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objects/objaverse/coffee_cup/coffee_cup_1/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_1/collision/model_normalized_collision_14.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_1/collision/model_normalized_collision_15.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_1/collision/model_normalized_collision_17.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_1/collision/model_normalized_collision_18.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_1/collision/model_normalized_collision_19.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_1/collision/model_normalized_collision_21.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_1/collision/model_normalized_collision_24.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_1/collision/model_normalized_collision_27.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_1/collision/model_normalized_collision_3.obj

@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_1/collision/model_normalized_collision_30.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_1/visual/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_0.obj

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+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_1.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_10.obj

@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_11.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_12.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_13.obj

@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
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+v 0.19795879 0.08417836 -0.27139410
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_14.obj

@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.20168517 -0.16584573 0.26084794
+v -0.18622210 -0.14078378 -0.11467042
+v -0.19599396 0.11271992 -0.10086830
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_15.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.23098494 0.11407323 0.26553315
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+v 0.15061857 0.20788337 0.26068960
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_16.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.14272367 -0.21653870 0.26526398
+v 0.18759893 -0.17375687 -0.14360890
+v 0.22653890 -0.12236078 0.26590010
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_17.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.08269834 -0.24730062 0.26520434
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_18.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
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+f 11 1 5
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+f 12 7 1
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+f 13 4 9
+f 13 10 5
+f 13 6 10
+f 14 12 2
+f 14 2 3
+f 14 3 12
+f 15 12 3
+f 15 3 7
+f 15 7 12

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_19.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.05363817 -0.16161143 0.47322969
+v -0.05350681 -0.15692870 0.40151531
+v -0.05235508 0.05391375 0.49531346
+v -0.12620034 0.05395589 0.48234132
+v -0.12944119 -0.15695637 0.46067762
+v -0.05350681 0.05519239 0.40151531
+v -0.12348306 -0.16474979 0.45898472
+v -0.09615141 -0.07837092 0.48927843
+v -0.12926434 0.05519239 0.40151531
+v -0.08042603 -0.09389958 0.48952042
+v -0.11081508 0.00863303 0.49015757
+v -0.12572644 -0.09364275 0.48097469
+v -0.05352869 -0.09385741 0.49229678
+v -0.09543981 0.05316871 0.48965957
+v -0.11101734 -0.03484689 0.48990228
+f 1 2 3
+f 6 3 2
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 9 6 2
+f 9 2 5
+f 10 5 1
+f 12 10 8
+f 12 5 10
+f 12 4 5
+f 13 10 1
+f 13 1 3
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+f 14 11 3
+f 14 3 4
+f 14 4 11
+f 15 12 8
+f 15 11 4
+f 15 4 12
+f 15 8 13
+f 15 13 3
+f 15 3 11

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_2.obj

@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.06298069 -0.27774394 0.39611667
+v 0.23369921 -0.15644612 0.35279639
+v 0.15895322 -0.15918682 0.49165575
+v -0.13534364 -0.16560468 0.47075310
+v -0.16407309 -0.20142449 0.26018790
+v 0.22276655 -0.13457752 0.29663673
+v -0.06548865 -0.24576603 0.46929553
+v 0.15059716 -0.23622355 0.40100290
+v 0.22617480 -0.13679294 0.34166570
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+v 0.06333895 -0.24560370 0.47099123
+v 0.06941372 -0.21503865 0.49180126
+v -0.07729965 -0.27816703 0.34950266
+v 0.14914642 -0.20478358 0.47058545
+v 0.09168054 -0.24451630 0.26689247
+v -0.02254497 -0.28001585 0.40018404
+v 0.10663734 -0.26178935 0.40029160
+v -0.13615469 -0.17412329 0.47974973
+v 0.15179830 -0.17873715 0.48977464
+v 0.09117674 -0.27776175 0.35428666
+v -0.07882280 -0.24703903 0.26689118
+v 0.19292346 -0.17055785 0.25993638
+v 0.03412361 -0.27991495 0.40002682
+v -0.10742123 -0.26281840 0.39481571
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+v -0.07920798 -0.23451267 0.47671419
+v 0.10877592 -0.20861914 0.49132486
+v 0.09174904 -0.27552331 0.36638161
+v 0.15177731 -0.24677773 0.35436885
+v -0.12064469 -0.26359540 0.34894150
+v 0.02069892 -0.26123440 0.29741662
+v -0.06403135 -0.27590216 0.39631498
+v 0.09380886 -0.23227880 0.47447029
+v 0.13432546 -0.24736653 0.40070309
+v -0.12874716 -0.19865970 0.47749690
+v -0.12382990 -0.22242676 0.46966576
+v 0.13632819 -0.19220485 0.49006104
+v 0.11964790 -0.25908646 0.38711964
+v 0.14534664 -0.21480666 0.26716633
+v -0.12005270 -0.23036819 0.26720777
+v -0.02179100 -0.26149571 0.29705773
+v 0.13295107 -0.21588684 0.47004403
+v -0.10643163 -0.23095548 0.46983774
+v -0.11017210 -0.22233057 0.47418244
+v -0.12039870 -0.25176819 0.39987102
+v -0.12076946 -0.25987697 0.36606739
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+f 29 2 8
+f 29 22 2
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+f 30 13 24
+f 31 20 13
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+f 33 27 11
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+f 34 25 17
+f 34 8 14
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+f 36 18 5
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+f 37 14 19
+f 37 27 25
+f 37 25 14
+f 38 28 20
+f 38 20 29
+f 38 17 28
+f 38 34 17
+f 38 29 34
+f 39 29 15
+f 39 15 22
+f 39 22 29
+f 40 30 5
+f 40 5 21
+f 40 21 30
+f 41 31 13
+f 41 13 21
+f 41 21 31
+f 42 34 14
+f 42 14 25
+f 42 25 34
+f 43 36 24
+f 43 24 7
+f 43 7 26
+f 43 26 36
+f 44 36 26
+f 44 26 35
+f 44 35 36
+f 45 24 36
+f 45 36 5
+f 46 30 24
+f 46 24 45
+f 46 45 5
+f 46 5 30

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_20.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.18627278 -0.16250343 0.13923714
+v 0.21640697 -0.09046408 -0.09725097
+v 0.24282611 0.03898177 0.14455407
+v 0.14346278 0.04004089 0.14393970
+v 0.14346278 0.04004089 -0.09848440
+v 0.21661163 -0.11744529 0.14563267
+v 0.18803884 -0.14753904 -0.10456989
+v 0.22769510 0.03893770 -0.09783805
+v 0.23149119 -0.09012033 0.10089648
+v 0.21584381 -0.11739724 0.03948705
+v 0.23384760 -0.07622546 0.14542559
+v 0.23256759 -0.03312490 -0.06637519
+v 0.20439847 -0.11902540 -0.09778909
+v 0.23080144 -0.08887227 0.06973023
+v 0.23273311 0.02331084 -0.06664518
+v 0.23147357 -0.06165456 -0.02132736
+v 0.21594483 -0.10383230 -0.03663685
+v 0.23237304 0.03744673 -0.05137180
+v 0.23168798 -0.04757632 -0.05136371
+f 5 1 4
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+f 17 13 2
+f 17 2 14
+f 17 14 10
+f 17 10 13
+f 18 15 8
+f 18 8 3
+f 18 3 15
+f 19 16 2
+f 19 2 12
+f 19 12 16

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_21.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.07862323 -0.24863493 0.26655707
+v 0.08856766 -0.23314563 0.14236963
+v 0.08285675 -0.14177719 0.26515175
+v -0.21665337 -0.13947969 0.22014631
+v -0.09168231 -0.22991123 0.14561740
+v 0.08285675 -0.14177719 0.14393970
+v -0.20913195 -0.15733295 0.26256992
+v -0.03487259 -0.24566086 0.14598468
+v -0.21016861 -0.13512548 0.14514222
+v -0.16321578 -0.20300532 0.26722506
+v 0.04786772 -0.24552126 0.14567485
+v -0.20357994 -0.14486297 0.14604281
+v -0.17891146 -0.18981662 0.26670519
+v -0.07882280 -0.24703903 0.26689118
+v 0.07714512 -0.24463152 0.22157814
+v -0.20999774 -0.14911762 0.22087755
+v -0.14713792 -0.20012664 0.14611081
+v -0.18878067 -0.17183739 0.20656273
+v -0.12005270 -0.23036819 0.26720777
+v -0.07791777 -0.24431093 0.23670592
+v -0.17484064 -0.18544660 0.20692528
+v -0.18997232 -0.17287335 0.22185436
+v -0.10536457 -0.22899348 0.19153666
+v -0.13341320 -0.21425294 0.19137218
+v -0.16134868 -0.20066309 0.23703993
+v -0.11978280 -0.22882430 0.25226007
+f 1 2 3
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+f 8 5 2
+f 9 4 3
+f 9 3 6
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+f 9 2 5
+f 10 1 3
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+f 11 1 8
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+f 15 2 1
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+f 16 7 4
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+f 17 9 5
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+f 18 12 17
+f 19 14 1
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+f 22 13 7
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+f 24 17 5
+f 24 5 23
+f 25 21 17
+f 25 17 10
+f 25 10 13
+f 25 13 21
+f 26 24 23
+f 26 23 19
+f 26 19 24

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_22.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.13241319 -0.16677194 -0.26138625
+v 0.13607077 -0.14953999 -0.35738639
+v 0.15910404 0.10948215 -0.36046579
+v -0.18143792 0.10692325 -0.23964034
+v -0.16478753 -0.14782760 -0.23750766
+v -0.16173743 0.09563862 -0.35846172
+v 0.12831127 0.08549541 -0.23484796
+v -0.11349928 -0.16226010 -0.35838708
+v -0.14788554 -0.12932044 -0.35656750
+v -0.12355524 -0.18063798 -0.23992363
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 2 1
+f 8 6 3
+f 8 3 2
+f 9 5 4
+f 9 4 6
+f 9 8 5
+f 9 6 8
+f 10 7 5
+f 10 1 7
+f 10 8 1
+f 10 5 8

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_23.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.24282611 0.03898177 0.14455407
+v 0.21385563 0.03908320 -0.23427838
+v 0.20065852 0.10971491 -0.17246422
+v 0.18900018 0.15526344 0.13791603
+v 0.14346278 0.04004089 0.14393970
+v 0.22028213 0.10908671 0.14558845
+v 0.23110100 0.06423784 -0.00565707
+v 0.23382003 0.03756594 -0.03656813
+v 0.14346278 0.04004089 -0.23484796
+v 0.21540842 0.10667693 0.00926251
+v 0.23276089 0.07970387 0.14559098
+v 0.20055726 0.09367599 -0.23375697
+v 0.21661604 0.05140046 -0.18747346
+v 0.21901444 0.03803541 -0.18782412
+v 0.16580484 0.13918158 -0.23763431
+v 0.23088040 0.07827199 0.03978872
+v 0.23135446 0.05168903 -0.03610453
+v 0.21644220 0.06507726 -0.15739851
+v 0.19395404 0.10990451 -0.23313617
+f 6 4 5
+f 8 1 5
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+f 10 3 4
+f 10 4 6
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+f 11 5 1
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+f 16 10 6
+f 16 6 11
+f 16 11 1
+f 16 1 7
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+f 17 14 13
+f 17 8 14
+f 18 13 12
+f 18 12 7
+f 18 17 13
+f 18 7 17
+f 19 15 3
+f 19 3 12
+f 19 12 15

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_24.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.18627278 -0.16250343 0.13923714
+v 0.23384760 -0.07622546 0.14542559
+v 0.14346278 0.11579842 0.26515175
+v 0.18900018 0.15526344 0.13791603
+v 0.24911556 0.06573709 0.26659625
+v 0.23276089 0.07970387 0.14559098
+v 0.23375850 0.10864393 0.26714714
+v 0.22653890 -0.12236078 0.26590010
+v 0.24800070 0.02338474 0.17594241
+v 0.22028213 0.10908671 0.14558845
+v 0.21661163 -0.11744529 0.14563267
+v 0.14346278 -0.12662568 0.26515175
+v 0.23514062 -0.10495781 0.26674756
+v 0.24657013 0.05149197 0.20610171
+v 0.23073420 0.09317704 0.17624925
+v 0.24995489 -0.06234285 0.26664188
+v 0.23120109 -0.08865596 0.16118575
+v 0.24625595 0.06520884 0.23666642
+v 0.24813653 -0.01916540 0.17600161
+v 0.23116209 -0.10333192 0.22130339
+v 0.24734631 -0.04700373 0.20644384
+v 0.24796583 -0.03339114 0.19085065
+v 0.24708198 -0.06180325 0.23645447
+f 1 3 4
+f 2 1 4
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+f 7 4 3
+f 7 5 6
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+f 10 4 7
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+f 20 13 11
+f 20 11 17
+f 22 19 16
+f 22 16 21
+f 22 21 2
+f 22 2 19
+f 23 21 16
+f 23 16 2
+f 23 2 21

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_25.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.03731535 0.14341122 -0.48272028
+v -0.02070353 0.17586142 -0.44531948
+v -0.02318641 0.19142655 -0.31058863
+v -0.02947439 0.18992842 -0.31560503
+v -0.09572133 0.16715079 -0.31381820
+v -0.03783519 0.17138424 -0.47070153
+v -0.07765839 0.17697361 -0.30846003
+v -0.03678778 0.15603660 -0.47892751
+v -0.08013593 0.14013445 -0.47758790
+v -0.07340699 0.16125478 -0.46905356
+v -0.07888872 0.15152948 -0.47312595
+f 1 2 3
+f 5 1 3
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+f 7 3 4
+f 7 4 6
+f 8 6 2
+f 8 2 1
+f 9 1 5
+f 9 8 1
+f 10 7 6
+f 10 5 7
+f 11 9 5
+f 11 5 10
+f 11 8 9
+f 11 10 6
+f 11 6 8

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_26.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.15639796 0.05327596 0.47124524
+v 0.20177366 0.16759610 0.41098020
+v 0.16520063 0.13544301 0.47592058
+v -0.13498944 0.14407292 0.45963577
+v -0.12926434 0.05519239 0.40151531
+v -0.08162683 0.05355761 0.49181543
+v 0.17409719 0.06870150 0.45742501
+v 0.08103850 0.05335807 0.49251842
+v -0.03746595 0.09694439 0.48955010
+v 0.13808144 0.05247778 0.47956531
+v -0.12620034 0.05395589 0.48234132
+v -0.10819064 0.12449307 0.47306104
+v 0.05095507 0.09842477 0.49041521
+v -0.06645664 0.08290669 0.49034811
+v -0.12251122 0.11018490 0.47299357
+v -0.08123481 0.06836961 0.49019627
+f 3 2 4
+f 5 4 2
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 10 5 1
+f 10 8 6
+f 10 1 3
+f 10 3 8
+f 11 4 5
+f 11 10 6
+f 11 5 10
+f 12 9 3
+f 12 3 4
+f 13 8 3
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+f 13 6 8
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+f 14 13 9
+f 14 6 13
+f 15 12 4
+f 15 4 11
+f 15 14 12
+f 16 11 6
+f 16 6 14
+f 16 15 11
+f 16 14 15

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_27.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04969814 -0.25226924 0.22079129
+v 0.08766027 -0.23171705 0.00626427
+v 0.06251359 -0.24507666 0.09901979
+v 0.09183152 -0.23937449 0.21726063
+v 0.05155898 -0.24110883 0.00798756
+v 0.08143078 -0.24317757 0.22014249
+v 0.07893330 -0.23460803 0.00853596
+v 0.04985844 -0.24833077 0.09931555
+v 0.06385487 -0.24853684 0.22117307
+v 0.05704802 -0.23989148 0.00560971
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 3 4
+f 6 4 1
+f 7 2 3
+f 8 3 1
+f 8 1 5
+f 8 7 3
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 5 2
+f 10 2 7
+f 10 8 5
+f 10 7 8

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_28.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.20168517 -0.16584573 0.26084794
+v -0.11411283 -0.14177719 0.14393970
+v -0.11411283 -0.14177719 0.26515175
+v -0.11258510 0.23355782 0.26558017
+v -0.16698149 0.18203128 0.14525649
+v -0.10832855 0.22435224 0.17578704
+v -0.16866194 0.19926053 0.26631706
+v -0.19310613 -0.15751831 0.14170858
+v -0.11257090 0.21860823 0.14428505
+v -0.13589263 0.22174075 0.26716117
+v -0.13458993 0.20656838 0.14578290
+v -0.11984272 0.21887390 0.17645402
+v -0.16056060 0.19014144 0.16162153
+v -0.14750468 0.20416952 0.19218982
+f 1 2 3
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+f 6 4 3
+f 7 1 3
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 9 6 2
+f 9 4 6
+f 9 8 5
+f 9 2 8
+f 10 7 3
+f 10 3 4
+f 11 9 5
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+f 12 9 11
+f 12 10 4
+f 12 4 9
+f 13 11 5
+f 13 5 7
+f 14 7 10
+f 14 10 11
+f 14 13 7
+f 14 11 13

objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18714309 -0.18557699 0.41044511
+v 0.18341844 -0.18136145 0.26224376
+v 0.20177366 0.16759610 0.41098020
+v -0.13498944 0.14407292 0.45963577
+v -0.16407309 -0.20142449 0.26018790
+v -0.12348306 -0.16474979 0.45898472
+v 0.19850981 0.16312773 0.25993266
+v -0.12926434 0.13094993 0.26515175
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_3.obj

@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_30.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_31.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_4.obj

@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_5.obj

@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_6.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_7.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_8.obj

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objects/objaverse/coffee_cup/coffee_cup_6/collision/model_normalized_collision_9.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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objects/objaverse/coffee_cup/coffee_cup_6/model.xml

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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_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="3.6564250000001308e-06 0.00011581937499999976 -0.05685891410000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="3.6564250000001308e-06 0.00011581937499999976 0.05696104790000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03223894705000001 0.03243346150000001 5.106689999999957e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

objects/objaverse/coffee_cup/coffee_cup_6/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 159.99998100
+map_Kd material_0.png

objects/objaverse/coffee_cup/coffee_cup_7/collision/model_normalized_collision_23.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.06397762 -0.21264120 0.49980014
+v -0.06509564 -0.21662826 0.46170967
+v -0.15784073 -0.05489963 0.45392777
+v -0.21798831 -0.05133372 0.49111192
+v -0.18762391 -0.16078864 0.44501150
+v -0.17182632 -0.05957475 0.49790975
+v -0.06643765 -0.16139530 0.45510921
+v -0.12701782 -0.20624087 0.44533505
+v -0.18742811 -0.12082099 0.49815203
+v -0.22028537 -0.05184768 0.46109753
+v -0.06938298 -0.16853578 0.49951030
+v -0.11186630 -0.20624074 0.44533505
+v -0.21792700 -0.11544392 0.44468847
+v -0.21573928 -0.05417202 0.49867200
+v -0.11663131 -0.18988797 0.49864363
+v -0.20257251 -0.09342988 0.49795687
+v -0.08907543 -0.20421102 0.49874573
+v -0.17247239 -0.17593943 0.44511928
+f 6 3 4
+f 7 1 2
+f 8 2 1
+f 10 4 3
+f 11 1 7
+f 11 7 3
+f 11 3 6
+f 12 7 2
+f 12 2 8
+f 12 3 7
+f 13 5 9
+f 13 4 10
+f 13 10 3
+f 13 3 12
+f 13 12 8
+f 14 6 4
+f 14 4 13
+f 14 11 6
+f 14 9 1
+f 14 1 11
+f 15 1 9
+f 16 14 13
+f 16 13 9
+f 16 9 14
+f 17 15 8
+f 17 8 1
+f 17 1 15
+f 18 15 9
+f 18 9 5
+f 18 8 15
+f 18 13 8
+f 18 5 13

objects/objaverse/coffee_cup/coffee_cup_7/collision/model_normalized_collision_4.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.21735437 -0.05379288 0.49206649
+v 0.23661849 -0.05473339 0.44425642
+v 0.21912881 0.13146226 0.44125765
+v 0.05147788 0.21836443 0.49126603
+v 0.08510328 -0.00932328 0.45324113
+v 0.19049638 0.11700867 0.49645876
+v 0.22089738 0.03339275 0.49705389
+v 0.22111175 -0.05463498 0.44687219
+v 0.05979232 0.17243993 0.49625776
+v 0.14456613 0.17363987 0.38510078
+v 0.13519341 0.21651622 0.44154736
+v 0.22013142 -0.03677393 0.49755361
+v 0.23072264 0.10899175 0.40251020
+v 0.20483928 0.08935108 0.49665564
+v 0.22669042 -0.00940851 0.39864789
+v 0.18244078 -0.00979909 0.49838042
+v 0.05481974 0.15799578 0.45243081
+v 0.05436152 0.21635082 0.49674610
+v 0.15995286 0.15725794 0.49068602
+v 0.08784607 0.20901686 0.39710732
+v 0.19464440 0.16258527 0.39955601
+v 0.21894711 -0.03918941 0.49856530
+v 0.12121401 0.18802028 0.49595324
+v 0.12377571 0.22128194 0.39913803
+v 0.05194121 0.22042707 0.46121316
+v 0.21921102 0.13125604 0.40463375
+v 0.20137636 0.15364548 0.39947249
+v 0.09371910 0.20318653 0.49584526
+v 0.13432643 0.21527950 0.39949738
+f 8 2 1
+f 8 1 5
+f 12 1 2
+f 12 2 7
+f 13 7 2
+f 13 3 7
+f 14 7 3
+f 14 3 6
+f 15 8 5
+f 15 2 8
+f 15 13 2
+f 15 10 13
+f 16 9 5
+f 16 5 1
+f 17 9 4
+f 17 5 9
+f 18 4 9
+f 18 11 4
+f 18 9 16
+f 19 6 3
+f 19 3 11
+f 20 5 17
+f 20 15 5
+f 20 10 15
+f 21 11 3
+f 22 16 1
+f 22 1 12
+f 22 12 7
+f 22 7 14
+f 22 14 6
+f 22 18 16
+f 22 6 18
+f 23 18 6
+f 23 6 19
+f 23 19 11
+f 24 4 11
+f 24 10 20
+f 25 20 17
+f 25 17 4
+f 25 24 20
+f 25 4 24
+f 26 21 3
+f 26 3 13
+f 27 13 10
+f 27 10 21
+f 27 26 13
+f 27 21 26
+f 28 23 11
+f 28 11 18
+f 28 18 23
+f 29 24 11
+f 29 11 21
+f 29 21 10
+f 29 10 24

objects/objaverse/coffee_cup/coffee_cup_7/model.xml

@@ -0,0 +1,87 @@
+<mujoco model="coffee_cup_12">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.125 0.125 0.125" refquat="1.0000000000000004 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.061" texture="image0" specular="0.5" shininess="0.093999268"/>
+    <material name="Material.062" texture="image0" specular="0.5" shininess="0.037500002000000004"/>
+    <material name="Material.063" texture="image0" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.063"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Material.062"/>
+        <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="Material.061"/>
+        <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"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00015547187500000031 -0.00037697312499999913 -0.06226619" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00015547187500000031 -0.00037697312499999913 0.06247501750000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03137831875 0.03096058125 0.00010441375000000072" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>