Datasets:

wonderfulmodel
/

robocasa_assert

+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.14285661 0.49892756
+v 0.50000000 -0.14285679 -0.49892885
+v 0.50000000 0.14285697 -0.49892885
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+v 0.49999982 0.14285697 0.49892756
+v -0.49999926 -0.14285697 -0.49892885
+v -0.49999909 0.14285697 -0.49892885
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 8 4 3
+f 8 3 7
+f 8 7 5
+f 8 5 4

objects/objaverse/boxed_food/boxed_food_1/model.xml ADDED Viewed

	@@ -0,0 +1,18 @@

+<mujoco model="boxed_food_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Chicken_Ginger_Macroni_mtl" texture="image0" specular="0.5" shininess="0.359999993" />
+  </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="Chicken_Ginger_Macroni_mtl" />
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" group="0" rgba="0.8 0.8 0.8 0.0" size="0.018571406099999993 0.06499995449999997 0.06486067769999998" pos="-1.235000000071595e-08 -2.274999999885007e-08 -7.27999999936002e-08" />
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.235000000071595e-08 -2.274999999885007e-08 -0.06486075049999997" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="-1.235000000071595e-08 -2.274999999885007e-08 0.06486060489999998" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.018571406099999993 0.06499995449999997 -7.279999999776352e-08" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/boxed_food/boxed_food_1/visual/material.mtl ADDED Viewed

	@@ -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 359.99999300
+map_Kd material_0.jpeg

objects/objaverse/boxed_food/boxed_food_1/visual/model_normalized_0.obj ADDED Viewed

	@@ -0,0 +1,115 @@

+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.50000000 -0.14285679 -0.49892885
+v -0.49999927 -0.14285697 -0.49892885
+v -0.49999909 0.14285697 -0.49892885
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+vt 0.38737700 0.17591600
+vt 0.00485900 0.17591600
+vt 0.00588500 0.18617600
+vt 0.38737700 0.18617600
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+f 1/1/1 3/3/3 4/4/4
+f 5/5/5 6/6/6 7/7/7
+f 5/5/5 7/7/7 8/8/8
+f 9/9/9 10/10/10 11/11/11
+f 9/9/9 11/11/11 12/12/12
+f 13/13/13 14/14/14 15/15/15
+f 13/13/13 15/15/15 16/16/16
+f 17/17/17 18/18/18 19/19/19
+f 17/17/17 19/19/19 20/20/20
+f 21/21/21 22/22/22 23/23/23
+f 21/21/21 23/23/23 24/24/24
+f 25/25/25 26/26/26 27/27/27
+f 25/25/25 27/27/27 28/28/28
+f 29/29/29 30/30/30 31/31/31
+f 29/29/29 31/31/31 32/32/32

objects/objaverse/boxed_food/boxed_food_10/collision/model_normalized_collision_0.obj ADDED Viewed

	@@ -0,0 +1,21 @@

+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.14285661 0.49892756
+v 0.50000000 -0.14285679 -0.49892885
+v 0.50000000 0.14285697 -0.49892885
+v -0.49999926 0.14285697 0.49892773
+v -0.49999965 -0.14285716 0.49892773
+v 0.49999982 0.14285697 0.49892756
+v -0.49999926 -0.14285697 -0.49892885
+v -0.49999909 0.14285697 -0.49892885
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 8 4 3
+f 8 3 7
+f 8 7 5
+f 8 5 4

objects/objaverse/boxed_food/boxed_food_10/model.xml ADDED Viewed

	@@ -0,0 +1,18 @@

+<mujoco model="boxed_food_10">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476" />
+    <texture type="2d" name="image0" file="visual/image0.png" />
+    <material name="Krahi_Macroni_mtl" texture="image0" specular="0.5" shininess="0.359999993" />
+  </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="Krahi_Macroni_mtl" />
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" group="0" rgba="0.8 0.8 0.8 0.0" size="0.018571406099999993 0.06499995449999997 0.06486067769999998" pos="-1.235000000071595e-08 -2.274999999885007e-08 -7.27999999936002e-08" />
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.235000000071595e-08 -2.274999999885007e-08 -0.06486075049999997" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="-1.235000000071595e-08 -2.274999999885007e-08 0.06486060489999998" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.018571406099999993 0.06499995449999997 -7.279999999776352e-08" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/boxed_food/boxed_food_10/visual/material.mtl ADDED Viewed

	@@ -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 359.99999300
+map_Kd material_0.jpeg

objects/objaverse/boxed_food/boxed_food_10/visual/model_normalized_0.obj ADDED Viewed

	@@ -0,0 +1,115 @@

+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.50000000 -0.14285679 -0.49892885
+v -0.49999927 -0.14285697 -0.49892885
+v -0.49999909 0.14285697 -0.49892885
+v 0.50000000 0.14285697 -0.49892885
+v 0.50000000 -0.14285679 -0.49892885
+v 0.50000000 0.14285697 -0.49892885
+v 0.49999982 0.14285697 0.49892758
+v 0.50000000 -0.14285661 0.49892758
+v 0.50000000 0.14285697 -0.49892885
+v -0.49999909 0.14285697 -0.49892885
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+vt 0.88475300 0.81734500
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+vt 0.89371000 0.80846500
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+vt 0.38737700 0.17591600
+vt 0.00485900 0.17591600
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+vt 0.38737700 0.17591700
+f 1/1/1 2/2/2 3/3/3
+f 1/1/1 3/3/3 4/4/4
+f 5/5/5 6/6/6 7/7/7
+f 5/5/5 7/7/7 8/8/8
+f 9/9/9 10/10/10 11/11/11
+f 9/9/9 11/11/11 12/12/12
+f 13/13/13 14/14/14 15/15/15
+f 13/13/13 15/15/15 16/16/16
+f 17/17/17 18/18/18 19/19/19
+f 17/17/17 19/19/19 20/20/20
+f 21/21/21 22/22/22 23/23/23
+f 21/21/21 23/23/23 24/24/24
+f 25/25/25 26/26/26 27/27/27
+f 25/25/25 27/27/27 28/28/28
+f 29/29/29 30/30/30 31/31/31
+f 29/29/29 31/31/31 32/32/32

objects/objaverse/boxed_food/boxed_food_7/visual/model_normalized_0.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

objects/objaverse/cake/cake_2/.DS_Store ADDED Viewed

Binary file (6.15 kB). View file

objects/objaverse/cake/cake_2/collision/model_normalized_collision_0.obj ADDED Viewed

	@@ -0,0 +1,84 @@

+# https://github.com/mikedh/trimesh
+v -0.33439369 -0.05475142 0.08309804
+v -0.24272355 -0.03002648 0.00978367
+v -0.24092715 0.22729779 0.17859971
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+v -0.28010761 0.05499425 0.20856847
+v -0.35113199 0.17296144 0.10969544
+v -0.37347123 0.10927940 0.09672006
+v -0.27541663 0.17806180 0.17921629
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+f 15 9 1
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_1.obj ADDED Viewed

	@@ -0,0 +1,69 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_10.obj ADDED Viewed

	@@ -0,0 +1,111 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_11.obj ADDED Viewed

	@@ -0,0 +1,66 @@

+# https://github.com/mikedh/trimesh
+v 0.32595745 -0.04773218 0.00830762
+v 0.34724302 -0.00451926 0.00759291
+v 0.31188950 -0.02781088 0.08035222
+v 0.30730308 0.08854221 0.09937359
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+v 0.30822152 -0.02644427 0.08497220
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+v 0.33321533 0.08809301 0.06679992
+v 0.35969572 0.07683027 0.03560120
+v 0.30914143 -0.03683324 0.06990220
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+v 0.31146870 0.08072243 0.11718792
+v 0.31995151 0.08545634 0.09834116
+v 0.35883463 0.07722003 0.03452547
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+v 0.30984653 0.06673225 0.11182228
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_12.obj ADDED Viewed

	@@ -0,0 +1,36 @@

+# https://github.com/mikedh/trimesh
+v 0.40272819 0.02685194 0.01312377
+v 0.44473868 -0.00024869 -0.17731571
+v 0.40973122 0.10549449 -0.16684355
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+v 0.32310274 0.13153146 -0.06446515
+v 0.40210238 0.05850346 0.01164947
+v 0.40201583 0.07868717 0.00110646
+v 0.33654431 0.12151483 -0.16914819
+v 0.39996241 0.10193159 -0.09719175
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+f 13 6 3
+f 13 3 9

objects/objaverse/cake/cake_2/collision/model_normalized_collision_13.obj ADDED Viewed

	@@ -0,0 +1,54 @@

+# https://github.com/mikedh/trimesh
+v -0.15909089 0.15007610 -0.10730749
+v -0.15909089 0.15007610 -0.23609536
+v -0.16245194 0.26334830 -0.22128457
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+v -0.43395757 0.29260513 -0.16569866
+v -0.41114382 0.29929468 -0.23609536
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+v -0.42744799 0.30328333 -0.16971864
+v -0.42848898 0.30230366 -0.17875013
+v -0.42909084 0.23459238 -0.23609536
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_14.obj ADDED Viewed

	@@ -0,0 +1,78 @@

+# https://github.com/mikedh/trimesh
+v 0.00694157 -0.14181022 0.03789667
+v 0.01370614 -0.12202127 0.03084277
+v 0.00881803 -0.01649582 0.13267366
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_15.obj ADDED Viewed

	@@ -0,0 +1,27 @@

+# https://github.com/mikedh/trimesh
+v 0.00757577 -0.00143905 0.01390463
+v 0.00757577 -0.00143905 -0.23609536
+v 0.01541776 0.17436492 0.00926774
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+v -0.24092675 -0.02927292 0.01533988
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+v -0.41666665 -0.00143905 -0.23609536
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+f 10 1 3
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+f 10 4 5
+f 10 5 7

objects/objaverse/cake/cake_2/collision/model_normalized_collision_16.obj ADDED Viewed

	@@ -0,0 +1,63 @@

+# https://github.com/mikedh/trimesh
+v 0.45296872 -0.01023547 -0.12144383
+v 0.48077771 0.08533795 -0.20503530
+v 0.48741324 0.08323664 -0.12251920
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_17.obj ADDED Viewed

	@@ -0,0 +1,51 @@

+# https://github.com/mikedh/trimesh
+v -0.40184061 0.22649784 -0.00844895
+v -0.34993388 0.28202739 -0.06129116
+v -0.35667447 0.26717256 -0.01181252
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+v -0.44670881 0.25125134 -0.03051245
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+f 18 14 4
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_18.obj ADDED Viewed

	@@ -0,0 +1,51 @@

+# https://github.com/mikedh/trimesh
+v 0.27179655 -0.06276487 0.01253234
+v 0.26515153 -0.06204511 -0.23609536
+v 0.26329952 0.13541835 -0.17125954
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+v 0.25878065 0.08840320 0.01895978
+v 0.26515153 0.05916701 -0.23609536
+v 0.00757577 -0.06204511 -0.23609536
+v 0.12157406 0.17949894 -0.20738119
+v 0.00276564 0.19584112 -0.17086916
+v 0.26353465 0.12330669 -0.03666568
+v 0.04824534 0.16384250 0.01588342
+v 0.14196330 0.17242290 -0.23609536
+v 0.26321028 0.13365386 -0.12446851
+v 0.15926498 0.13330979 0.01008389
+v 0.04893702 0.19546203 -0.23609536
+v 0.22693984 0.12081284 -0.01103173
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+f 18 7 12
+f 18 12 16

objects/objaverse/cake/cake_2/collision/model_normalized_collision_19.obj ADDED Viewed

	@@ -0,0 +1,114 @@

+# https://github.com/mikedh/trimesh
+v 0.24969147 -0.31875021 -0.07680864
+v 0.42011821 -0.05662715 -0.23609536
+v 0.45429351 -0.05612587 -0.01225131
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_2.obj ADDED Viewed

	@@ -0,0 +1,63 @@

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objects/objaverse/cake/cake_2/collision/model_normalized_collision_20.obj ADDED Viewed

	@@ -0,0 +1,51 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_21.obj ADDED Viewed

	@@ -0,0 +1,75 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_22.obj ADDED Viewed

	@@ -0,0 +1,123 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_23.obj ADDED Viewed

	@@ -0,0 +1,174 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_24.obj ADDED Viewed

	@@ -0,0 +1,39 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_25.obj ADDED Viewed

	@@ -0,0 +1,27 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_26.obj ADDED Viewed

	@@ -0,0 +1,45 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_27.obj ADDED Viewed

	@@ -0,0 +1,63 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_28.obj ADDED Viewed

	@@ -0,0 +1,39 @@

+# https://github.com/mikedh/trimesh
+v -0.38329546 -0.00204082 0.00209537
+v -0.38683874 -0.00158336 0.00119651
+v -0.38696798 0.11941320 -0.00450515
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+v -0.42545498 0.12309675 -0.00062930
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+v -0.44477941 0.01104706 0.00251053
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+f 14 11 6
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_29.obj ADDED Viewed

	@@ -0,0 +1,24 @@

+# https://github.com/mikedh/trimesh
+v 0.21969698 0.10462155 -0.23609536
+v 0.21805437 0.15497529 -0.23609536
+v 0.22109899 0.13438640 -0.11977877
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+v 0.14393941 0.10462155 -0.23609536
+v 0.15604889 0.15302785 -0.11789247
+v 0.14196330 0.17242290 -0.23609536
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+f 9 4 6
+f 9 6 7

objects/objaverse/cake/cake_2/collision/model_normalized_collision_3.obj ADDED Viewed

	@@ -0,0 +1,81 @@

+# https://github.com/mikedh/trimesh
+v 0.01063921 -0.30828713 -0.01521469
+v 0.01130242 -0.26193048 -0.23609536
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_30.obj ADDED Viewed

	@@ -0,0 +1,30 @@

+# https://github.com/mikedh/trimesh
+v 0.24693517 -0.28357872 -0.01387238
+v 0.24833218 -0.28602794 -0.23609536
+v 0.25990033 -0.21046477 0.00523556
+v 0.08271946 -0.21668488 0.00547227
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+f 10 4 6
+f 10 6 2
+f 10 2 5
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+f 11 5 1
+f 11 1 7

objects/objaverse/cake/cake_2/collision/model_normalized_collision_31.obj ADDED Viewed

	@@ -0,0 +1,21 @@

+# https://github.com/mikedh/trimesh
+v 0.25990033 -0.21046477 0.00523556
+v 0.25000001 -0.21356026 -0.23609536
+v 0.25000001 -0.06204511 -0.23609536
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+f 8 3 6
+f 8 6 5
+f 8 5 4

objects/objaverse/cake/cake_2/collision/model_normalized_collision_4.obj ADDED Viewed

	@@ -0,0 +1,42 @@

+# https://github.com/mikedh/trimesh
+v 0.01676506 0.18919146 0.08425074
+v 0.00757577 0.15007610 -0.23609536
+v -0.09290734 0.26794696 -0.21965006
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+f 15 12 9
+f 15 9 5

objects/objaverse/cake/cake_2/collision/model_normalized_collision_5.obj ADDED Viewed

	@@ -0,0 +1,87 @@

+# https://github.com/mikedh/trimesh
+v -0.08126466 0.04580908 0.10675026
+v 0.00923326 0.07630769 0.11955487
+v -0.07397320 0.14743433 0.20589534
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_6.obj ADDED Viewed

	@@ -0,0 +1,96 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_7.obj ADDED Viewed

	@@ -0,0 +1,72 @@

+# https://github.com/mikedh/trimesh
+v -0.18872976 -0.13790615 -0.00449660
+v -0.33901866 0.00667450 0.11680209
+v -0.14943045 0.00349083 0.10301374
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+v -0.29914029 -0.09075748 0.09437287
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+f 25 17 5
+f 25 5 22

objects/objaverse/cake/cake_2/collision/model_normalized_collision_8.obj ADDED Viewed

	@@ -0,0 +1,90 @@

+# https://github.com/mikedh/trimesh
+v -0.15909089 0.16522761 0.11996524
+v -0.12941253 0.22442028 -0.10759434
+v -0.12229363 0.31345211 0.07741089
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+v -0.23456679 0.30227995 0.04712300
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+v -0.23581378 0.30102293 0.04182558
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objects/objaverse/cake/cake_2/collision/model_normalized_collision_9.obj ADDED Viewed

	@@ -0,0 +1,75 @@

+# https://github.com/mikedh/trimesh
+v 0.24869271 -0.21332097 0.00754626
+v 0.31071682 -0.10755663 0.01620688
+v 0.15800704 -0.04839804 0.12602228
+v 0.01416407 -0.05301155 0.10362628
+v 0.00757577 -0.06204511 -0.04670143
+v 0.04449325 -0.20210895 0.05598840
+v 0.29848602 -0.05754699 0.06162200
+v 0.25990033 -0.21046477 0.00523556
+v 0.11922823 -0.03872558 0.09353831
+v 0.07258746 -0.18388079 0.06210616
+v 0.09837703 -0.10406584 0.10254969
+v -0.00292474 -0.19984247 -0.00342808
+v 0.31075074 -0.07756892 0.01228772
+v 0.23823376 -0.12487751 0.06368744
+v 0.16249666 -0.04005491 0.12668010
+v 0.18129653 -0.04049818 0.10043342
+v 0.14801568 -0.05347208 0.12514869
+v 0.00787899 -0.09539353 0.09075040
+v 0.03808271 -0.20555103 0.05219563
+v 0.29908806 -0.05983836 0.04829691
+v 0.23799445 -0.07857021 -0.00275804
+v 0.14964870 -0.04485550 0.12894349
+v 0.02730496 -0.07671460 0.10146188
+v 0.01263712 -0.19972897 0.03955279
+v 0.06893660 -0.12873846 0.08828253
+v 0.01621938 -0.05356602 0.10458376
+f 8 2 7
+f 9 5 4
+f 10 6 1
+f 12 8 1
+f 12 5 8
+f 13 7 2
+f 13 2 8
+f 14 8 7
+f 14 7 3
+f 14 1 8
+f 14 10 1
+f 15 9 4
+f 15 3 7
+f 16 5 9
+f 16 15 7
+f 16 9 15
+f 17 6 10
+f 17 11 6
+f 17 14 3
+f 17 10 14
+f 18 4 5
+f 18 5 12
+f 19 12 1
+f 19 1 6
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+f 20 13 5
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+f 25 23 6
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+f 26 22 4
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objects/objaverse/cake/cake_2/model.xml ADDED Viewed

	@@ -0,0 +1,84 @@

+<mujoco model="cake_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12999999999999995 0.12999999999999995 0.12999999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="GeneratedMat1.001" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+    <material name="JasmijnCake" texture="image0" specular="0.5" shininess="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="JasmijnCake"/>
+        <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="GeneratedMat1.001"/>
+        <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="-0.00033527389999999757 -0.00010060244999999797 -0.03069239679999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00033527389999999757 -0.00010060244999999797 0.03035183449999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.042974184499999984 0.06425391699999998 -0.00017028114999999977" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/cake/cake_2/visual/material.mtl ADDED Viewed

	@@ -0,0 +1,8 @@

+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.png

objects/objaverse/cake/cake_2/visual/model_normalized_1.obj ADDED Viewed

The diff for this file is too large to render. See raw diff

objects/objaverse/cake/cake_4/collision/model_normalized_collision_17.obj ADDED Viewed

	@@ -0,0 +1,66 @@

+# https://github.com/mikedh/trimesh
+v 0.33474090 0.28896388 0.13658560
+v 0.35412684 0.29559368 0.14254130
+v 0.28556006 0.32052669 0.19453233
+v 0.23337805 0.41650406 0.14436939
+v 0.31288110 0.42311302 0.13531510
+v 0.23351318 0.28030304 0.14489595
+v 0.33957379 0.34090911 0.13658560
+v 0.31665970 0.36207229 0.19425942
+v 0.21467826 0.38741238 0.15801837
+v 0.22050221 0.41291883 0.13658560
+v 0.30587729 0.29724922 0.17142808
+v 0.35452794 0.34092621 0.15200479
+v 0.31637535 0.32217252 0.19312582
+v 0.28490917 0.36227101 0.19632680
+v 0.27392516 0.33231245 0.19437010
+v 0.28419612 0.29880030 0.17136965
+v 0.33004774 0.37546454 0.17338794
+v 0.34238519 0.34194294 0.17466328
+v 0.31682482 0.31121530 0.18446579
+v 0.31643904 0.38568818 0.17171434
+v 0.27559106 0.35247896 0.19590558
+v 0.32570974 0.37112653 0.18160382
+v 0.33790839 0.31907871 0.17104960
+f 7 2 1
+f 7 1 5
+f 10 5 1
+f 10 1 6
+f 10 4 5
+f 10 9 4
+f 10 6 9
+f 11 6 1
+f 11 1 2
+f 12 7 5
+f 12 2 7
+f 14 5 4
+f 14 4 9
+f 14 13 8
+f 14 3 13
+f 15 9 6
+f 15 6 3
+f 16 11 3
+f 16 3 6
+f 16 6 11
+f 17 12 5
+f 18 8 13
+f 18 12 17
+f 18 2 12
+f 19 11 2
+f 19 2 13
+f 19 13 3
+f 19 3 11
+f 20 14 8
+f 20 5 14
+f 21 14 9
+f 21 9 15
+f 21 15 3
+f 21 3 14
+f 22 18 17
+f 22 8 18
+f 22 20 8
+f 22 17 5
+f 22 5 20
+f 23 18 13
+f 23 13 2
+f 23 2 18

objects/objaverse/cake/cake_4/collision/model_normalized_collision_18.obj ADDED Viewed

	@@ -0,0 +1,60 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_4/collision/model_normalized_collision_21.obj ADDED Viewed

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+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_4/collision/model_normalized_collision_3.obj ADDED Viewed

	@@ -0,0 +1,96 @@

+# https://github.com/mikedh/trimesh
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objects/objaverse/cake/cake_4/visual/material.mtl ADDED Viewed

	@@ -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 38.39998900
+map_Kd material_0.jpeg