0.26515154
+v -0.12301175 -0.17092537 0.00595880
+v -0.10597557 -0.01367081 0.00757577
+v 0.15005300 -0.14877276 0.00769552
+v -0.13275718 -0.18287642 0.26257613
+f 1 2 3
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+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 1 4
+f 8 6 5
+f 8 4 6
+f 8 7 1
+f 8 5 7

objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13582147 -0.13157520 -0.35718820
+v 0.12151687 -0.11991085 -0.46056740
+v 0.12129717 -0.01367081 -0.35606060
+v -0.09082405 -0.01367081 -0.35606060
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_3.obj

@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_30.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
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+v 0.12144721 -0.01368193 -0.45780604
+v 0.14916403 0.11511369 -0.35822408
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_4.obj

@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_5.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_6.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_7.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_8.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
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+v -0.11111244 -0.25323210 0.37481906
+v 0.12798666 -0.22517077 0.46025481
+v 0.02840877 -0.26809854 0.39935249
+v 0.15832748 -0.23061284 0.32479359
+v 0.07057062 -0.23886863 0.26647624
+v -0.13448599 -0.18156784 0.26386690
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+v 0.07073868 -0.26972096 0.32479359
+v 0.14283863 -0.23960572 0.32479359
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+v -0.02824062 -0.26811648 0.39935461
+v -0.08345620 -0.23979756 0.49860967
+f 7 2 3
+f 7 3 6
+f 9 3 2
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 12 7 6
+f 12 6 1
+f 16 4 9
+f 16 9 15
+f 17 10 4
+f 17 6 10
+f 17 4 11
+f 18 12 1
+f 19 13 1
+f 19 1 6
+f 20 14 2
+f 20 2 7
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+f 34 32 6
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+f 34 17 27
+f 34 27 32

objects/objaverse/coffee_cup/coffee_cup_17/collision/model_normalized_collision_9.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01523656 -0.01367081 0.25000002
+v 0.01523953 -0.01367379 -0.45708126
+v 0.01523656 0.10754131 0.25000002
+v -0.10597557 0.10754131 0.25000002
+v -0.10597557 -0.01367081 -0.23484848
+v -0.13459250 0.14263389 -0.23756449
+v -0.10597557 -0.01367081 0.25000002
+v 0.01524182 0.09245462 -0.45738400
+v -0.09088919 -0.01367610 -0.45736083
+v 0.01523656 0.10754131 -0.23484848
+v -0.09089540 0.09246114 -0.45786155
+f 1 3 4
+f 6 4 3
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 1 2
+f 8 3 1
+f 9 5 6
+f 9 7 5
+f 9 2 1
+f 9 1 7
+f 10 8 6
+f 10 6 3
+f 10 3 8
+f 11 8 2
+f 11 2 9
+f 11 9 6
+f 11 6 8

objects/objaverse/coffee_cup/coffee_cup_17/model.xml

@@ -0,0 +1,87 @@
+<mujoco model="coffee_cup_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.115 0.115 0.115" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="m_blacktop" texture="image0" specular="0.5" shininess="0.308031459"/>
+    <material name="m_cup" texture="image0" specular="0.5" shininess="0.20398128299999999"/>
+    <material name="m_heatguard" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <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="m_blacktop"/>
+        <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_1_vis" conaffinity="0" contype="0" group="1" material="m_heatguard"/>
+        <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_2_vis" conaffinity="0" contype="0" group="1" material="m_cup"/>
+        <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_23._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_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_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_30._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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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_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="8.377749999995133e-07 0.00025837682500000196 -0.057406206" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="8.377749999995133e-07 0.00025837682500000196 0.05747233675" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0314759646 0.031540138050000006 3.306537500000123e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/coffee_cup/coffee_cup_17/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 203.98128300
+map_Kd material_0.png

objects/objaverse/coffee_cup/coffee_cup_17/visual/model_normalized_1.obj

@@ -0,0 +1,1732 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.04420264 0.22247920 -0.14867990
+v 0.04615490 0.23230939 -0.04164536
+v 0.09059265 0.21871068 -0.04164476
+v 0.08675946 0.20945588 -0.14867990
+v 0.04810776 0.24213959 0.06538978
+v 0.09442645 0.22796486 0.06538978
+v 0.13163118 0.19690401 -0.04164536
+v 0.12606090 0.18857216 -0.14867990
+v 0.13720146 0.20523586 0.06538978
+v 0.00000000 0.21694216 -0.25571504
+v 0.00000000 0.22697121 -0.14868050
+v 0.04224978 0.21264900 -0.25571504
+v 0.00000000 0.23699965 -0.04164536
+v 0.00000000 0.24702870 0.06538978
+v 0.00000000 0.25705775 0.17242432
+v 0.05006062 0.25196979 0.17242432
+v 0.09825965 0.23721966 0.17242432
+v 0.14277175 0.21356771 0.17242432
+v 0.18176736 0.18176705 0.17242432
+v 0.17467576 0.17467546 0.06538978
+v 0.16758417 0.16758387 -0.04164536
+v 0.16049257 0.16049288 -0.14868050
+v 0.12049062 0.18024030 -0.25571504
+v 0.15340158 0.15340128 -0.25571504
+v 0.08292626 0.20020109 -0.25571504
+v 0.18857246 0.12606060 -0.14867990
+v 0.19690431 0.13163088 -0.04164536
+v 0.21871037 0.09059235 -0.04164476
+v 0.20945558 0.08675915 -0.14867990
+v 0.20523616 0.13720116 0.06538978
+v 0.22796517 0.09442615 0.06538978
+v 0.23230970 0.04615520 -0.04164536
+v 0.22247950 0.04420234 -0.14867990
+v 0.24213989 0.04810746 0.06538978
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objects/objaverse/coffee_cup/coffee_cup_21/collision/model_normalized_collision_11.obj

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