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objects/objaverse/lemon/lemon_2/collision/model_normalized_collision_23.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_0.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_10.obj

@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_12.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_13.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_14.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_15.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_16.obj

@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_17.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_19.obj

@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_2.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_20.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_21.obj

@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_22.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_23.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_24.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_25.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_26.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.06411072 -0.32531988 0.09643220
+v 0.08278561 -0.31993569 0.08719865
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_27.obj

@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_28.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15733894 -0.17592773 0.14393940
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+f 8 2 5

objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_3.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_5.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_8.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/lemon/lemon_8/collision/model_normalized_collision_9.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_1.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_10.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_11.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_13.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
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+v -0.19497296 0.04736155 0.02229936
+v -0.18255573 0.00351525 0.02786306
+v -0.21726628 -0.01289480 0.00897026
+v -0.23086167 0.04345436 0.02552756
+v -0.19097697 0.02873937 -0.01970414
+v -0.23714840 0.05504123 -0.01345373
+v -0.23553206 -0.01149898 -0.02500124
+v -0.22176104 0.04176929 -0.01887335
+v -0.19391693 0.04607703 -0.00982846
+f 7 3 4
+f 8 1 2
+f 8 3 7
+f 8 7 4
+f 9 2 1
+f 9 1 5
+f 10 5 1
+f 10 4 5
+f 10 8 4
+f 10 1 8
+f 11 8 2
+f 11 3 8
+f 12 4 3
+f 13 12 6
+f 13 5 4
+f 13 4 12
+f 13 9 5
+f 13 2 9
+f 13 11 2
+f 13 6 11
+f 14 11 6
+f 14 6 12
+f 15 12 3
+f 15 3 11
+f 15 14 12
+f 15 11 14

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_16.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.23320603 -0.06298451 0.00875967
+v -0.23600595 -0.05307545 -0.01443578
+v -0.23913070 0.06480940 0.00859200
+v -0.28103163 0.07612102 0.00883296
+v -0.28144186 -0.05287252 -0.02058706
+v -0.28195792 -0.05059516 0.01508681
+v -0.23630909 0.04400236 -0.01954467
+v -0.28285226 0.06759516 -0.01157946
+v -0.23617585 -0.03784453 -0.02125632
+v -0.28243871 0.05479839 -0.01969891
+v -0.24008041 0.06028118 -0.00771302
+v -0.25238069 -0.04793298 -0.01982708
+v -0.26733295 0.05368742 -0.01850546
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 3 1
+f 8 6 4
+f 8 5 6
+f 9 7 1
+f 9 1 2
+f 10 5 8
+f 10 9 5
+f 10 7 9
+f 11 8 4
+f 11 4 3
+f 11 3 7
+f 11 7 8
+f 12 9 2
+f 12 2 5
+f 12 5 9
+f 13 10 8
+f 13 8 7
+f 13 7 10

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_22.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23898748 -0.05919401 0.02611801
+v -0.20590875 -0.05256710 -0.00488335
+v -0.20649513 -0.05163327 0.02189799
+v -0.23589853 -0.05399740 0.02808924
+v -0.23600595 -0.05307545 -0.01443578
+v -0.22160960 -0.05182227 0.02684106
+v -0.21029641 -0.05445066 0.01729811
+v -0.23867752 -0.05757042 -0.01056564
+v -0.22143811 -0.05112969 -0.01316429
+v -0.22552369 -0.05556542 0.02513756
+v -0.20975478 -0.05424087 -0.00233105
+v -0.22473263 -0.05515769 -0.00878218
+f 6 4 1
+f 6 5 4
+f 7 2 3
+f 7 3 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 8 5
+f 9 6 3
+f 9 5 6
+f 10 6 1
+f 10 1 3
+f 10 3 6
+f 11 7 1
+f 11 1 8
+f 11 8 2
+f 11 2 7
+f 12 9 2
+f 12 2 8
+f 12 8 9

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_23.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.45571593 -0.06104956 0.02111000
+v -0.45564064 -0.06065279 -0.00315734
+v -0.46118748 -0.05599838 0.02300206
+v -0.47103557 -0.05021477 0.02121691
+v -0.46487169 -0.05471886 -0.00136086
+v -0.46489708 -0.05493187 0.01962035
+v -0.46096038 -0.05569259 -0.00546975
+v -0.47014855 -0.05020151 -0.00325683
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 8 7 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 8 3 7

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_25.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.28195792 -0.05059516 0.01508681
+v -0.28144186 -0.05287252 -0.02058706
+v -0.28075167 -0.01151513 -0.02739044
+v -0.44711020 -0.01195282 0.00688290
+v -0.45103629 -0.06521835 0.00868602
+v -0.28029289 -0.01188402 0.00529687
+v -0.44209841 -0.05051459 -0.01825906
+v -0.44562967 -0.01146513 -0.02388415
+v -0.31085351 -0.01154420 -0.02835669
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 8 7 5
+f 8 5 4
+f 9 3 2
+f 9 2 7
+f 9 8 3
+f 9 7 8

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_26.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03787391 -0.01189556 0.02409960
+v -0.03801115 -0.01106905 -0.01527557
+v -0.03862421 0.02146525 0.01809783
+v -0.09950308 0.02665099 0.01925656
+v -0.09868506 -0.01135751 -0.01707774
+v -0.09979196 0.02521375 -0.01144981
+v -0.09840048 -0.01206341 0.02585838
+v -0.03870224 0.02146961 -0.00916484
+f 1 3 4
+f 5 2 1
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 2 6
+f 8 1 2
+f 8 3 1
+f 8 6 4
+f 8 4 3

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03856993 -0.01750511 0.02203716
+v -0.03841948 -0.01820797 -0.01241907
+v -0.03816713 -0.01001140 0.02433773
+v -0.05332913 -0.01013394 0.02463298
+v -0.05368655 -0.01819431 0.02226633
+v -0.05314771 -0.01114336 -0.01558182
+v -0.03801115 -0.01106905 -0.01527557
+v -0.05354366 -0.01865350 -0.01288277
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 8 2 5
+f 8 7 2
+f 8 6 7

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09899260 -0.01041985 0.02606393
+v -0.09868506 -0.01135751 -0.01707774
+v -0.09979196 0.02521375 -0.01144981
+v -0.11566394 0.02336610 0.02399128
+v -0.11415915 -0.01065204 0.02666418
+v -0.11479524 0.02616337 -0.01259971
+v -0.10020917 0.02173963 0.02349460
+v -0.11380116 -0.01145175 -0.01771283
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_4.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.31164045 -0.08215930 0.00899361
+v -0.31065052 -0.05704441 -0.02097140
+v -0.31112416 -0.05428209 0.01295366
+v -0.44488441 -0.05380750 -0.01542985
+v -0.42594935 -0.07055964 -0.00769657
+v -0.32611947 -0.05349808 -0.02237673
+v -0.31293950 -0.07463557 -0.00962102
+v -0.45103629 -0.06521835 0.00868602
+v -0.38560330 -0.06353833 -0.01858711
+v -0.43878055 -0.07146071 0.00904990
+v -0.44143054 -0.06106282 -0.01245953
+v -0.38594162 -0.05359990 -0.02216132
+v -0.32654116 -0.06340163 -0.01858939
+v -0.43827944 -0.06994591 -0.00084564
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 3 4
+f 9 7 5
+f 10 5 1
+f 10 1 3
+f 10 3 8
+f 11 8 4
+f 11 9 5
+f 11 4 9
+f 12 9 4
+f 12 4 6
+f 12 6 9
+f 13 9 6
+f 13 6 2
+f 13 2 7
+f 13 7 9
+f 14 10 8
+f 14 8 11
+f 14 11 5
+f 14 5 10

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_5.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.45002816 -0.01311532 0.00734437
+v -0.43203533 0.01856226 0.00603647
+v -0.44711020 -0.01195282 0.00688290
+v -0.46371637 0.03535179 0.02187525
+v -0.45898787 0.03012269 0.01366518
+v -0.46686608 -0.01386764 0.01191921
+v -0.43325354 0.01927216 0.00616883
+v -0.46178706 -0.01174199 0.00952087
+v -0.43555020 0.04179540 0.01151264
+v -0.43197641 0.03392224 0.00769288
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 2 3
+f 8 6 5
+f 8 1 6
+f 8 5 7
+f 8 7 3
+f 8 3 1
+f 9 5 4
+f 9 3 2
+f 9 4 3
+f 10 7 5
+f 10 5 9
+f 10 9 2
+f 10 2 7

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_6.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.41795796 0.03828975 0.00764476
+v -0.41603495 0.03221352 -0.02490569
+v -0.41337979 0.07873182 0.02024044
+v -0.41536677 0.07278113 0.02714400
+v -0.45496351 0.04553867 0.02552756
+v -0.44496399 0.03185338 -0.02219675
+v -0.42089416 0.06113384 0.02552756
+v -0.44024301 0.06581816 0.02599515
+v -0.41344786 0.07802999 -0.00047411
+v -0.43927933 0.06417533 -0.00984266
+v -0.42505043 0.07489269 0.00054752
+v -0.44306364 0.04405451 -0.01982817
+v -0.41507876 0.05588788 -0.02001480
+v -0.42508194 0.07522657 0.01939586
+v -0.42857481 0.05456574 -0.01864468
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 9 3 2
+f 10 5 8
+f 11 3 9
+f 11 10 8
+f 11 9 10
+f 12 6 5
+f 12 5 10
+f 12 2 6
+f 13 10 9
+f 13 9 2
+f 13 2 12
+f 14 11 8
+f 14 8 3
+f 14 3 11
+f 15 13 12
+f 15 12 10
+f 15 10 13

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_7.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.48543775 0.02854093 0.02713022
+v -0.44696515 0.03358439 -0.02156707
+v -0.45496351 0.04553867 0.02552756
+v -0.44147327 0.06833712 0.02121686
+v -0.46663033 0.04976310 -0.00865033
+v -0.44480198 0.05957887 0.02803694
+v -0.48141375 0.02913340 -0.01000239
+v -0.46735413 0.04967585 0.02599515
+v -0.44121835 0.06779548 -0.00288807
+v -0.48837645 0.03074083 0.02152858
+v -0.45357792 0.06243692 0.01990512
+v -0.44393870 0.05866845 -0.01303229
+v -0.47741825 0.03830526 -0.00788156
+v -0.48120191 0.03705234 0.02599515
+v -0.45376212 0.06195700 -0.00175294
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 6 4
+f 8 1 6
+f 9 4 2
+f 10 7 1
+f 11 8 4
+f 11 10 8
+f 12 9 2
+f 12 2 5
+f 13 10 5
+f 13 5 7
+f 13 7 10
+f 14 10 1
+f 14 1 8
+f 14 8 10
+f 15 5 10
+f 15 10 11
+f 15 12 5
+f 15 9 12
+f 15 11 4
+f 15 4 9

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_8.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.45838910 -0.05189741 0.02803694
+v -0.45755999 -0.05137474 -0.01265833
+v -0.46145567 0.03279941 -0.01869773
+v -0.46736655 0.03923770 0.02683386
+v -0.49245905 -0.02099174 0.00074777
+v -0.47930966 -0.04394780 0.00910382
+v -0.49188587 -0.02049860 0.02599515
+v -0.49276176 -0.00999907 -0.00524735
+v -0.47814277 -0.04284297 -0.00126569
+v -0.49013544 0.02471073 0.02599515
+v -0.47691382 -0.04117011 0.02599515
+v -0.49022347 -0.03008720 0.00999441
+v -0.47966897 -0.03322209 -0.00887512
+v -0.49352923 0.00150868 -0.00551450
+v -0.46822136 -0.04754341 -0.00924183
+v -0.49043529 0.02676058 0.00105624
+v -0.48957386 -0.02951144 0.02041808
+v -0.48141375 0.02913340 -0.01000239
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 10 7 1
+f 10 1 4
+f 11 6 1
+f 11 1 7
+f 12 7 5
+f 12 9 6
+f 12 5 9
+f 13 8 3
+f 13 3 2
+f 13 9 5
+f 13 5 8
+f 14 8 5
+f 14 5 7
+f 14 7 10
+f 14 3 8
+f 15 2 6
+f 15 6 9
+f 15 13 2
+f 15 9 13
+f 16 10 4
+f 16 14 10
+f 17 11 7
+f 17 7 12
+f 17 12 6
+f 17 6 11
+f 18 16 4
+f 18 4 3
+f 18 3 14
+f 18 14 16

objects/objaverse/spoon/spoon_3/collision/model_normalized_collision_9.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.49443033 -0.01040901 0.01142967
+v 0.49482483 -0.01105080 -0.00008920
+v 0.46069100 0.01741541 -0.00743210
+v -0.03862421 0.02146525 0.01809783
+v -0.03825823 -0.02144479 0.01809352
+v 0.47489475 0.01668491 0.01464903
+v 0.48348131 -0.01408198 -0.00565968
+v -0.03841948 -0.01820797 -0.01241907
+v 0.49542666 0.01042654 -0.00045060
+v -0.03870224 0.02146961 -0.00916484
+v 0.48474645 0.01035210 -0.00800154
+v 0.49443033 0.01040901 0.01142967
+v 0.48699297 0.01622286 0.00562935
+v 0.48678897 0.01538565 -0.00174645
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 7 5
+f 9 1 2
+f 10 8 4
+f 10 4 3
+f 11 7 8
+f 11 9 2
+f 11 2 7
+f 11 10 3
+f 11 8 10
+f 12 6 1
+f 12 1 9
+f 13 3 6
+f 13 12 9
+f 13 6 12
+f 14 11 3
+f 14 3 13
+f 14 13 9
+f 14 9 11

objects/objaverse/spoon/spoon_3/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="spoon_13">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.wooden-spoon" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.wooden-spoon"/>
+        <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="-0.000325610600000001 -0.00018025585000000315 -0.005387771100000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.000325610600000001 -0.00018025585000000315 0.005437452299999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0149590458 0.09377055369999998 2.4840599999999808e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/spoon/spoon_6/collision/model_normalized_collision_0.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.27171983 -0.36688598 0.02332913
+v 0.27150337 -0.36535265 0.00735758
+v 0.26437796 -0.20806081 -0.00071036
+v 0.19272992 -0.21148703 0.01135738
+v 0.16006113 -0.27134642 0.01577290
+v 0.26524422 -0.21188517 -0.04077022
+v 0.19936071 -0.31895332 0.00143497
+v 0.16047063 -0.27171743 0.01610111
+v 0.19720424 -0.20942918 -0.02652853
+v 0.22901166 -0.34461857 0.00912528
+v 0.26780722 -0.29478555 -0.02753762
+v 0.17355038 -0.29199720 0.01706915
+v 0.16767283 -0.28090997 -0.00174923
+v 0.25401170 -0.35271975 0.00420243
+v 0.25898208 -0.36025599 0.00999193
+v 0.21003160 -0.25241031 -0.02439659
+v 0.23008407 -0.34527524 0.01907376
+v 0.17373416 -0.29002428 -0.00099045
+v 0.24002670 -0.32454427 -0.00888724
+v 0.19778656 -0.22444189 -0.02520762
+v 0.25966264 -0.36154347 0.02084561
+v 0.26892623 -0.35328416 0.00089793
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 9 3 6
+f 11 6 2
+f 12 8 5
+f 12 1 8
+f 13 5 9
+f 13 12 5
+f 14 10 7
+f 14 2 10
+f 15 10 2
+f 16 6 11
+f 17 12 7
+f 17 7 10
+f 17 1 12
+f 18 7 12
+f 18 12 13
+f 18 13 16
+f 18 16 11
+f 19 14 7
+f 19 18 11
+f 19 7 18
+f 20 9 6
+f 20 6 16
+f 20 16 13
+f 20 13 9
+f 21 1 17
+f 21 15 2
+f 21 2 1
+f 21 17 10
+f 21 10 15
+f 22 19 11
+f 22 11 2
+f 22 2 14
+f 22 14 19

objects/objaverse/spoon/spoon_6/collision/model_normalized_collision_10.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.27928203 0.18175017 0.00727713
+v -0.23375019 0.25979678 0.00169050
+v -0.23399994 0.25634703 0.00475209
+v -0.27996044 0.27318880 -0.00177396
+v -0.32174387 0.18751331 -0.00050288
+v -0.23992333 0.26411465 0.00294145
+v -0.29330228 0.25681610 -0.00151725
+v -0.24064236 0.26624706 -0.00122270
+v -0.27826879 0.27136802 -0.00135469
+v -0.32538305 0.21272951 -0.00137297
+v -0.29508631 0.25813400 -0.00184922
+v -0.31970766 0.18624861 0.00067685
+v -0.32324647 0.21146325 -0.00095429
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 4 6
+f 9 3 4
+f 9 7 1
+f 9 1 3
+f 10 8 5
+f 11 9 4
+f 11 7 9
+f 11 4 8
+f 11 8 10
+f 11 1 7
+f 12 10 5
+f 12 5 1
+f 13 11 10
+f 13 1 11
+f 13 12 1
+f 13 10 12

objects/objaverse/spoon/spoon_6/collision/model_normalized_collision_11.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.03785797 0.03111297 0.04641742
+v -0.03911906 0.03234429 0.04620954
+v -0.12047649 0.04081941 0.03761515
+v -0.14363411 0.12177143 0.02881346
+v -0.03987512 0.08945579 0.03143786
+v -0.12699671 0.12045262 0.03082760
+v -0.04021556 0.08817195 0.04119763
+v -0.12191980 0.04045752 0.03111260
+v -0.15690264 0.10528931 0.02872801
+v -0.12867208 0.12193962 0.03048884
+v -0.14195873 0.12028444 0.02915223
+v -0.14858147 0.05993513 0.02824221
+v -0.14669855 0.05991417 0.03313331
+v -0.15870987 0.10661199 0.02838942
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 5 1
+f 8 1 3
+f 9 3 6
+f 10 5 4
+f 10 7 5
+f 10 6 7
+f 11 9 6
+f 11 10 4
+f 11 6 10
+f 12 8 3
+f 12 5 8
+f 12 4 5
+f 13 12 3
+f 13 3 9
+f 14 4 12
+f 14 11 4
+f 14 9 11
+f 14 13 9
+f 14 12 13

objects/objaverse/spoon/spoon_6/collision/model_normalized_collision_12.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.12687072 -0.11862322 0.03585132
+v 0.13068556 -0.12126395 -0.00438812
+v 0.12867607 -0.05989902 0.03150899
+v 0.01089032 -0.05514956 0.05022031
+v 0.07884133 -0.10427804 0.04213366
+v 0.01204129 -0.05372261 0.01408743
+v 0.09659129 -0.05854220 0.04641441
+v 0.10378144 -0.11708367 0.00263256
+v 0.12713762 -0.06255862 0.00561647
+v 0.03486766 -0.07343308 0.02040687
+v 0.12735802 -0.06024937 0.04153173
+v 0.08161906 -0.08837209 0.04535397
+v 0.12939948 -0.07760969 0.00092715
+v 0.03520946 -0.07287121 0.05010152
+v 0.08103809 -0.10428921 0.00912244
+v 0.09643405 -0.07363302 0.04524624
+v 0.10008621 -0.07726412 0.00296014
+f 1 2 3
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 6 3
+f 10 4 6
+f 11 1 3
+f 11 3 7
+f 12 5 1
+f 13 9 3
+f 13 3 2
+f 13 6 9
+f 14 10 5
+f 14 4 10
+f 14 5 12
+f 14 12 7
+f 14 7 4
+f 15 8 5
+f 15 5 10
+f 15 10 6
+f 15 6 8
+f 16 11 7
+f 16 1 11
+f 16 12 1
+f 16 7 12
+f 17 13 2
+f 17 2 6
+f 17 6 13

objects/objaverse/spoon/spoon_6/collision/model_normalized_collision_13.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.21764262 -0.24234098 0.00585372
+v 0.22051131 -0.21156342 -0.03455169
+v 0.22137907 -0.11061125 0.01885429
+v 0.18306993 -0.11066506 0.02618309
+v 0.18806270 -0.24151573 0.01231143
+v 0.18460634 -0.11299054 -0.00816158
+v 0.22048210 -0.24130849 0.00522515
+v 0.19255627 -0.24177985 0.01082913
+v 0.22179513 -0.11375765 -0.01203882
+v 0.19720424 -0.20942918 -0.02652853
+v 0.22185653 -0.15532232 -0.02751321
+v 0.19487264 -0.18218510 -0.02584143
+v 0.18986996 -0.12471895 -0.01415812
+v 0.20766473 -0.15542559 -0.02563533
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 10 2 5
+f 11 7 2
+f 11 9 3
+f 11 3 7
+f 12 10 5
+f 12 5 6
+f 12 2 10
+f 13 6 9
+f 13 9 11
+f 13 12 6
+f 14 11 2
+f 14 2 12
+f 14 13 11
+f 14 12 13

objects/objaverse/spoon/spoon_6/collision/model_normalized_collision_14.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.34135091 -0.27195710 -0.00184623
+v 0.33949865 -0.27146105 -0.03730139
+v 0.34116037 -0.15025362 0.01454783
+v 0.26437431 -0.14797428 0.00778411
+v 0.26484282 -0.27219336 -0.00017830
+v 0.26423132 -0.15592317 -0.03095274
+v 0.34510587 -0.20921891 0.00195301
+v 0.33714752 -0.15580922 -0.01523251
+v 0.26437796 -0.20806081 -0.00071036
+v 0.26755476 -0.26915524 -0.03623639
+v 0.32167353 -0.22589827 -0.04254059
+v 0.33629181 -0.18728702 -0.02705167
+v 0.28307615 -0.22619413 -0.04369289
+v 0.30532892 -0.15788421 -0.02459451
+v 0.31040909 -0.22980503 -0.04413573
+v 0.32126054 -0.25683027 -0.04192464
+v 0.28398746 -0.25568943 -0.04208732
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 8 7 2
+f 8 3 7
+f 8 6 4
+f 8 4 3
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 2 5
+f 10 5 6
+f 12 8 2
+f 12 2 11
+f 13 10 6
+f 14 12 11
+f 14 11 6
+f 14 6 8
+f 14 8 12
+f 15 13 6
+f 15 6 11
+f 16 15 11
+f 16 11 2
+f 17 16 2
+f 17 2 10
+f 17 10 13
+f 17 13 15
+f 17 15 16

objects/objaverse/spoon/spoon_6/collision/model_normalized_collision_15.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.44151433 0.27758511 -0.02534248
+v -0.44248481 0.27965222 -0.04201426
+v -0.44525700 0.36456219 -0.05163107
+v -0.49741355 0.35994509 -0.04797412
+v -0.49848074 0.32970207 -0.04515538
+v -0.44574900 0.36367002 -0.03385331
+v -0.44864520 0.28301821 -0.02693162
+v -0.45049991 0.28650071 -0.04336926
+v -0.49858884 0.34682408 -0.04671897
+v -0.45842285 0.31852039 -0.03048079
+v -0.44528435 0.31646179 -0.02853482
+v -0.48825411 0.35724735 -0.04414163
+v -0.49528312 0.32665649 -0.04353292
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 5 3
+f 8 3 2
+f 8 2 7
+f 9 4 3
+f 9 3 5
+f 10 7 1
+f 11 10 1
+f 11 1 6
+f 11 6 10
+f 12 10 6
+f 12 6 4
+f 12 4 9
+f 13 9 5
+f 13 7 10
+f 13 8 7
+f 13 5 8
+f 13 12 9
+f 13 10 12