Add files using upload-large-folder tool

boxed_drink/boxed_drink_0/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="boxed_drink_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10499999999999997 0.10499999999999997 0.10499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert1.006" 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="lambert1.006"/>
+        <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="-0.00023345594999999906 0.0 -0.05191332089999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00023345594999999906 0.0 0.052472516249999976" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03110936429999999 0.02039112074999999 0.00027959767500000015" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

boxed_drink/boxed_drink_1/collision/model_normalized_collision_0.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.09439476 -0.20497953 0.44353720
+v 0.17951191 -0.15511142 -0.35536838
+v 0.16870748 -0.12997483 0.46105738
+v -0.15658175 -0.13088985 0.49263037
+v -0.11420514 -0.21849061 -0.35321516
+v -0.18577773 -0.14827168 -0.35657575
+v 0.16090456 -0.17515241 0.49411662
+v 0.11946720 -0.22033256 -0.33990995
+v -0.11424130 -0.21836108 0.35318344
+v -0.16888709 -0.13004512 0.46020377
+v 0.14207405 -0.19533002 -0.35649066
+v 0.15655081 -0.13088973 0.49263224
+v -0.12697560 -0.18816085 0.48646662
+v 0.16474908 -0.16997998 0.46159139
+v 0.11948743 -0.22030895 0.33936460
+v -0.13311372 -0.20787391 -0.31059543
+v -0.15979341 -0.13034101 0.48537725
+v -0.16090456 -0.17515241 0.49411662
+v -0.15038059 -0.18360544 -0.35606061
+v 0.11098172 -0.21866024 -0.35323693
+v 0.13145162 -0.20899314 -0.35578804
+v 0.15923141 -0.13030968 0.48655513
+v 0.12561062 -0.18891425 0.48503972
+v -0.09530341 -0.20453670 0.44493425
+v 0.05852941 -0.22061339 0.37199733
+v -0.11925729 -0.22057211 0.31055870
+v -0.13485907 -0.20273655 0.41410666
+v 0.15653142 -0.17531221 0.49423687
+v -0.15966631 -0.17732358 0.45979020
+v 0.14719226 -0.18992018 0.46059123
+v -0.05904954 -0.22040245 0.37317507
+v -0.11925233 -0.22057820 -0.31055883
+v 0.15658175 -0.14597971 0.49359493
+v 0.13467214 -0.20295028 0.41337787
+v -0.15896517 -0.16315889 0.49395253
+f 6 3 2
+f 10 3 6
+f 11 6 2
+f 14 7 2
+f 14 2 3
+f 14 3 7
+f 17 3 10
+f 18 10 6
+f 18 17 10
+f 18 4 17
+f 19 6 11
+f 19 16 6
+f 19 5 16
+f 20 8 5
+f 21 11 2
+f 21 8 20
+f 21 20 5
+f 21 19 11
+f 21 5 19
+f 21 15 8
+f 21 2 7
+f 21 7 15
+f 22 12 7
+f 22 7 3
+f 22 3 17
+f 22 17 4
+f 22 4 12
+f 24 23 13
+f 24 1 23
+f 25 15 1
+f 25 8 15
+f 27 13 18
+f 27 24 13
+f 27 9 24
+f 27 26 9
+f 28 18 13
+f 28 23 7
+f 28 13 23
+f 29 18 6
+f 29 6 16
+f 29 16 26
+f 29 27 18
+f 29 26 27
+f 30 15 7
+f 30 7 23
+f 30 23 1
+f 31 24 9
+f 31 26 25
+f 31 9 26
+f 31 25 1
+f 31 1 24
+f 32 26 16
+f 32 16 5
+f 32 5 8
+f 32 8 25
+f 32 25 26
+f 33 28 7
+f 33 7 12
+f 33 12 4
+f 34 30 1
+f 34 1 15
+f 34 15 30
+f 35 33 4
+f 35 4 18
+f 35 18 28
+f 35 28 33

boxed_drink/boxed_drink_1/collision/model_normalized_collision_1.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01012865 -0.00546869 0.49517611
+v 0.00593953 -0.00872240 0.26515152
+v 0.00593953 0.09733821 0.26515152
+v -0.16628788 0.09700293 0.46793372
+v -0.19124231 -0.01053283 0.32563325
+v 0.00763870 0.09653929 0.49824057
+v -0.15724186 -0.00729178 0.46751634
+v -0.19836134 0.09733821 0.26509046
+v -0.19107853 0.00826077 0.33910168
+v -0.19169494 -0.01049730 0.26504271
+v -0.19772706 0.09734068 0.33955339
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 9 7 4
+f 9 5 7
+f 10 8 3
+f 10 3 2
+f 10 2 5
+f 10 5 8
+f 11 4 3
+f 11 3 8
+f 11 9 4
+f 11 8 5
+f 11 5 9

boxed_drink/boxed_drink_1/collision/model_normalized_collision_11.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.08496956 0.15794427 0.34090909
+v -0.08496956 0.21560732 -0.36630695
+v -0.08497442 0.22029068 0.33921206
+v -0.11956881 0.21837043 0.33990544
+v -0.17514689 0.15710902 -0.35608358
+v -0.11426884 0.21661436 -0.35327721
+v -0.14349727 0.19133230 0.34133266
+v -0.08496956 0.21792614 -0.35325738
+v -0.12163480 0.21600815 -0.35434244
+v -0.17492075 0.15685037 0.34090909
+v -0.14330391 0.19166054 -0.35654775
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 6 3
+f 8 2 6
+f 8 1 2
+f 8 3 1
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 5
+f 11 9 2
+f 11 2 5
+f 11 5 9

boxed_drink/boxed_drink_1/collision/model_normalized_collision_12.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.08496956 0.09733821 0.34090909
+v -0.08496956 0.09733821 -0.35606061
+v -0.08496956 0.21560732 -0.36630695
+v -0.16639573 0.16470458 0.38636364
+v -0.19772706 0.09734068 0.33955339
+v -0.08496956 0.15794427 0.34090909
+v -0.18703726 0.11239019 0.39349945
+v -0.19549320 0.09733821 -0.35436252
+v -0.18876038 0.14080450 0.38236928
+v -0.18138104 0.15109306 0.38591953
+v -0.19015235 0.11255036 0.38201618
+v -0.19378888 0.13530196 -0.35541628
+v -0.18300501 0.15022587 -0.35612954
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 1
+f 8 1 5
+f 10 9 7
+f 10 7 4
+f 11 9 5
+f 11 5 7
+f 11 7 9
+f 12 8 5
+f 12 5 9
+f 12 9 10
+f 12 3 8
+f 13 12 10
+f 13 10 4
+f 13 4 3
+f 13 3 12

boxed_drink/boxed_drink_1/collision/model_normalized_collision_14.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.15658175 0.09745411 0.49061109
+v 0.17210476 0.09734353 0.44682940
+v 0.15593015 0.17348009 0.40032059
+v -0.15593015 0.17348009 0.40032059
+v -0.18083165 0.09680392 0.41561910
+v -0.12961861 0.14350581 0.49468092
+v 0.15658175 0.14368825 0.49356642
+v 0.11200014 0.09733821 0.40151516
+v -0.12946268 0.09818929 0.49218478
+v 0.16820508 0.09740784 0.46091421
+v 0.17329009 0.14219935 0.44320909
+v 0.14132597 0.09822919 0.49146208
+v 0.17357775 0.12786558 0.44308084
+v 0.16960677 0.14204827 0.45740319
+v 0.16971401 0.12792671 0.45717273
+f 5 2 1
+f 6 3 4
+f 6 4 5
+f 7 3 6
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 5
+f 9 5 1
+f 10 7 1
+f 10 1 2
+f 12 7 6
+f 12 6 9
+f 12 9 1
+f 12 1 7
+f 13 2 3
+f 13 3 11
+f 14 11 3
+f 14 3 7
+f 14 13 11
+f 15 14 7
+f 15 7 10
+f 15 13 14
+f 15 10 2
+f 15 2 13

boxed_drink/boxed_drink_1/collision/model_normalized_collision_15.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.13041346 -0.19030092 0.46205868
+v -0.13871498 -0.20042457 0.40228650
+v -0.13117157 0.19017672 0.46592079
+v -0.14937468 0.18442219 0.40011035
+v -0.18052826 -0.15276229 0.40092336
+v -0.15966631 -0.17732358 0.45979020
+v -0.17292927 0.15720193 0.44227651
+v -0.16280060 -0.17361687 0.43364653
+v -0.16601666 0.16630648 0.46145620
+v -0.18062009 0.15097391 0.40080455
+v -0.17291228 -0.15951679 0.44226551
+v -0.16898788 0.16387954 0.40227936
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 2 1
+f 6 1 3
+f 8 6 5
+f 8 5 2
+f 8 2 6
+f 9 3 4
+f 9 6 3
+f 10 4 5
+f 10 7 9
+f 11 5 6
+f 11 9 7
+f 11 6 9
+f 11 10 5
+f 11 7 10
+f 12 10 9
+f 12 9 4
+f 12 4 10

boxed_drink/boxed_drink_1/collision/model_normalized_collision_18.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.11200014 0.09733821 -0.35606061
+v 0.11200014 0.09733821 -0.41666668
+v 0.11185692 0.21645316 -0.35572201
+v -0.13345437 0.20531354 -0.35575618
+v -0.19437416 0.09733821 -0.36140618
+v -0.13470656 0.20106479 -0.41433332
+v 0.11200014 0.20316938 -0.41208714
+v -0.18925785 0.14149514 -0.35600886
+v -0.17989737 0.09733821 -0.42176991
+v -0.14676427 0.19075985 -0.41661255
+v -0.18014980 0.15022736 -0.41602985
+v -0.18300501 0.15022587 -0.35612954
+v -0.18100910 0.14228114 -0.41419255
+v -0.17481340 0.15938792 -0.40131728
+v -0.17785869 0.15598186 -0.38769859
+f 1 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 1
+f 8 1 4
+f 9 2 1
+f 9 1 5
+f 9 7 2
+f 10 4 6
+f 10 6 7
+f 10 7 9
+f 11 5 8
+f 11 10 9
+f 12 8 4
+f 12 4 10
+f 13 11 9
+f 13 9 5
+f 13 5 11
+f 14 12 10
+f 14 10 11
+f 15 8 12
+f 15 12 14
+f 15 14 11
+f 15 11 8

boxed_drink/boxed_drink_1/collision/model_normalized_collision_2.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.15825324 -0.08516442 0.48596782
+v 0.18265226 -0.08421286 0.40856540
+v 0.15999920 0.17489946 0.46232408
+v 0.11349715 0.20415159 0.40969969
+v 0.00593953 -0.08447997 0.40151516
+v 0.15713540 0.17268261 0.40155980
+v 0.15658175 0.09745411 0.49061109
+v 0.11106122 -0.08592546 0.49254402
+v 0.00593953 0.09733821 0.40151516
+v 0.16804673 -0.08455379 0.46084169
+v 0.00550614 0.09754198 0.49836307
+v 0.00549059 -0.08473941 0.49803253
+v 0.11166703 0.19015972 0.46629406
+v 0.14132597 0.09822919 0.49146208
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 9 6 5
+f 9 4 6
+f 10 7 1
+f 10 1 2
+f 10 2 7
+f 11 4 9
+f 12 5 8
+f 12 11 9
+f 12 9 5
+f 13 7 3
+f 13 3 4
+f 13 4 11
+f 14 12 8
+f 14 8 7
+f 14 11 12
+f 14 13 11
+f 14 7 13

boxed_drink/boxed_drink_1/collision/model_normalized_collision_21.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.15692039 -0.17469766 0.40158985
+v 0.18521480 -0.14418270 -0.39714653
+v 0.18557274 -0.14796667 0.37063676
+v 0.18294163 -0.13097990 0.40814005
+v 0.17214773 -0.12993452 -0.45088109
+v 0.18607158 -0.12882352 -0.39730851
+v 0.17450857 -0.16157482 0.40200747
+v 0.15924439 -0.17770508 -0.44671949
+v 0.18554854 -0.14797592 -0.37079848
+v 0.18588540 -0.12923627 0.39709010
+v 0.17027097 -0.16361523 -0.44571237
+v 0.18506713 -0.14397444 0.39715919
+f 5 1 4
+f 6 2 5
+f 7 4 1
+f 8 1 5
+f 8 7 1
+f 9 6 3
+f 9 2 6
+f 9 3 7
+f 9 7 8
+f 10 3 6
+f 10 6 5
+f 10 5 4
+f 11 8 5
+f 11 5 2
+f 11 9 8
+f 11 2 9
+f 12 7 3
+f 12 3 10
+f 12 10 4
+f 12 4 7

boxed_drink/boxed_drink_1/collision/model_normalized_collision_22.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.15903167 -0.17312144 0.40170317
+v -0.15871574 -0.17299029 -0.37121213
+v -0.18306917 -0.13132667 0.40720275
+v -0.18501685 -0.12955983 0.39998435
+v -0.19156626 -0.13958000 -0.36989316
+v -0.18052826 -0.15276229 0.40092336
+v -0.19239510 -0.12904639 -0.36915336
+v -0.16877405 -0.16588694 0.40230299
+v -0.18873121 -0.14268213 0.38248080
+v -0.18576618 -0.14766028 -0.37204183
+v -0.18959988 -0.12890130 0.38214243
+v -0.16758542 -0.16554889 -0.37151985
+f 1 2 3
+f 7 3 2
+f 7 4 3
+f 8 1 3
+f 8 3 6
+f 8 2 1
+f 9 6 3
+f 9 3 4
+f 9 7 5
+f 10 7 2
+f 10 5 7
+f 10 8 6
+f 10 9 5
+f 10 6 9
+f 11 9 4
+f 11 4 7
+f 11 7 9
+f 12 10 2
+f 12 2 8
+f 12 8 10

boxed_drink/boxed_drink_1/collision/model_normalized_collision_23.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19706782 -0.12948363 0.26511150
+v 0.19437015 -0.12938531 -0.35484188
+v 0.19836095 0.09733827 0.26511600
+v -0.19836134 0.09733821 0.26509046
+v -0.19707709 -0.12924946 0.26508898
+v 0.19541263 0.09733822 -0.35486961
+v -0.19454025 -0.12905529 -0.35442103
+v -0.19549320 0.09733821 -0.35436252
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 8 7 4
+f 8 6 7
+f 8 4 3
+f 8 3 6

boxed_drink/boxed_drink_1/collision/model_normalized_collision_24.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.11200014 0.09733821 0.34090909
+v 0.11200014 0.09733821 -0.35606061
+v 0.11113863 0.21897401 0.33922788
+v -0.08497442 0.22029068 0.33921206
+v -0.08496956 0.09733821 -0.35606061
+v 0.11101127 0.21686511 -0.35342144
+v -0.08496956 0.09733821 0.34090909
+v -0.08496956 0.21792614 -0.35325738
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6

boxed_drink/boxed_drink_1/collision/model_normalized_collision_25.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.11200014 -0.12993452 -0.35606061
+v 0.11200014 -0.12993452 -0.49999978
+v 0.11200014 0.09733821 -0.35606061
+v -0.08496956 0.09733821 -0.35606061
+v -0.08496956 -0.12993452 -0.49999978
+v -0.08496956 0.09733821 -0.50000001
+v -0.08496956 -0.12993452 -0.35606061
+v 0.11200014 0.09733821 -0.50000001
+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

boxed_drink/boxed_drink_1/collision/model_normalized_collision_26.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.18588540 -0.12923627 0.39709010
+v 0.19706782 -0.12948363 0.26511150
+v 0.18639143 -0.01059300 0.36859794
+v -0.17890904 -0.01010362 0.39821792
+v -0.19707709 -0.12924946 0.26508898
+v 0.17851496 -0.00963967 0.39900091
+v -0.18501685 -0.12955983 0.39998435
+v 0.19163249 -0.01008896 0.26506682
+v 0.18427238 -0.05630332 0.39601300
+v -0.18891331 -0.01081717 0.35332764
+v -0.19169494 -0.01049730 0.26504271
+v 0.18519564 -0.02589495 0.38113406
+v -0.18867837 -0.05617147 0.38160233
+v -0.18829116 -0.02590160 0.36811747
+v -0.18959988 -0.12890130 0.38214243
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 6 3
+f 9 6 1
+f 9 1 3
+f 11 4 6
+f 11 6 8
+f 11 10 4
+f 11 5 10
+f 11 8 2
+f 11 2 5
+f 12 9 3
+f 12 3 6
+f 12 6 9
+f 13 7 4
+f 13 10 5
+f 14 13 4
+f 14 4 10
+f 14 10 13
+f 15 13 5
+f 15 5 7
+f 15 7 13

boxed_drink/boxed_drink_1/collision/model_normalized_collision_27.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19764503 0.09733978 0.34005051
+v 0.19541263 0.09733822 -0.35486961
+v 0.18627595 0.14576886 -0.35571854
+v 0.14878209 0.18369161 0.34090909
+v 0.11200014 0.09733821 0.34090909
+v 0.18646498 0.14590440 0.34042848
+v 0.11200014 0.09733821 -0.35606061
+v 0.14949666 0.18307788 -0.35606061
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 3 7

boxed_drink/boxed_drink_1/collision/model_normalized_collision_28.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.08496956 -0.12993452 -0.41666668
+v -0.08496956 -0.12993452 -0.49999978
+v -0.08496956 0.09733821 -0.50000001
+v -0.17789201 0.09733821 -0.42930299
+v -0.17789197 -0.12993457 -0.42930291
+v -0.08496956 0.09733821 -0.41666668
+v -0.13042410 0.09733821 -0.50000001
+v -0.13042410 -0.12993452 -0.49999978
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 5 4
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 7

boxed_drink/boxed_drink_1/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00762262 -0.08350736 0.49789874
+v 0.00593953 -0.08447997 0.40151516
+v 0.01012865 -0.00546869 0.49517611
+v -0.13202226 -0.00650475 0.48266803
+v -0.18073312 -0.08395987 0.41524293
+v 0.00593953 -0.00872240 0.40151516
+v -0.13264719 -0.08139515 0.49070247
+v -0.17405926 -0.00375011 0.41338494
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 8 6 2
+f 8 2 5

boxed_drink/boxed_drink_1/collision/model_normalized_collision_30.obj

@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.17963435 0.15216205 0.40105739
+v 0.18198269 0.15109202 -0.35627490
+v 0.17453104 0.15970423 0.40190678
+v 0.15713540 0.17268261 0.40155980
+v 0.15698337 0.17255756 -0.35606061
+v 0.16449286 0.16598164 -0.35606061
+v 0.17452067 0.15738962 -0.35655178
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 5 3 2
+f 5 4 3
+f 6 1 5
+f 7 6 5
+f 7 5 2
+f 7 2 1
+f 7 1 6

boxed_drink/boxed_drink_1/collision/model_normalized_collision_31.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.17851496 -0.00963967 0.39900091
+v 0.19163249 -0.01008896 0.26506682
+v 0.18590431 0.09751399 0.39687504
+v 0.00593953 0.09733821 0.40151516
+v 0.00593953 -0.00872240 0.26515152
+v 0.18639143 -0.01059300 0.36859794
+v 0.00593953 -0.00872240 0.40151516
+v 0.19836095 0.09733827 0.26511600
+v 0.18440041 0.05372707 0.39609082
+v 0.00593953 0.09733821 0.26515152
+f 1 3 4
+f 6 5 2
+f 7 1 4
+f 7 4 5
+f 7 6 1
+f 7 5 6
+f 8 6 2
+f 8 3 6
+f 9 6 3
+f 9 3 1
+f 9 1 6
+f 10 8 2
+f 10 2 5
+f 10 5 4
+f 10 4 3
+f 10 3 8

boxed_drink/boxed_drink_1/collision/model_normalized_collision_5.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.12988281 -0.13069671 0.49379219
+v 0.00762262 -0.08350736 0.49789874
+v -0.12961861 0.14350581 0.49468092
+v -0.15658175 0.14368825 0.49356642
+v -0.16884269 0.14251271 0.46029019
+v 0.00549059 -0.08473941 0.49803253
+v -0.16888709 -0.13004512 0.46020377
+v 0.00763870 0.09653929 0.49824057
+v -0.15658175 -0.13088985 0.49263037
+v -0.16010716 0.14323514 0.48550351
+v 0.00550614 0.09754198 0.49836307
+v -0.15979341 -0.13034101 0.48537725
+f 1 3 4
+f 5 4 3
+f 6 3 1
+f 7 5 2
+f 7 6 1
+f 7 2 6
+f 8 2 5
+f 8 6 2
+f 9 7 1
+f 9 1 4
+f 10 4 5
+f 10 5 7
+f 11 8 5
+f 11 5 3
+f 11 3 6
+f 11 6 8
+f 12 9 4
+f 12 4 10
+f 12 10 7
+f 12 7 9

boxed_drink/boxed_drink_1/collision/model_normalized_collision_7.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.14982205 -0.18737179 -0.41479294
+v -0.13042410 -0.17418519 -0.49712122
+v -0.12975445 0.19300322 -0.44399702
+v -0.12942818 0.18905006 -0.45806987
+v -0.18014980 0.15022736 -0.41602985
+v -0.17311382 -0.15931521 -0.44238895
+v -0.15577529 0.17330646 -0.49389799
+v -0.15662513 0.17425711 -0.41315968
+v -0.15581851 -0.17372015 -0.49405920
+v -0.17975892 -0.15267082 -0.41588465
+v -0.13042410 0.17420862 -0.49690589
+v -0.17313767 0.15694826 -0.44241729
+v -0.14694443 0.18708173 -0.46083237
+v -0.16653745 -0.16894979 -0.44634345
+v -0.15916905 -0.17278839 -0.48601256
+v -0.14734046 0.18785999 -0.44581165
+v -0.16172277 0.17402943 -0.44751547
+v -0.16925740 -0.16682067 -0.41759239
+v -0.15921432 0.17091040 -0.48590744
+v -0.15908290 0.17316582 -0.47451585
+v -0.15769441 0.17362665 -0.41497244
+f 1 2 3
+f 3 2 4
+f 8 1 3
+f 9 2 1
+f 9 7 2
+f 10 5 6
+f 10 8 5
+f 10 1 8
+f 11 4 2
+f 11 2 7
+f 12 6 5
+f 13 3 4
+f 13 11 7
+f 13 4 11
+f 14 10 6
+f 15 6 12
+f 15 14 6
+f 15 9 1
+f 15 1 14
+f 16 8 3
+f 16 3 13
+f 17 16 13
+f 17 12 5
+f 18 14 1
+f 18 1 10
+f 18 10 14
+f 19 15 12
+f 19 7 9
+f 19 9 15
+f 19 12 17
+f 20 17 13
+f 20 13 7
+f 20 19 17
+f 20 7 19
+f 21 17 5
+f 21 5 8
+f 21 8 16
+f 21 16 17

boxed_drink/boxed_drink_1/collision/model_normalized_collision_8.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.15658175 0.14368825 0.49356642
+v 0.16764561 0.14319819 0.46476723
+v 0.13124666 0.20610184 0.38572261
+v -0.15013006 0.18746728 0.47437145
+v -0.16884269 0.14251271 0.46029019
+v 0.12227776 0.18904958 0.48787883
+v -0.15658175 0.14368825 0.49356642
+v 0.14957300 0.18296432 0.38636364
+v -0.12732550 0.20973036 0.38479227
+v 0.15658383 0.17350738 0.49526074
+v -0.16010716 0.14323514 0.48550351
+v -0.16210986 0.17330695 0.49511010
+v 0.15713540 0.17268261 0.40155980
+v -0.15924541 0.17111402 0.40167948
+v 0.09419366 0.20331132 0.44471737
+v 0.15013006 0.18746728 0.47437145
+v -0.12386867 0.18808978 0.48920315
+v -0.14190508 0.19510926 0.38551256
+v -0.16950718 0.16485063 0.41755746
+v 0.13479986 0.20188009 0.41411644
+v 0.14245450 0.19443349 0.38747561
+v -0.09486629 0.20300393 0.44600344
+v -0.14414976 0.19349083 0.40274404
+f 5 2 1
+f 9 3 8
+f 10 1 2
+f 10 7 1
+f 11 5 1
+f 11 1 7
+f 12 11 7
+f 12 5 11
+f 12 7 10
+f 13 2 5
+f 13 10 2
+f 14 13 5
+f 14 8 13
+f 15 3 9
+f 16 6 10
+f 16 15 6
+f 16 10 13
+f 17 4 12
+f 17 12 10
+f 17 10 6
+f 18 9 8
+f 18 8 14
+f 19 14 5
+f 19 5 12
+f 19 18 14
+f 19 12 4
+f 20 16 3
+f 20 3 15
+f 20 15 16
+f 21 8 3
+f 21 3 16
+f 21 16 13
+f 21 13 8
+f 22 17 6
+f 22 6 15
+f 22 15 9
+f 22 9 4
+f 22 4 17
+f 23 4 9
+f 23 9 18
+f 23 19 4
+f 23 18 19

boxed_drink/boxed_drink_1/model.xml

@@ -0,0 +1,84 @@
+<mujoco model="boxed_drink_8">
+  <asset>
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+  <worldbody>
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boxed_drink/boxed_drink_2/model.xml

@@ -0,0 +1,84 @@
+<mujoco model="boxed_drink_16">
+  <asset>
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+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.13499999999999995 0.13499999999999995 0.13499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.067" texture="image0" specular="0.5" shininess="0.032000008"/>
+    <material name="Material.068" texture="image0" specular="0.5" shininess="0.0052724140000000004"/>
+  </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.068"/>
+        <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.067"/>
+        <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="-2.178292500000025e-05 2.6324999999258184e-08 -0.06750000134999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-2.178292500000025e-05 2.6324999999258184e-08 0.06727901444999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.02973924179999999 0.02677878089999999 -0.00011049345000000207" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

boxed_drink/boxed_drink_3/collision/model_normalized_collision_10.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.08086151 -0.02131618 0.42772817
+v -0.08079859 -0.01011458 0.34090906
+v -0.08076852 0.12058983 0.38748504
+v -0.08087982 0.14166732 0.37894537
+v -0.17883863 -0.01013425 0.34107440
+v -0.17865720 0.12643017 0.34107416
+v -0.14132687 0.12051446 0.38728727
+v -0.15849752 -0.01009210 0.40731650
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 4 2
+f 6 2 5
+f 7 3 4
+f 7 4 6
+f 7 1 3
+f 8 7 6
+f 8 6 5
+f 8 5 1
+f 8 1 7

boxed_drink/boxed_drink_3/collision/model_normalized_collision_11.obj

@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.15877081 -0.05454198 0.41315395
+v 0.15481407 -0.00568890 0.44552347
+v -0.15494181 -0.00547203 0.44556165
+v -0.15695620 -0.01015436 0.41188188
+v 0.15599449 -0.01013410 0.41484217
+v -0.16102064 -0.05467860 0.41117081
+v -0.15827888 -0.05038057 0.41468293
+f 1 2 3
+f 4 3 2
+f 5 2 1
+f 5 4 2
+f 5 1 4
+f 6 4 1
+f 6 3 4
+f 7 6 1
+f 7 1 3
+f 7 3 6

boxed_drink/boxed_drink_3/collision/model_normalized_collision_13.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01011352 -0.14854369 0.37622721
+v 0.01589796 -0.11380905 0.38543944
+v 0.01010619 -0.10065593 0.43087439
+v -0.02019625 -0.10070252 0.43099387
+v -0.02693470 -0.11338769 0.38580025
+v 0.00609715 -0.13258541 0.41835733
+v -0.02019555 -0.14854172 0.37622194
+v -0.01689916 -0.13233467 0.41856104
+f 5 3 2
+f 5 4 3
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 8 7 6
+f 8 4 5
+f 8 5 7
+f 8 6 3
+f 8 3 4

boxed_drink/boxed_drink_3/collision/model_normalized_collision_14.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16053374 0.05097720 0.41271673
+v 0.16229299 0.05060957 0.39667257
+v 0.16634358 0.09455692 0.39464358
+v -0.16440659 0.09505538 0.39679037
+v -0.16042722 0.05022387 0.41292434
+v -0.16177898 0.05057180 0.39822606
+v 0.16376872 0.09047919 0.39863791
+v -0.16368586 0.08988154 0.39887941
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 8 5 1
+f 8 1 7
+f 8 7 4
+f 8 4 5

boxed_drink/boxed_drink_3/collision/model_normalized_collision_16.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.08084301 -0.10940870 0.39199581
+v -0.08078706 -0.09889476 0.39623717
+v -0.12633444 -0.01576401 0.42989994
+v -0.16611089 -0.01008712 0.38550722
+v -0.08083087 -0.01584071 0.43006794
+v -0.12636600 -0.10934714 0.39186864
+v -0.08091916 -0.03162150 0.42347284
+v -0.08077008 -0.08060692 0.40361417
+f 2 1 4
+f 5 4 3
+f 5 1 2
+f 6 3 4
+f 6 4 1
+f 6 5 3
+f 6 1 5
+f 7 4 5
+f 8 7 5
+f 8 5 2
+f 8 2 4
+f 8 4 7

boxed_drink/boxed_drink_3/collision/model_normalized_collision_17.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.08079859 -0.01011458 0.34090906
+v -0.08079859 -0.01011458 0.26515149
+v -0.08077127 0.17892062 0.26513335
+v -0.17626663 0.17648787 0.34071893
+v -0.17907948 -0.01011039 0.26513779
+v -0.08076274 0.17859426 0.34086177
+v -0.17883953 -0.01011037 0.34087364
+v -0.17636909 0.17737636 0.26508164
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 6 3
+f 8 4 6

boxed_drink/boxed_drink_3/collision/model_normalized_collision_18.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05556805 -0.14853404 0.37620379
+v 0.02581774 -0.11978207 0.42143714
+v 0.01016641 -0.10578224 0.42887580
+v 0.01589796 -0.11380905 0.38543944
+v 0.05556198 -0.09891061 0.39627842
+v 0.01011352 -0.14854369 0.37622721
+v 0.03251806 -0.10223724 0.41617761
+v 0.05557723 -0.10942605 0.39203533
+v 0.00959381 -0.13020229 0.41710138
+v 0.01010579 -0.14324027 0.37837840
+f 5 4 3
+f 5 1 4
+f 6 4 1
+f 7 5 3
+f 7 3 2
+f 7 2 5
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 1
+f 9 1 2
+f 9 2 3
+f 10 3 4
+f 10 4 6
+f 10 9 3
+f 10 6 9

boxed_drink/boxed_drink_3/collision/model_normalized_collision_19.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.02019555 -0.14854172 0.37622194
+v -0.02018785 -0.14323822 0.37837335
+v -0.01885099 -0.13106741 0.41724957
+v -0.08078124 -0.06757611 0.40887003
+v -0.04153827 -0.08060230 0.39864546
+v -0.08080947 -0.14851844 0.37616582
+v -0.02018774 -0.06760051 0.40893339
+v -0.03590233 -0.11904366 0.42090271
+v -0.08086695 -0.08334560 0.40250920
+f 1 2 3
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 7 5 4
+f 8 6 3
+f 8 7 4
+f 8 3 7
+f 9 8 4
+f 9 4 6
+f 9 6 8

boxed_drink/boxed_drink_3/collision/model_normalized_collision_20.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.16310668 -0.01009575 0.39400494
+v -0.16647664 -0.01011819 0.38448747
+v -0.14130823 0.17817155 0.34084959
+v -0.17606399 0.17481222 0.36213285
+v -0.17660525 -0.01010696 0.36524240
+v -0.14130099 0.16442313 0.36937127
+v -0.17883953 -0.01011037 0.34087364
+v -0.17434729 0.16557992 0.36792401
+v -0.14127296 0.17735783 0.36176494
+v -0.17883863 -0.01013425 0.34107440
+v -0.17626663 0.17648787 0.34071893
+f 5 2 1
+f 6 1 3
+f 7 3 1
+f 8 5 1
+f 8 4 5
+f 8 1 6
+f 9 6 3
+f 9 8 6
+f 9 4 8
+f 10 7 1
+f 10 1 2
+f 10 2 5
+f 10 5 4
+f 11 3 7
+f 11 9 3
+f 11 4 9
+f 11 10 4
+f 11 7 10

boxed_drink/boxed_drink_3/collision/model_normalized_collision_22.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.15481407 -0.00568890 0.44552347
+v 0.16061062 -0.01011550 0.40116295
+v 0.16066992 0.03534307 0.40118769
+v -0.15808815 0.03213347 0.42180189
+v -0.15695620 -0.01015436 0.41188188
+v 0.15791670 0.03117307 0.42236219
+v -0.15494181 -0.00547203 0.44556165
+v -0.16169321 -0.01012352 0.39804582
+v -0.15519341 0.00980170 0.43858004
+v -0.16173200 0.03537219 0.39807850
+v 0.15539001 0.00998573 0.43800679
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 5 7
+f 9 6 4
+f 9 4 7
+f 9 7 1
+f 10 4 3
+f 10 3 8
+f 10 8 7
+f 10 7 4
+f 11 9 1
+f 11 1 6
+f 11 6 9

boxed_drink/boxed_drink_3/collision/model_normalized_collision_23.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.08080947 -0.14851844 0.37616582
+v -0.08078141 -0.14321650 0.37831778
+v -0.16760914 -0.12515332 0.38489879
+v -0.16500481 -0.09934970 0.39505655
+v -0.17636701 -0.10103211 0.36579678
+v -0.08078706 -0.09889476 0.39623717
+v -0.17626565 -0.14652259 0.36625541
+v -0.08076461 -0.12492865 0.38573129
+v -0.17303198 -0.14364061 0.37474344
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 7 1
+f 9 1 3
+f 9 3 4
+f 9 4 5
+f 9 5 7

boxed_drink/boxed_drink_3/collision/model_normalized_collision_25.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.16692811 -0.09883695 0.39289074
+v 0.17380229 -0.10104378 0.36865183
+v 0.17360357 -0.07072459 0.36884881
+v 0.07069919 -0.06758331 0.40888917
+v 0.07076200 -0.10941582 0.39201418
+v 0.16272910 -0.06799735 0.40561804
+v 0.07070507 -0.09890195 0.39625590
+v 0.16102898 -0.08043094 0.40297902
+v 0.16258392 -0.08195771 0.40207750
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 4 3
+f 7 3 5
+f 8 5 1
+f 8 6 4
+f 8 7 5
+f 8 4 7
+f 9 8 1
+f 9 1 6
+f 9 6 8

boxed_drink/boxed_drink_3/collision/model_normalized_collision_27.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.12642657 -0.08327471 0.40237471
+v -0.12620773 -0.06751975 0.40872388
+v -0.16269199 -0.06739251 0.40586062
+v -0.15695620 -0.01015436 0.41188188
+v -0.17167426 -0.01011459 0.37118446
+v -0.12633444 -0.01576401 0.42989994
+v -0.17170183 -0.07072065 0.37120741
+v -0.16611089 -0.01008712 0.38550722
+f 5 2 1
+f 5 3 4
+f 6 4 3
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 7 3 5
+f 8 6 5
+f 8 5 4
+f 8 4 6

boxed_drink/boxed_drink_3/collision/model_normalized_collision_28.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.12636600 -0.10934714 0.39186864
+v -0.12622299 -0.09884240 0.39610314
+v -0.16500481 -0.09934970 0.39505655
+v -0.16269199 -0.06739251 0.40586062
+v -0.17638403 -0.07072930 0.36571656
+v -0.12620773 -0.06751975 0.40872388
+v -0.17636701 -0.10103211 0.36579678
+v -0.16254708 -0.08140048 0.40222885
+v -0.12617969 -0.08055629 0.40347122
+v -0.14121467 -0.08053338 0.40337981
+v -0.16832714 -0.10124840 0.38008519
+f 5 2 1
+f 6 5 4
+f 7 5 1
+f 7 3 4
+f 7 4 5
+f 8 6 4
+f 8 4 3
+f 9 6 2
+f 9 2 5
+f 9 5 6
+f 10 1 2
+f 10 2 6
+f 10 3 1
+f 10 8 3
+f 10 6 8
+f 11 7 1
+f 11 1 3
+f 11 3 7

boxed_drink/boxed_drink_3/collision/model_normalized_collision_3.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02688112 -0.07545344 0.43003050
+v 0.04040873 -0.06759580 0.40892257
+v 0.04040388 -0.04929249 0.41633405
+v -0.05048564 -0.04929036 0.41632876
+v -0.05049076 -0.06759399 0.40891724
+v -0.02341357 -0.06755143 0.44201751
+v -0.03898570 -0.07957928 0.42831300
+v 0.01615263 -0.06885253 0.44132797
+v -0.03025589 -0.07351766 0.44132201
+v 0.02077967 -0.07373743 0.44122471
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 8 3 6
+f 9 6 4
+f 9 4 7
+f 10 1 3
+f 10 3 8
+f 10 8 6
+f 10 6 9
+f 10 9 7
+f 10 7 1

boxed_drink/boxed_drink_3/collision/model_normalized_collision_31.obj

@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.15849752 -0.01009210 0.40731650
+v -0.16169321 -0.01012352 0.39804582
+v -0.14139804 0.12576344 0.38516457
+v -0.16870144 0.12584907 0.38434153
+v -0.16647664 -0.01011819 0.38448747
+v -0.16756699 0.12074425 0.38653030
+v -0.14132687 0.12051446 0.38728727
+f 5 2 1
+f 5 1 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 7 5 3
+f 7 2 5

boxed_drink/boxed_drink_3/collision/model_normalized_collision_4.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.17529650 -0.17778755 0.26507325
+v 0.17761940 -0.17534079 -0.49712818
+v 0.17636873 0.17737659 0.26507791
+v -0.17636909 0.17737636 0.26508164
+v -0.17639239 -0.17743508 -0.49711250
+v -0.17674142 0.17673749 -0.49746154
+v 0.17831831 -0.17385985 0.26509729
+v 0.17643239 -0.17787855 -0.46205756
+v -0.17636875 -0.17737658 0.26504841
+v 0.17743527 0.17639256 -0.49711250
+v 0.17534096 -0.17761923 -0.49712818
+v 0.17640292 -0.17767374 0.21959213
+f 6 4 3
+f 7 3 4
+f 8 2 7
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 6 3
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 11 8 5
+f 11 2 8
+f 11 6 2
+f 11 5 6
+f 12 8 7
+f 12 7 1
+f 12 1 8

boxed_drink/boxed_drink_3/collision/model_normalized_collision_6.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.17490333 -0.17568328 0.36201203
+v 0.17831831 -0.17385985 0.26509729
+v 0.17688709 -0.01011168 0.36459612
+v -0.17660525 -0.01010696 0.36524240
+v -0.17636875 -0.17737658 0.26504841
+v -0.17907948 -0.01011039 0.26513779
+v 0.17745770 -0.17044733 0.36222304
+v 0.17529650 -0.17778755 0.26507325
+v -0.17504677 -0.17566526 0.36201465
+v 0.17907946 -0.01010762 0.26512887
+f 7 3 4
+f 7 1 2
+f 8 2 1
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 2 8
+f 10 8 5
+f 10 5 6
+f 10 7 2
+f 10 3 7
+f 10 6 4
+f 10 4 3

boxed_drink/boxed_drink_3/collision/model_normalized_collision_7.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.16223858 -0.01012772 0.39647087
+v 0.17907946 -0.01010762 0.26512887
+v 0.17667145 0.08079583 0.36511263
+v -0.08080239 0.08149604 0.40325453
+v -0.08086151 -0.02131618 0.42772817
+v -0.08079859 0.08079451 0.26515149
+v 0.16459948 0.08178530 0.39987361
+v 0.17688709 -0.01011168 0.36459612
+v 0.17901734 0.08079883 0.26515543
+v -0.08079859 -0.01011458 0.26515149
+f 6 5 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 8 7 1
+f 8 3 7
+f 8 5 2
+f 8 1 5
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 9 7 3
+f 9 6 7
+f 10 6 2
+f 10 2 5
+f 10 5 6

boxed_drink/boxed_drink_3/collision/model_normalized_collision_9.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.17059008 0.12535705 0.38206832
+v 0.17865928 0.12618439 0.34085025
+v 0.17626662 0.17648806 0.34070933
+v -0.14127296 0.17735783 0.36176494
+v -0.17865720 0.12643017 0.34107416
+v 0.17606364 0.17481222 0.36213285
+v -0.14139804 0.12576344 0.38516457
+v -0.14130823 0.17817155 0.34084959
+v 0.17649411 0.12625713 0.36560498
+v -0.14130099 0.16442313 0.36937127
+v 0.17315913 0.16460307 0.36867065
+f 5 2 1
+f 6 3 4
+f 6 2 3
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 1
+f 9 1 2
+f 9 2 6
+f 10 4 5
+f 10 5 7
+f 11 7 1
+f 11 1 6
+f 11 10 7
+f 11 6 4
+f 11 4 10

boxed_drink/boxed_drink_3/model.xml

@@ -0,0 +1,84 @@
+<mujoco model="boxed_drink_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Pack" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="Tappo" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </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="Tappo"/>
+        <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="Pack"/>
+        <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="-1.7000000014644188e-09 8.857595000000051e-05 -0.0845684618" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.7000000014644188e-09 8.857595000000051e-05 0.08442956499999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0304435082 0.0304165054 -6.944839999999923e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

boxed_drink/boxed_drink_3/visual/material.mtl

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

boxed_drink/boxed_drink_4/collision/model_normalized_collision_0.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.09439476 -0.20497953 0.44353720
+v 0.17951191 -0.15511142 -0.35536838
+v 0.16870748 -0.12997483 0.46105738
+v -0.15658175 -0.13088985 0.49263037
+v -0.11420514 -0.21849061 -0.35321516
+v -0.18577773 -0.14827168 -0.35657575
+v 0.16090456 -0.17515241 0.49411662
+v 0.11946720 -0.22033256 -0.33990995
+v -0.11424130 -0.21836108 0.35318344
+v -0.16888709 -0.13004512 0.46020377
+v 0.14207405 -0.19533002 -0.35649066
+v 0.15655081 -0.13088973 0.49263224
+v -0.12697560 -0.18816085 0.48646662
+v 0.16474908 -0.16997998 0.46159139
+v 0.11948743 -0.22030895 0.33936460
+v -0.13311372 -0.20787391 -0.31059543
+v -0.15979341 -0.13034101 0.48537725
+v -0.16090456 -0.17515241 0.49411662
+v -0.15038059 -0.18360544 -0.35606061
+v 0.11098172 -0.21866024 -0.35323693
+v 0.13145162 -0.20899314 -0.35578804
+v 0.15923141 -0.13030968 0.48655513
+v 0.12561062 -0.18891425 0.48503972
+v -0.09530341 -0.20453670 0.44493425
+v 0.05852941 -0.22061339 0.37199733
+v -0.11925729 -0.22057211 0.31055870
+v -0.13485907 -0.20273655 0.41410666
+v 0.15653142 -0.17531221 0.49423687
+v -0.15966631 -0.17732358 0.45979020
+v 0.14719226 -0.18992018 0.46059123
+v -0.05904954 -0.22040245 0.37317507
+v -0.11925233 -0.22057820 -0.31055883
+v 0.15658175 -0.14597971 0.49359493
+v 0.13467214 -0.20295028 0.41337787
+v -0.15896517 -0.16315889 0.49395253
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