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objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_0.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_1.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.24043187 -0.09877351 0.12855940
+v 0.33872395 0.00340428 0.20182381
+v -0.15378015 -0.06776578 0.23415174
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+v -0.01589207 0.04156936 0.13674037
+v -0.19897834 -0.08356403 0.21102465
+v -0.19865393 -0.00314047 0.19315941
+v 0.20915407 -0.10211484 0.13710498
+v -0.15420711 -0.09779887 0.18176821
+v 0.20920998 -0.05266977 0.26438478
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+f 23 15 22

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_10.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.19651281 -0.03118063 0.18344982
+v -0.06276342 0.03700223 0.00757673
+v -0.05921258 0.08107895 0.05793487
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+v -0.26505574 -0.02661271 0.00457903
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objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_11.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.18397543 0.05215373 -0.15908979
+v -0.15367243 0.06730524 -0.41666532
+v -0.15216541 0.14589511 -0.23608066
+v -0.25439387 0.09586072 0.01072225
+v -0.30120127 0.06420807 -0.43497977
+v -0.18420809 0.10122928 0.02834250
+v -0.24458144 0.05215373 -0.15908979
+v -0.15335201 0.14909731 -0.41512764
+v -0.18175150 0.11277354 -0.01050014
+v -0.15367243 0.06730524 -0.23484730
+v -0.24271132 0.14319716 -0.41552664
+v -0.21087569 0.12508969 -0.14624105
+v -0.18360270 0.10896334 0.00661686
+v -0.19603226 0.11057044 -0.00990327
+v -0.23965571 0.14023276 -0.34488313
+v -0.18027699 0.14124747 -0.23645502
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+f 16 12 3
+f 16 3 15

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_12.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.15349274 -0.18025590 -0.23458019
+v -0.15365661 -0.11446586 -0.48624129
+v -0.15367243 0.06730524 -0.23484730
+v -0.26096359 0.11685011 -0.23747434
+v -0.24421088 -0.17164404 -0.35595481
+v -0.15379636 0.06667470 -0.48751118
+v -0.24296528 -0.17461536 -0.23368092
+v -0.15391026 -0.17458642 -0.35457171
+v -0.24433766 0.06681231 -0.48719531
+v -0.21330496 -0.17426040 -0.34066767
+v -0.24461195 -0.11414447 -0.48657754
+v -0.19873930 -0.17433752 -0.35520918
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+f 11 4 9
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+f 12 8 1
+f 12 1 10
+f 12 10 5
+f 12 5 11
+f 12 11 2
+f 12 2 8

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_13.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.11932639 -0.16007316 -0.01051016
+v 0.11907006 -0.17388869 -0.09861890
+v 0.11905460 0.05215373 -0.09848378
+v -0.25439387 0.09586072 0.01072225
+v -0.29076007 -0.16271366 0.00489886
+v 0.11905460 0.05215373 0.00757673
+v -0.06303639 -0.17350238 -0.07051541
+v -0.25826936 0.10780225 -0.09007871
+v 0.11905032 -0.15647507 0.00677171
+v -0.28933369 -0.17499138 -0.09849234
+v -0.30622990 -0.11278676 -0.09353433
+v 0.01299409 0.05215373 -0.09848378
+v 0.01252441 -0.17497517 -0.10024229
+v -0.28943759 -0.17421579 -0.06944859
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+f 14 13 7
+f 14 10 13

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_14.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.28594379 -0.15953528 0.00321014
+v 0.31560547 -0.10954077 -0.09819645
+v 0.30614128 0.05243107 0.00583391
+v 0.19481212 0.05215373 0.00757673
+v 0.11907006 -0.17388869 -0.09861890
+v 0.19481212 0.05215373 -0.09848378
+v 0.28155084 -0.11475702 0.02003286
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+v 0.28433621 -0.16447175 -0.09807216
+v 0.31897511 0.04751458 -0.09863236
+v 0.11905460 -0.02360378 0.00757673
+v 0.30257222 -0.11480054 -0.01475273
+v 0.27779124 -0.05525966 0.01844412
+v 0.31387902 -0.11190606 -0.05546742
+v 0.31442998 0.04843175 -0.04107892
+v 0.11905460 -0.02360378 -0.09848378
+v 0.11905032 -0.15647507 0.00677171
+v 0.28626141 -0.11501096 0.01294396
+v 0.11932639 -0.16007316 -0.01051016
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+f 19 5 1
+f 19 1 17

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_15.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.24417549 -0.17744539 -0.09902439
+v -0.24365176 -0.17762849 -0.15883320
+v -0.24458144 -0.02360378 -0.15908979
+v -0.27889087 0.00634033 0.06263678
+v -0.32276742 -0.08521873 -0.16242725
+v -0.24555775 -0.08394723 0.05328120
+v -0.28933369 -0.17499138 -0.09849234
+v -0.32157606 -0.07145143 -0.16336112
+v -0.26975359 -0.00322801 0.06448459
+v -0.28854479 -0.17376944 -0.15851700
+v -0.26774670 -0.11749150 0.00574266
+v -0.30508348 -0.11658748 -0.08853878
+v -0.31991682 -0.02340695 -0.15920398
+v -0.24708804 -0.08731458 0.05020797
+v -0.30943970 -0.01508056 -0.10145492
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+f 14 11 1
+f 14 1 6
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+f 14 4 11
+f 15 13 5
+f 15 5 4
+f 15 4 3
+f 15 3 13

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_16.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.32628610 -0.16086842 -0.49612910
+v 0.33846483 -0.15226930 -0.49443039
+v -0.09373440 -0.14848597 -0.44030029
+v -0.33491734 -0.11437084 -0.48686316
+v 0.33829568 -0.09881414 -0.49073414
+v -0.30628551 -0.18038965 -0.49208561
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+v 0.33674384 -0.15508443 -0.49490476
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+v -0.31206217 -0.17879320 -0.49154574
+v -0.33625293 -0.13650121 -0.47287684
+v 0.01090711 -0.09505059 -0.48204463
+v -0.33532606 -0.13048859 -0.46716746
+v -0.33560927 -0.13093235 -0.48571333
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objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_17.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.30488588 0.05130051 0.01186564
+v 0.33226804 0.14341127 -0.41663503
+v 0.33239950 0.10453415 0.05861514
+v 0.28563655 0.10813159 0.05236712
+v 0.30119797 0.08223352 -0.42150341
+v 0.33289337 0.14324822 -0.36753141
+v 0.29538742 0.08194106 0.05406424
+v 0.32223566 0.04918007 -0.23511473
+v 0.28453532 0.11243528 0.02105740
+v 0.31740677 0.04769615 -0.06909648
+v 0.33462341 0.11144627 -0.04001729
+v 0.31636180 0.06559846 -0.35492651
+v 0.28466295 0.15006760 -0.41632520
+v 0.33151388 0.10511998 0.05439712
+v 0.33422439 0.14205586 -0.35712659
+v 0.28396556 0.14265788 -0.32721121
+v 0.33227243 0.14349231 -0.41552988
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+f 17 13 6
+f 17 2 13
+f 17 15 2
+f 17 6 15

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_18.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.25491215 -0.15556825 -0.35553289
+v 0.34003501 -0.12174936 -0.44405202
+v 0.01299409 -0.09936128 -0.35605931
+v -0.32969035 -0.12468826 -0.44734440
+v -0.07838081 -0.15668833 -0.42322848
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+v 0.29559909 -0.09984716 -0.44634245
+v 0.11816739 -0.15788782 -0.39733621
+v 0.33948841 -0.12095898 -0.44737645
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+v -0.32968291 -0.14069708 -0.41446123
+v -0.24051670 -0.15632713 -0.42507958
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+v 0.23779930 -0.14152978 -0.42696768
+v 0.30048178 -0.09948251 -0.42714052
+v 0.05815359 -0.15660811 -0.41024577
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+v -0.32884443 -0.13150006 -0.42610740
+v -0.31799720 -0.14941866 -0.40898236
+v 0.26043380 -0.15314795 -0.36629915
+v 0.32792096 -0.12538359 -0.43965556
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objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_19.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.25653497 -0.03361980 0.01069380
+v -0.24458144 -0.02360378 -0.15908979
+v -0.24188254 0.09774893 0.02106831
+v -0.33757340 0.07074149 0.08507981
+v -0.32337658 -0.01789049 -0.16238194
+v -0.28280592 0.02584335 0.07908562
+v -0.24509194 0.08723603 0.06003631
+v -0.28847994 -0.00731437 0.00180280
+v -0.28860394 0.10815090 -0.23462258
+v -0.28816639 0.08252416 0.06544568
+v -0.28980408 0.07785089 0.08169539
+v -0.24243806 0.11969838 -0.15986984
+v -0.33009097 0.03487868 -0.23492229
+v -0.24438007 0.09071081 0.05052124
+v -0.30206412 0.08050172 0.06593831
+v -0.24131866 0.11323775 -0.10046461
+v -0.32843154 0.09422511 -0.17534592
+v -0.33733774 0.07134162 0.08213412
+v -0.27045924 0.11218718 -0.16053598
+v -0.33448186 0.09186338 -0.21748600
+v -0.26994000 0.10962321 -0.13057050
+v -0.31452890 0.09359119 -0.10038390
+v -0.33401147 0.08893503 -0.13069908
+v -0.32737684 0.09475096 -0.23407869
+v -0.33443141 0.09187514 -0.21790507
+f 5 2 1
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 11 4 6
+f 11 6 7
+f 11 10 4
+f 12 2 9
+f 13 9 2
+f 13 2 5
+f 13 5 4
+f 14 7 3
+f 14 3 10
+f 14 11 7
+f 14 10 11
+f 15 10 3
+f 15 4 10
+f 16 3 2
+f 16 2 12
+f 16 15 3
+f 18 16 12
+f 18 4 15
+f 18 15 16
+f 19 12 9
+f 19 9 17
+f 20 13 4
+f 21 19 18
+f 21 18 12
+f 21 12 19
+f 22 19 17
+f 22 18 19
+f 23 17 20
+f 23 22 17
+f 23 18 22
+f 23 20 4
+f 23 4 18
+f 24 20 17
+f 24 17 9
+f 24 9 13
+f 25 24 13
+f 25 13 20
+f 25 20 24

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_2.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.34115113 -0.11887728 0.07730980
+v 0.33115488 -0.04917705 0.38513184
+v 0.24036900 0.00950617 0.19154128
+v 0.33954374 0.00952486 0.19212665
+v 0.24023601 -0.12920316 0.08310084
+v 0.24586747 -0.06953528 0.07793639
+v 0.33067623 -0.04493631 0.38774117
+v 0.34020192 -0.04630177 0.38860742
+v 0.24224193 -0.06892857 0.08438098
+v 0.24018818 -0.05149021 0.26513116
+v 0.34009702 -0.04732347 0.38488373
+v 0.23935708 -0.11672784 0.10669884
+v 0.23958933 -0.01871214 0.26094278
+v 0.23981905 -0.00935892 0.23108064
+f 5 1 2
+f 6 4 1
+f 6 3 4
+f 6 1 5
+f 7 4 3
+f 8 1 4
+f 8 7 2
+f 8 4 7
+f 9 6 5
+f 9 3 6
+f 10 5 2
+f 10 2 7
+f 11 8 2
+f 11 2 1
+f 11 1 8
+f 12 9 5
+f 12 3 9
+f 12 5 10
+f 13 10 7
+f 13 7 3
+f 13 12 10
+f 14 13 3
+f 14 3 12
+f 14 12 13

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_20.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.29065353 -0.15944277 0.01905523
+v -0.28940647 -0.16940274 -0.23442076
+v -0.28983837 -0.13560193 0.08556169
+v -0.30518821 -0.07976361 -0.10818471
+v -0.33584801 -0.15753354 0.01673446
+v -0.28985102 -0.14615548 0.06373402
+v -0.33151758 -0.08317613 -0.23486191
+v -0.33855636 -0.13166932 0.08417379
+v -0.33513552 -0.16431613 -0.23074713
+v -0.28984255 -0.13977901 0.08138160
+v -0.33496867 -0.16427919 -0.23147550
+v -0.33139649 -0.14218986 0.06142200
+v -0.32699048 -0.09692286 -0.23497874
+v -0.33763350 -0.13335193 0.08105743
+f 3 2 4
+f 5 2 1
+f 6 1 2
+f 6 5 1
+f 7 4 2
+f 8 3 4
+f 8 4 7
+f 9 2 5
+f 9 8 7
+f 9 5 8
+f 10 3 8
+f 10 6 2
+f 10 2 3
+f 11 9 7
+f 11 2 9
+f 12 5 6
+f 12 6 10
+f 13 11 7
+f 13 7 2
+f 13 2 11
+f 14 12 10
+f 14 10 8
+f 14 8 5
+f 14 5 12

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_21.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.23943812 -0.13233533 0.07701727
+v 0.28820538 -0.09916170 0.00914711
+v 0.28551442 0.05965868 0.13522171
+v 0.25538076 0.06808573 0.12936986
+v 0.19481212 0.03700223 0.00757673
+v 0.20939837 -0.02680500 0.15154353
+v 0.23960616 -0.10690209 0.12442070
+v 0.19544806 -0.15217376 0.01886069
+v 0.29841391 0.08636425 0.00840729
+v 0.19375336 0.04666831 0.15237359
+v 0.25325167 0.03883983 0.15776342
+v 0.19380872 -0.11259286 0.11966430
+v 0.30316956 0.02620101 0.00303164
+v 0.29560054 0.08273799 0.05246782
+v 0.19432549 -0.13350286 0.07817412
+v 0.23893747 -0.12635736 0.08871778
+v 0.30154318 0.07788601 0.00600025
+v 0.28575488 0.06607978 0.12773833
+v 0.19413995 -0.12790959 0.09012433
+v 0.22389409 -0.11125354 0.11866515
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 10 9 5
+f 10 4 9
+f 11 7 3
+f 11 6 7
+f 11 10 6
+f 11 3 4
+f 11 4 10
+f 12 7 6
+f 12 6 10
+f 12 10 5
+f 13 3 2
+f 13 2 5
+f 14 9 4
+f 14 3 13
+f 15 5 8
+f 15 8 1
+f 16 1 7
+f 17 13 5
+f 17 5 9
+f 17 14 13
+f 17 9 14
+f 18 14 4
+f 18 4 3
+f 18 3 14
+f 19 12 5
+f 19 5 15
+f 19 15 1
+f 19 16 12
+f 19 1 16
+f 20 16 7
+f 20 7 12
+f 20 12 16

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_22.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.33727880 0.04556379 0.15291184
+v 0.33584441 0.10019175 0.07519111
+v 0.07472703 0.06532632 0.11485632
+v -0.06254497 0.11092093 0.00664101
+v 0.29243199 0.01999712 0.02391249
+v 0.25648751 0.09411256 0.08879541
+v 0.28418075 0.11406652 0.00615778
+v -0.06139488 0.03033755 0.13976708
+v -0.04654443 0.11495286 0.00176495
+v 0.32895184 0.08094955 0.11532016
+v 0.30257552 0.07193060 0.01096670
+v 0.22590689 0.06525323 0.13133250
+v 0.03057080 0.07888771 0.08867825
+v -0.06276342 0.03700223 0.00757673
+v 0.13529274 0.10982575 0.03201774
+v 0.33672630 0.06741067 0.12995915
+v 0.33458331 0.09451557 0.09118672
+v 0.33151388 0.10511998 0.05439712
+v 0.04365538 0.05129237 0.12971113
+v 0.30127721 0.08052911 0.11612204
+v -0.01346805 0.06363883 0.10243550
+v 0.02987873 0.09406377 0.05942184
+v 0.28438407 0.11075702 0.03571489
+v 0.13534384 0.07921600 0.10278892
+v -0.04392711 0.09415854 0.04188165
+v -0.04554790 0.10920792 0.01393669
+v 0.33239950 0.10453415 0.05861514
+v -0.06012062 0.09841402 0.02929607
+f 5 2 1
+f 8 5 1
+f 12 8 1
+f 14 8 4
+f 14 5 8
+f 14 4 9
+f 14 11 5
+f 14 9 7
+f 14 7 11
+f 15 9 6
+f 15 6 2
+f 16 1 2
+f 17 2 6
+f 17 16 2
+f 17 10 16
+f 18 11 7
+f 18 2 5
+f 18 5 11
+f 19 12 3
+f 19 8 12
+f 19 3 13
+f 20 17 6
+f 20 10 17
+f 20 16 10
+f 20 12 1
+f 20 1 16
+f 21 19 13
+f 21 8 19
+f 22 6 9
+f 23 7 9
+f 23 9 15
+f 23 18 7
+f 23 15 2
+f 24 20 6
+f 24 13 3
+f 24 3 12
+f 24 12 20
+f 24 22 13
+f 24 6 22
+f 25 21 13
+f 25 13 4
+f 26 22 9
+f 26 9 4
+f 26 4 13
+f 26 13 22
+f 27 23 2
+f 27 2 18
+f 27 18 23
+f 28 25 4
+f 28 4 8
+f 28 8 21
+f 28 21 25

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_23.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.15367243 0.06730524 -0.41666532
+v -0.15379636 0.06667470 -0.48751118
+v -0.15394964 0.17247370 -0.49186978
+v -0.28932817 0.16916482 -0.48938073
+v -0.30556451 0.06695845 -0.42200278
+v -0.15335201 0.14909731 -0.41512764
+v -0.28935904 0.06650922 -0.48414318
+v -0.33612013 0.12066980 -0.41743936
+v -0.24271132 0.14319716 -0.41552664
+v -0.33745924 0.12125490 -0.44816808
+v -0.31593212 0.12613198 -0.41669129
+v -0.33739944 0.12109130 -0.44660337
+v -0.29029621 0.16868144 -0.48916924
+v -0.33618138 0.12062981 -0.41821429
+f 3 2 4
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 4 2
+f 7 2 5
+f 8 5 1
+f 9 1 6
+f 9 6 4
+f 10 7 5
+f 11 8 1
+f 11 1 9
+f 11 9 4
+f 11 4 8
+f 12 10 5
+f 13 10 8
+f 13 8 4
+f 13 4 7
+f 13 7 10
+f 14 12 5
+f 14 5 8
+f 14 8 10
+f 14 10 12

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_24.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.34151957 -0.15327440 -0.23431768
+v 0.34299924 -0.13051059 -0.41684290
+v 0.31738601 -0.09514329 -0.23458102
+v 0.19481212 -0.09936128 -0.23484730
+v 0.19388645 -0.16064376 -0.35412130
+v 0.30448318 -0.09947217 -0.41381078
+v 0.26827373 -0.15900074 -0.23418408
+v 0.34058541 -0.14324315 -0.36897991
+v 0.31556384 -0.09675019 -0.35426988
+v 0.19801142 -0.15871595 -0.36568952
+v 0.19417780 -0.16979270 -0.23459526
+v 0.26071786 -0.13841744 -0.42568141
+v 0.23847236 -0.15754492 -0.35386086
+v 0.31416155 -0.14136392 -0.39707834
+v 0.25336024 -0.15748282 -0.33956705
+v 0.34166849 -0.13241313 -0.41278924
+v 0.25270488 -0.14266594 -0.41250577
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 3 2
+f 9 2 6
+f 9 6 4
+f 9 4 3
+f 10 5 4
+f 11 1 7
+f 11 7 4
+f 11 4 5
+f 12 10 4
+f 12 4 6
+f 12 6 2
+f 13 5 10
+f 13 11 5
+f 14 8 13
+f 14 13 10
+f 15 13 8
+f 15 8 1
+f 15 1 11
+f 15 11 13
+f 16 14 12
+f 16 12 2
+f 16 2 8
+f 16 8 14
+f 17 14 10
+f 17 10 12
+f 17 12 14

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_25.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.06498264 -0.14849079 0.02274601
+v -0.09323667 -0.15165894 0.00979767
+v -0.06276342 0.03700223 0.00757673
+v -0.15420237 0.06421498 0.08125842
+v -0.15335973 -0.10980993 0.14724844
+v -0.15367243 0.03700223 0.00757673
+v -0.15282075 -0.15410736 0.01039237
+v -0.06139488 0.03033755 0.13976708
+v -0.06239268 0.06543440 0.08215977
+v -0.06268606 -0.11002228 0.14869645
+v -0.15623850 0.05034452 0.10272135
+v -0.05964667 0.05224783 0.10438987
+v -0.15479775 -0.13282670 0.07936533
+v -0.15477357 0.02741413 0.13765550
+v -0.09212718 -0.11320987 0.13890649
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 6 2
+f 9 6 4
+f 9 3 6
+f 10 7 1
+f 10 8 5
+f 11 4 6
+f 11 8 4
+f 12 3 9
+f 12 8 10
+f 12 10 1
+f 12 1 3
+f 12 9 4
+f 12 4 8
+f 13 7 10
+f 13 5 11
+f 13 11 6
+f 13 6 7
+f 14 11 5
+f 14 5 8
+f 14 8 11
+f 15 13 10
+f 15 10 5
+f 15 5 13

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_26.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.34009702 -0.04732347 0.38488373
+v 0.32904123 -0.05426310 0.31219719
+v -0.33947936 -0.04763688 0.30596783
+v -0.33551268 -0.05299449 0.40471256
+v 0.33039110 -0.05238152 0.36872098
+v -0.33989485 -0.06059798 0.31138994
+v 0.34064673 -0.04241002 0.40286749
+v -0.33618185 -0.05490899 0.39665073
+v 0.33922867 -0.04444537 0.39898698
+v 0.33097252 -0.04069590 0.30993706
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
+f 9 5 1
+f 9 1 7
+f 9 7 4
+f 9 4 5
+f 10 7 1
+f 10 1 2
+f 10 2 3
+f 10 3 7

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_27.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.30488588 0.05130051 0.01186564
+v 0.31184133 0.06422526 -0.09787254
+v 0.28418075 0.11406652 0.00615778
+v -0.18221706 0.11000161 0.00304849
+v -0.18397543 0.05215373 -0.09848378
+v -0.16630860 0.12675335 -0.10051371
+v -0.18420809 0.10122928 0.02834250
+v 0.26801823 0.12685271 -0.09986581
+v -0.07709381 0.12535404 -0.02828220
+v -0.18329655 0.12384749 -0.09896719
+v 0.28515956 0.12414778 -0.09878897
+v -0.12272485 0.12507395 -0.04149304
+v 0.22406854 0.12566351 -0.04007138
+v -0.16601169 0.12501866 -0.08540194
+v 0.26791062 0.12556866 -0.08492808
+v -0.00249024 0.12532393 -0.02716240
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 8 2 5
+f 8 5 6
+f 9 8 6
+f 9 7 3
+f 9 4 7
+f 10 6 5
+f 10 7 4
+f 10 5 7
+f 11 3 2
+f 11 2 8
+f 12 9 6
+f 12 4 9
+f 13 8 9
+f 14 10 4
+f 14 6 10
+f 14 12 6
+f 14 4 12
+f 15 11 8
+f 15 3 11
+f 15 13 3
+f 15 8 13
+f 16 13 9
+f 16 9 3
+f 16 3 13

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_28.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.33849469 -0.15776138 0.00092660
+v 0.34149864 -0.15321374 -0.23527422
+v 0.31197798 -0.11332744 -0.23479742
+v 0.28860255 -0.11440358 0.00940028
+v 0.28408437 -0.15966926 -0.18865945
+v 0.30257222 -0.11480054 -0.01475273
+v 0.33852512 -0.15290670 0.01046140
+v 0.34203447 -0.15854354 -0.12821783
+v 0.28594379 -0.15953528 0.00321014
+v 0.28539276 -0.15679895 -0.23469821
+v 0.31519793 -0.15839206 -0.17333205
+v 0.31042580 -0.11984996 -0.23501794
+f 6 3 4
+f 7 2 3
+f 7 3 6
+f 7 6 4
+f 8 7 1
+f 8 2 7
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 2 5
+f 10 5 4
+f 10 4 3
+f 11 8 5
+f 11 5 2
+f 11 2 8
+f 12 10 3
+f 12 3 2
+f 12 2 10

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_29.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.33065046 0.12820425 -0.47823169
+v 0.33113214 0.13165169 -0.47420862
+v -0.15329143 0.13841081 -0.45842833
+v -0.15394964 0.17247370 -0.49186978
+v 0.32085407 0.17856690 -0.49251015
+v -0.15355682 0.12924996 -0.47878689
+v 0.32771403 0.17476389 -0.49032191
+v -0.10548286 0.17350466 -0.49369174
+v -0.15373432 0.13731471 -0.46399226
+v 0.32882528 0.14810411 -0.46744239
+v -0.15400340 0.16794792 -0.49002228
+f 1 2 3
+f 5 4 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 6 3
+f 9 3 4
+f 10 7 5
+f 10 5 3
+f 10 3 2
+f 10 2 7
+f 11 9 4
+f 11 4 6
+f 11 6 9

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_3.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.32904123 -0.05426310 0.31219719
+v 0.33089634 -0.05191126 0.26517855
+v 0.11880113 -0.00036375 0.21787168
+v -0.33848928 -0.01597457 0.21550218
+v -0.34259481 -0.07711065 0.21749618
+v -0.27450605 -0.04195486 0.30435640
+v 0.33102077 -0.02432137 0.26486587
+v -0.15407570 -0.07883359 0.21627302
+v -0.31819717 -0.02715197 0.25884135
+v -0.33989485 -0.06059798 0.31138994
+v 0.32981551 -0.03916513 0.30575873
+v 0.11860637 -0.05885902 0.21711899
+v 0.11947115 -0.00828172 0.24475111
+v -0.33947936 -0.04763688 0.30596783
+v 0.02957683 -0.00844226 0.21530423
+v 0.30059323 -0.02103876 0.25929889
+v -0.33892722 -0.04115504 0.29058235
+f 8 2 1
+f 8 5 4
+f 9 3 4
+f 10 1 6
+f 10 8 1
+f 10 5 8
+f 11 1 2
+f 11 2 7
+f 11 6 1
+f 12 7 2
+f 12 3 7
+f 12 2 8
+f 13 9 6
+f 13 3 9
+f 13 6 11
+f 14 10 6
+f 14 4 5
+f 14 5 10
+f 15 12 8
+f 15 8 4
+f 15 4 3
+f 15 3 12
+f 16 7 3
+f 16 3 13
+f 16 13 11
+f 16 11 7
+f 17 14 6
+f 17 6 9
+f 17 9 4
+f 17 4 14

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_30.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19544806 -0.15217376 0.01886069
+v 0.19481655 -0.09942406 0.14397444
+v -0.06268606 -0.11002228 0.14869645
+v -0.06139488 0.03033755 0.13976708
+v 0.19481212 0.03700223 0.00757673
+v 0.19375336 0.04666831 0.15237359
+v -0.06276342 0.03700223 0.00757673
+v -0.06498264 -0.14849079 0.02274601
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 6 5
+f 7 4 6
+f 8 7 1
+f 8 1 3
+f 8 3 4
+f 8 4 7

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19481212 -0.02360378 0.00757673
+v 0.19481212 -0.02360378 -0.23484730
+v 0.19481212 0.05215373 0.00757673
+v 0.11905460 0.05215373 0.00757673
+v 0.11905460 -0.02360378 -0.23484730
+v 0.11905460 0.05215373 -0.23484730
+v 0.11905460 -0.02360378 0.00757673
+v 0.19481212 0.05215373 -0.23484730
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_4.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.19417780 -0.16979270 -0.23459526
+v 0.31556384 -0.09675019 -0.35426988
+v 0.28461740 0.13522076 -0.23532206
+v -0.15216541 0.14589511 -0.23608066
+v -0.15391026 -0.17458642 -0.35457171
+v 0.28468675 0.14608938 -0.35760873
+v 0.11840618 -0.17512140 -0.23412490
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+v 0.19388645 -0.16064376 -0.35412130
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+v -0.15349274 -0.18025590 -0.23458019
+v 0.31410803 0.07630429 -0.28116238
+v 0.01228531 -0.17339687 -0.32411718
+v 0.11830925 -0.17437742 -0.24915031
+v 0.31270489 0.07493613 -0.23563923
+v 0.31636180 0.06559846 -0.35492651
+v -0.03297864 -0.17364808 -0.33936013
+v 0.07286652 -0.17364646 -0.29400081
+v -0.10841054 -0.17380756 -0.35451191
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+f 20 18 5
+f 20 9 18
+f 20 5 6
+f 20 6 9

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_5.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.24365176 -0.17762849 -0.15883320
+v -0.24461195 -0.11414447 -0.48657754
+v -0.24174854 -0.16120638 -0.41146034
+v -0.24243806 0.11969838 -0.15986984
+v -0.33597291 0.12105729 -0.36296306
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+v -0.32770058 0.03403116 -0.15926205
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+v -0.32860604 -0.15696095 -0.39386139
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+v -0.27352916 -0.17510548 -0.15869142
+v -0.33070733 0.09323383 -0.23446838
+v -0.33294786 -0.16444910 -0.23406846
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+v -0.32276742 -0.08521873 -0.16242725
+v -0.27045924 0.11218718 -0.16053598
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+f 26 18 7
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objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_6.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
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+v -0.34006792 -0.10573082 0.14656108
+v 0.07265325 -0.11110284 0.13448489
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+v 0.34048056 -0.11064306 0.08955020
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+v 0.33974238 -0.12980741 0.05946118
+v 0.33852512 -0.15290670 0.01046140
+v 0.32757994 -0.12556260 0.07224909
+v 0.33800170 -0.14517297 0.03154082
+v 0.33986494 -0.14389619 0.03063140
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+f 24 19 5
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objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_7.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01520013 -0.16964541 -0.36162000
+v 0.33829568 -0.09881414 -0.49073414
+v 0.31405689 0.07938722 -0.35462745
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+v -0.15365661 -0.11446586 -0.48624129
+v 0.32861318 0.17341125 -0.48961037
+v 0.31556384 -0.09675019 -0.35426988
+v 0.01311573 -0.11597863 -0.48553418
+v -0.15271620 -0.17388922 -0.36171260
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+v 0.33803978 -0.09943620 -0.49040435
+v 0.33303031 0.16544321 -0.48545697
+v 0.28468675 0.14608938 -0.35760873
+v -0.15334546 0.14293373 -0.44244509
+v -0.10775503 0.13977824 -0.46431749
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+f 16 6 11
+f 16 11 15

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_8.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.33922867 -0.04444537 0.39898698
+v 0.34010836 -0.04123411 0.40641543
+v -0.29319789 -0.05279983 0.49983070
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+v -0.32086710 -0.02836557 0.49049212
+v 0.34059691 -0.03712239 0.42780666
+v 0.31400494 -0.02529615 0.49167881
+v -0.30274249 -0.02688232 0.48202411
+v 0.33744416 -0.02753993 0.45156611
+v -0.33164338 -0.05360782 0.48207014
+v -0.27536921 -0.05426149 0.39857973
+v 0.33452805 -0.02079992 0.48277596
+v -0.32293875 -0.05556714 0.49379867
+v -0.33603084 -0.03661285 0.48017803
+v -0.33630158 -0.03909869 0.46796738
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+f 24 5 19
+f 24 19 23

objects/objaverse/bagged_food/bagged_food_0/collision/model_normalized_collision_9.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.28433621 -0.16447175 -0.09807216
+v 0.31317751 -0.10924012 -0.23462544
+v 0.32919153 0.11841981 -0.11438846
+v -0.25826936 0.10780225 -0.09007871
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+v 0.28515956 0.12414778 -0.09878897
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+v -0.25233675 0.11987617 -0.23596979
+v 0.31897511 0.04751458 -0.09863236
+v 0.01319359 0.14154103 -0.13065495
+v 0.31560547 -0.10954077 -0.09819645
+v 0.28383270 -0.15806581 -0.21850426
+v 0.13345611 -0.17444526 -0.23404971
+v 0.23791830 0.14248748 -0.23614699
+v 0.33010458 -0.03727275 -0.18924681
+v 0.32807735 0.12532700 -0.17649817
+v -0.24978017 0.11752846 -0.15719778
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+v 0.32964160 -0.05148100 -0.12955144
+v 0.19328672 0.14140569 -0.16057389
+v -0.06210629 0.14122639 -0.14577952
+v 0.10366331 0.14144334 -0.13069472
+v 0.17848106 -0.17397946 -0.15866511
+v -0.15165990 0.14023488 -0.19203853
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+f 36 22 33
+f 36 33 6
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objects/objaverse/bagged_food/bagged_food_0/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="more_bagged_food_7">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="kava_low" 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="kava_low"/>
+        <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_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="2.9321174999992754e-05 0.00026836600000000187 -0.025892200499999997" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="2.9321174999992754e-05 0.00026836600000000187 0.026156499249999996" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04973488979999997 0.0724754515 0.00013214937500000083" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/bagged_food/bagged_food_0/visual/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png

objects/objaverse/bagged_food/bagged_food_4/collision/model_normalized_collision_4.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.20261543 -0.01084204 0.00757578
+v 0.20261543 -0.01084204 -0.23484847
+v 0.20186205 0.11069118 0.00756394
+v -0.25144900 0.10712212 0.00757606
+v -0.25193004 -0.01084204 0.00757578
+v -0.01915865 0.10987241 -0.23386807
+v 0.20229165 0.10359523 -0.23445331
+v -0.23517868 0.10908146 0.00757056
+v -0.25193004 -0.01084204 -0.15909089
+v 0.17176576 0.10935558 -0.14336345
+v -0.16093884 0.10626904 -0.23460141
+v -0.16068587 0.10955796 -0.17347078
+v 0.03406515 0.10994872 -0.23384982
+v 0.20180066 0.10941800 -0.09808712
+v -0.16102095 -0.01084204 -0.23484847
+v -0.25102253 0.10398765 -0.15883281
+v -0.20547353 0.10937854 -0.12820869
+v -0.23517056 0.10900785 -0.02261222
+v -0.22007007 0.10929285 -0.09808418
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 8 4 3
+f 9 5 4
+f 9 2 5
+f 11 7 2
+f 12 3 6
+f 12 6 11
+f 13 10 7
+f 13 6 3
+f 13 3 10
+f 13 11 6
+f 13 7 11
+f 14 10 3
+f 14 3 7
+f 14 7 10
+f 15 11 2
+f 15 2 9
+f 15 9 11
+f 16 11 9
+f 16 9 4
+f 17 12 11
+f 17 11 16
+f 17 3 12
+f 18 16 4
+f 18 4 8
+f 19 17 16
+f 19 16 18
+f 19 18 8
+f 19 8 3
+f 19 3 17

objects/objaverse/bagged_food/bagged_food_4/model.xml

@@ -0,0 +1,87 @@
+<mujoco model="bagged_food_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="packaging001_mtl.002" texture="image0" specular="0.5" shininess="0.359999993"/>
+    <material name="packaging002_mtl.002" texture="image0" specular="0.5" shininess="0.359999993"/>
+    <material name="packaging003_mtl.002" 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="packaging001_mtl.002"/>
+        <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="packaging002_mtl.002"/>
+        <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="packaging003_mtl.002"/>
+        <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="0.0001195640999999976 0.00013552042500000343 -0.015253737749999994" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0001195640999999976 0.00013552042500000343 0.015759476099999996" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05341339799999998 0.06735027149999998 0.0002528691749999999" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_0.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.20351826 -0.15240029 -0.37211525
+v 0.19689184 -0.14876554 -0.42333015
+v 0.09142052 -0.01629619 -0.35606060
+v -0.28212891 -0.01637407 -0.41701886
+v -0.25205338 -0.13493597 -0.44553091
+v 0.09226853 -0.01620689 -0.49651384
+v -0.23523475 -0.13610114 -0.35724945
+v -0.08994222 -0.15241049 -0.35510119
+v -0.21160978 -0.01629619 -0.35606060
+v -0.28436131 -0.01634034 -0.44716427
+v 0.09174334 -0.14023824 -0.44288603
+v -0.28679671 -0.11578575 -0.41696328
+v -0.02942193 -0.15098586 -0.38411265
+v 0.15192390 -0.15571842 -0.35537112
+v -0.27314627 -0.09374660 -0.35380950
+v -0.28903967 -0.11837088 -0.44860910
+v -0.08994773 -0.15126516 -0.36971547
+v 0.15221852 -0.15549860 -0.35898357
+v -0.28533952 -0.11888256 -0.41814662
+v -0.28670524 -0.12128959 -0.44862237
+v 0.19745380 -0.14984971 -0.41631426
+v 0.19687953 -0.15161121 -0.40021604
+v -0.24975121 -0.13484818 -0.41787285
+v 0.19626943 -0.15328497 -0.37070698
+v 0.10683925 -0.15087689 -0.39887377
+f 6 1 2
+f 6 3 1
+f 8 7 5
+f 9 3 6
+f 10 9 6
+f 10 4 9
+f 11 6 2
+f 11 2 5
+f 11 5 6
+f 12 4 10
+f 13 5 2
+f 14 1 3
+f 15 9 4
+f 15 7 8
+f 15 3 9
+f 15 14 3
+f 15 8 14
+f 15 4 12
+f 16 10 6
+f 16 12 10
+f 17 13 8
+f 17 8 5
+f 17 5 13
+f 18 14 8
+f 18 8 13
+f 19 15 12
+f 19 7 15
+f 19 12 16
+f 20 16 6
+f 20 6 5
+f 20 19 16
+f 20 7 19
+f 21 13 2
+f 21 2 1
+f 22 14 18
+f 22 21 1
+f 23 20 5
+f 23 5 7
+f 23 7 20
+f 24 22 1
+f 24 1 14
+f 24 14 22
+f 25 13 21
+f 25 21 22
+f 25 22 18
+f 25 18 13

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_1.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.28237957 -0.11543626 0.08306439
+v 0.28053452 -0.11712505 0.00788985
+v 0.28314358 0.11106856 0.00768552
+v -0.22649141 0.11755498 0.00711178
+v -0.22528625 -0.11436780 0.00625007
+v -0.22929269 0.09010016 0.14058136
+v -0.04478699 -0.12291900 0.00444155
+v 0.26640981 0.04645040 0.14930609
+v 0.28441927 0.10960894 0.08299257
+v -0.22656643 -0.08387318 0.14542432
+v 0.26746437 -0.12027250 0.00718754
+v -0.20984686 0.11996950 0.00478212
+v 0.24434301 0.08938681 0.13835957
+v -0.22697333 -0.08819079 0.12471432
+v 0.26254436 0.03458554 0.15111389
+v -0.19423526 -0.10442914 0.07902875
+v 0.20020494 -0.11962896 0.04802334
+v 0.25361383 0.11886988 0.00602878
+v -0.20951639 0.11727052 0.01924694
+v 0.16724940 -0.08700492 0.14225747
+v -0.19429574 -0.08847904 0.13853178
+v -0.22247517 -0.10274445 0.06329953
+v 0.25626647 -0.11905367 0.05002128
+v 0.24066046 0.11778348 0.03448201
+v -0.19501265 0.10186109 0.09382606
+v -0.13647376 -0.08899958 0.13841226
+v 0.26871491 -0.11963892 0.02210811
+f 1 2 3
+f 6 4 5
+f 9 8 1
+f 9 1 3
+f 11 2 1
+f 12 7 5
+f 12 5 4
+f 13 9 6
+f 13 6 8
+f 13 8 9
+f 14 10 6
+f 14 6 5
+f 14 5 10
+f 15 8 6
+f 15 6 10
+f 15 1 8
+f 16 7 1
+f 16 5 7
+f 17 1 7
+f 17 7 11
+f 18 11 7
+f 18 3 2
+f 18 2 11
+f 18 7 12
+f 18 9 3
+f 19 12 4
+f 19 4 6
+f 19 9 12
+f 20 15 10
+f 20 1 15
+f 21 16 1
+f 21 10 16
+f 22 16 10
+f 22 10 5
+f 22 5 16
+f 23 17 11
+f 23 1 17
+f 24 18 12
+f 24 12 9
+f 24 9 18
+f 25 19 6
+f 25 6 9
+f 25 9 19
+f 26 20 10
+f 26 10 21
+f 26 21 1
+f 26 1 20
+f 27 23 11
+f 27 11 1
+f 27 1 23

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_10.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.16724940 -0.08700492 0.14225747
+v 0.26254436 0.03458554 0.15111389
+v 0.24911961 -0.02031481 0.22064855
+v -0.25449258 0.03899046 0.22370196
+v -0.23688069 0.01392147 0.14307034
+v 0.25703887 0.02973558 0.21982015
+v -0.27772050 -0.04965891 0.22147899
+v 0.24662796 -0.02381084 0.14946379
+v -0.25246333 0.03133320 0.18683274
+v 0.26191271 0.03434684 0.19984573
+v 0.16741255 -0.06082424 0.21320130
+v -0.24313076 -0.08708396 0.14273788
+v -0.27970622 -0.07240856 0.18708550
+v 0.16738821 -0.07773938 0.16909157
+v -0.24696099 -0.01216331 0.14410934
+v -0.27763485 -0.06163561 0.20820400
+v -0.24233630 -0.07447072 0.18258256
+v -0.27486275 -0.05827449 0.18389837
+f 5 2 1
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 4 2
+f 9 2 5
+f 9 7 4
+f 10 6 3
+f 10 3 2
+f 10 2 4
+f 10 4 6
+f 11 3 7
+f 12 5 1
+f 13 7 9
+f 14 1 3
+f 14 3 11
+f 15 9 5
+f 15 5 12
+f 15 12 13
+f 16 13 11
+f 16 11 7
+f 16 7 13
+f 17 13 12
+f 17 12 1
+f 17 1 14
+f 17 14 11
+f 17 11 13
+f 18 15 13
+f 18 13 9
+f 18 9 15

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_11.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.22709490 -0.12981236 0.00633496
+v 0.26728777 -0.11219259 -0.23489253
+v 0.28053452 -0.11712505 0.00788985
+v 0.23853290 0.12675363 -0.03482170
+v 0.22488699 -0.14308202 -0.15938350
+v 0.26358923 0.09053999 -0.23548942
+v 0.26732131 0.06081240 0.00758800
+v 0.22472326 -0.13744865 -0.05430086
+v 0.24379503 -0.13658609 -0.23439048
+v 0.27860356 -0.11770556 -0.03748350
+v 0.26378688 0.04828324 0.00901084
+v 0.26954167 0.09008516 -0.03766755
+v 0.23704895 -0.13428813 -0.05432176
+v 0.23681166 -0.13867746 -0.15950039
+v 0.26615518 -0.12333653 -0.15978881
+v 0.27276649 -0.10303084 0.00867957
+f 6 5 4
+f 8 1 4
+f 8 4 5
+f 8 3 1
+f 9 6 2
+f 9 5 6
+f 10 6 3
+f 10 2 6
+f 10 3 9
+f 11 3 7
+f 11 7 4
+f 11 4 1
+f 12 6 4
+f 12 4 7
+f 12 7 3
+f 12 3 6
+f 13 8 5
+f 13 5 3
+f 13 3 8
+f 14 9 3
+f 14 3 5
+f 14 5 9
+f 15 10 9
+f 15 9 2
+f 15 2 10
+f 16 11 1
+f 16 1 3
+f 16 3 11

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_12.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.26395785 -0.13474930 -0.44932833
+v 0.27443104 -0.13331901 -0.49902673
+v 0.15269225 -0.01571105 -0.49516050
+v -0.21188618 -0.01592548 -0.49276816
+v -0.21166850 -0.13570437 -0.44634109
+v 0.27542815 -0.09179225 -0.49900867
+v 0.27283050 -0.09205074 -0.44701735
+v 0.03111489 -0.13891853 -0.44212850
+v -0.21195485 -0.12206924 -0.49025660
+v 0.26027753 -0.13509377 -0.48624132
+v -0.21199697 -0.03100756 -0.49235906
+v 0.26737906 -0.13610104 -0.47794654
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 7 6 3
+f 7 1 2
+f 7 2 6
+f 8 7 5
+f 8 1 7
+f 9 4 2
+f 9 2 5
+f 10 8 5
+f 10 5 2
+f 11 9 5
+f 11 5 4
+f 11 4 9
+f 12 10 2
+f 12 2 1
+f 12 1 8
+f 12 8 10

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_13.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.25027098 -0.13869137 -0.41787825
+v 0.27863231 -0.09191925 -0.49982604
+v 0.27155289 0.05943959 -0.41681942
+v 0.22803014 0.13680958 -0.45735935
+v 0.15310599 -0.08975799 -0.49019457
+v 0.27542089 0.12588211 -0.49830972
+v 0.27261164 -0.12932428 -0.41706449
+v 0.15244644 -0.14206408 -0.44363881
+v 0.28068503 0.08971767 -0.49947520
+v 0.26963049 0.12837644 -0.46296435
+v 0.15264957 0.05799806 -0.49109241
+v 0.25329619 -0.13973267 -0.44798916
+v 0.15213460 -0.14883067 -0.41593931
+v 0.25446478 0.13468228 -0.45955240
+v 0.27272587 0.08873800 -0.43417378
+v 0.22853655 0.12546167 -0.49386298
+v 0.27229209 -0.13135374 -0.44754782
+v 0.15202659 0.05946138 -0.41666667
+v 0.25753730 0.13225156 -0.47290991
+f 8 5 2
+f 9 7 2
+f 9 3 7
+f 11 5 8
+f 11 6 9
+f 11 9 2
+f 11 2 5
+f 12 7 1
+f 12 8 2
+f 13 7 3
+f 13 1 7
+f 13 11 8
+f 13 12 1
+f 13 8 12
+f 14 10 6
+f 15 9 6
+f 15 6 10
+f 15 3 9
+f 15 10 14
+f 15 14 4
+f 15 4 3
+f 16 11 4
+f 16 4 6
+f 16 6 11
+f 17 12 2
+f 17 2 7
+f 17 7 12
+f 18 13 3
+f 18 3 4
+f 18 4 11
+f 18 11 13
+f 19 14 6
+f 19 6 4
+f 19 4 14

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_14.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.15221852 -0.15549860 -0.35898357
+v 0.15244644 -0.14206408 -0.44363881
+v 0.15201755 0.14675105 -0.41597433
+v 0.09139322 0.14719077 -0.41593723
+v 0.09106272 -0.15518717 -0.35992676
+v 0.15210722 0.13934746 -0.44322834
+v 0.15202659 0.05946138 -0.35606060
+v 0.15213460 -0.14883067 -0.41593931
+v 0.09174334 -0.14023824 -0.44288603
+v 0.09142052 0.05946138 -0.35606060
+v 0.09136881 0.13942681 -0.44315463
+v 0.09152199 -0.14754665 -0.41562118
+f 6 4 3
+f 7 3 4
+f 7 6 3
+f 7 1 2
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 5
+f 11 5 4
+f 11 4 6
+f 11 6 2
+f 11 2 9
+f 12 8 5
+f 12 11 9
+f 12 5 11
+f 12 9 2
+f 12 2 8

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_15.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.19630369 -0.09107735 0.12851156
+v -0.23643103 -0.12157398 -0.09688534
+v -0.24589356 0.00226367 -0.09636842
+v -0.23230716 0.00392465 0.14426126
+v -0.27751100 -0.07665796 0.18271868
+v -0.23474616 0.00371560 0.00829054
+v -0.27517399 -0.10449397 0.11998523
+v -0.24103927 -0.01684585 0.18926159
+v -0.27486275 -0.05827449 0.18389837
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+f 21 7 15

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_16.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.20977506 -0.14006932 -0.27774718
+v -0.21178054 -0.14104069 -0.42549234
+v -0.19514584 0.15278831 -0.35637095
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+v -0.22501346 0.14973071 -0.41603640
+v -0.25890480 0.03685858 0.00781676
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+f 20 8 12
+f 20 12 16

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_17.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.28286762 0.03376171 0.22297599
+v 0.28682331 0.06862557 0.18603460
+v -0.11960636 0.05448014 0.23041449
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+v -0.07526313 0.08924588 0.12862574
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+f 14 9 10
+f 14 12 9
+f 14 4 12

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_18.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.28327255 -0.00646312 0.49397873
+v 0.28679154 -0.00665473 0.30807227
+v -0.27660219 0.00434637 0.34042678
+v -0.27397158 -0.00314830 0.48700961
+v -0.26624263 -0.00727478 0.49414747
+v 0.27018564 -0.00236203 0.49403650
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+v -0.25487483 -0.00361748 0.49789942
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+v 0.29023615 -0.00492452 0.48718770
+v 0.29177706 -0.00282962 0.40182784
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+f 18 16 11
+f 18 11 2

objects/objaverse/bagged_food/bagged_food_8/collision/model_normalized_collision_19.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.09142052 -0.01629619 -0.35606060
+v 0.15269225 -0.01571105 -0.49516050
+v 0.15026287 0.06370132 -0.49045666
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+v 0.09142052 0.05946138 -0.35606060
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