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bar_soap/bar_soap_0/collision/model_normalized_collision_0.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
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bar_soap/bar_soap_0/collision/model_normalized_collision_1.obj

@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.27398988 -0.45830201 0.01193238
+v 0.30156576 -0.45566863 -0.12001175
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bar_soap/bar_soap_0/collision/model_normalized_collision_10.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
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+v -0.14999587 -0.38636364 0.10358535
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bar_soap/bar_soap_0/collision/model_normalized_collision_11.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.27326365 -0.47701211 0.13057315
+v -0.22575345 -0.38636364 0.10358535
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bar_soap/bar_soap_0/collision/model_normalized_collision_12.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.30978110 0.41705736 0.11900203
+v 0.31548453 0.41732884 -0.06899812
+v 0.17772436 0.49137525 0.02884600
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bar_soap/bar_soap_0/collision/model_normalized_collision_13.obj

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+# https://github.com/mikedh/trimesh
+v 0.18333747 -0.00757576 0.01267626
+v 0.18342609 -0.00757565 -0.16775590
+v 0.19841393 0.46010904 0.03431489
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+f 10 5 8

bar_soap/bar_soap_0/collision/model_normalized_collision_14.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.23514980 0.09844449 0.15583414
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bar_soap/bar_soap_0/collision/model_normalized_collision_15.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.28384473 -0.47819029 0.13944527
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+v 0.29339153 0.46691278 0.14077848
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bar_soap/bar_soap_0/collision/model_normalized_collision_16.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
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+f 19 2 5
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+f 21 17 10
+f 21 10 9
+f 22 19 14
+f 22 9 19
+f 22 21 9
+f 22 17 21
+f 23 4 17
+f 23 8 18
+f 23 11 4
+f 23 14 20
+f 24 18 1
+f 24 1 11
+f 24 23 18
+f 24 11 23
+f 25 19 5
+f 25 14 19
+f 25 20 14
+f 26 5 15
+f 26 15 20
+f 26 25 5
+f 26 20 25
+f 27 22 14
+f 27 17 22
+f 27 23 17
+f 27 14 23
+f 28 23 20
+f 28 20 8
+f 28 8 23

bar_soap/bar_soap_0/collision/model_normalized_collision_17.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.31236187 0.23406737 0.10914141
+v 0.31543106 0.23473776 -0.07028569
+v 0.31548453 0.41732884 -0.06899812
+v 0.18346978 0.47233664 0.11908735
+v 0.18438402 0.23471685 -0.16079478
+v 0.30978110 0.41705736 0.11900203
+v 0.25477866 0.23465793 -0.15220837
+v 0.18333747 0.23484849 0.10358535
+v 0.18354970 0.42110660 -0.15137659
+v 0.26459804 0.41902854 -0.14218863
+v 0.23881636 0.35571797 -0.15095741
+v 0.25740302 0.35585226 -0.14747363
+v 0.25450908 0.24963107 -0.15201108
+v 0.18396794 0.35490692 -0.15557881
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 8 4
+f 9 5 8
+f 10 3 2
+f 10 2 7
+f 10 9 4
+f 10 4 3
+f 11 9 10
+f 12 11 10
+f 13 7 5
+f 13 5 11
+f 13 11 12
+f 13 12 10
+f 13 10 7
+f 14 11 5
+f 14 5 9
+f 14 9 11

bar_soap/bar_soap_0/collision/model_normalized_collision_18.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.27533864 0.35721693 -0.14183435
+v 0.25740302 0.35585226 -0.14747363
+v 0.26459804 0.41902854 -0.14218863
+v -0.14999587 0.41666667 -0.06308132
+v -0.14999587 0.35606061 -0.06308132
+v -0.14993945 0.41646312 -0.15212277
+v 0.01667080 0.41666667 -0.06308132
+v 0.01667080 0.35606061 -0.06308132
+v 0.22396430 0.40029688 -0.15288874
+v -0.14973826 0.35571058 -0.15537623
+v -0.01359902 0.41471984 -0.15303452
+v 0.23881636 0.35571797 -0.15095741
+v -0.14932567 0.40035756 -0.15356099
+v -0.13439093 0.41496407 -0.15273058
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 9 3 2
+f 10 5 6
+f 11 6 3
+f 11 3 9
+f 11 9 10
+f 12 2 8
+f 12 8 5
+f 12 5 10
+f 12 10 9
+f 12 9 2
+f 13 11 10
+f 13 10 6
+f 14 13 6
+f 14 6 11
+f 14 11 13

bar_soap/bar_soap_0/collision/model_normalized_collision_19.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16490174 -0.49116208 0.11447509
+v 0.18230439 -0.47284690 0.01137964
+v 0.18308110 0.23472672 0.16768002
+v 0.01689774 0.23481988 0.16631063
+v 0.01736136 -0.48377203 0.01301203
+v 0.18333747 0.23484849 0.01267626
+v 0.01698548 -0.45168097 0.16305527
+v 0.18338456 -0.45222284 0.16418098
+v 0.16326569 -0.47853882 0.00859367
+v 0.01667080 0.23484849 0.01267626
+v 0.01715351 -0.47450741 0.12875670
+v 0.18415254 -0.47808539 0.13963650
+v 0.15368000 -0.49439702 0.10228721
+v 0.01626844 -0.46286069 0.15304446
+v 0.18033752 -0.48422343 0.11366871
+v 0.11068756 -0.49181408 0.09533445
+v 0.11200254 -0.49043449 0.11285938
+f 6 4 3
+f 7 3 4
+f 8 3 7
+f 9 6 2
+f 10 4 6
+f 10 9 5
+f 10 6 9
+f 12 2 6
+f 12 6 3
+f 12 3 8
+f 13 9 2
+f 13 2 1
+f 13 5 9
+f 14 7 4
+f 14 4 10
+f 14 10 5
+f 14 5 11
+f 14 12 8
+f 14 8 7
+f 15 12 1
+f 15 1 2
+f 15 2 12
+f 16 11 5
+f 16 5 13
+f 17 13 1
+f 17 16 13
+f 17 11 16
+f 17 14 11
+f 17 1 12
+f 17 12 14

bar_soap/bar_soap_0/collision/model_normalized_collision_2.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.18333747 -0.38636364 -0.07823283
+v 0.31227920 -0.08293427 -0.08866373
+v 0.31229705 -0.00773819 -0.08851737
+v 0.01667080 -0.00757576 -0.07823283
+v 0.18427823 -0.38708340 -0.17533361
+v 0.01670305 -0.34095909 -0.16756534
+v 0.27201876 -0.08237181 -0.15235374
+v 0.10757989 -0.38636364 -0.07823283
+v 0.21183636 -0.00815874 -0.16943813
+v 0.10777084 -0.38680738 -0.17146459
+v 0.01667080 -0.34090909 -0.07823283
+v 0.22042219 -0.14389070 -0.16855061
+v 0.01660660 -0.00764778 -0.16349720
+v 0.27159210 -0.00674224 -0.15106921
+v 0.06288099 -0.22006986 -0.16823970
+v 0.19974381 -0.00770211 -0.16886449
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 7 3 2
+f 7 2 5
+f 8 5 1
+f 8 1 4
+f 10 6 5
+f 10 5 8
+f 11 8 4
+f 11 10 8
+f 11 6 10
+f 12 9 7
+f 12 7 5
+f 12 5 9
+f 13 9 5
+f 13 11 4
+f 13 6 11
+f 14 3 7
+f 14 7 9
+f 14 13 4
+f 14 4 3
+f 15 13 5
+f 15 5 6
+f 15 6 13
+f 16 14 9
+f 16 9 13
+f 16 13 14

bar_soap/bar_soap_0/collision/model_normalized_collision_20.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.28960934 -0.46957943 0.11421686
+v 0.31955781 -0.37111586 0.01221803
+v 0.31691389 0.23416298 0.09760592
+v 0.18333747 0.23484849 0.10358535
+v 0.19677372 -0.46561058 0.01302478
+v 0.18333747 0.23484849 0.01267626
+v 0.31040356 -0.45454004 0.10412539
+v 0.18323211 -0.45912711 0.10497117
+v 0.32324739 0.23489021 0.01289620
+v 0.31789796 -0.06719757 0.10238467
+v 0.27433142 -0.45837472 0.01292219
+v 0.21540080 -0.47236186 0.11114195
+v 0.18315277 -0.45626174 0.07272683
+v 0.31899528 -0.34068045 0.04209683
+v 0.24379340 -0.45850848 0.01283975
+v 0.31251743 -0.45253762 0.07479175
+v 0.31795852 -0.24972984 0.07121663
+v 0.31916167 -0.37114683 0.02743149
+f 1 3 4
+f 6 2 5
+f 9 2 6
+f 9 6 4
+f 9 4 3
+f 10 3 1
+f 10 1 7
+f 10 9 3
+f 11 1 5
+f 12 8 5
+f 12 5 1
+f 12 1 4
+f 12 4 8
+f 13 6 5
+f 13 5 8
+f 13 8 4
+f 13 4 6
+f 14 2 9
+f 14 9 10
+f 15 11 5
+f 15 5 2
+f 15 2 11
+f 16 11 2
+f 16 7 1
+f 16 1 11
+f 17 14 10
+f 17 10 7
+f 17 7 14
+f 18 14 7
+f 18 7 16
+f 18 16 2
+f 18 2 14

bar_soap/bar_soap_0/collision/model_normalized_collision_21.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.14946409 -0.26535093 0.16923560
+v -0.14999587 -0.26515152 0.10358535
+v -0.14998098 0.09847954 0.16369047
+v -0.23514980 0.09844449 0.15583414
+v -0.23617793 -0.26352973 0.16133794
+v -0.14939655 0.05291832 0.16408714
+v -0.22332821 -0.26546342 0.16345332
+v -0.16431925 0.05288783 0.16337742
+v -0.22482899 0.09850152 0.15757421
+v -0.15224027 0.09889535 0.16360829
+f 3 2 4
+f 5 4 2
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 8 7 1
+f 9 4 5
+f 9 5 7
+f 9 7 8
+f 10 8 1
+f 10 1 3
+f 10 9 8
+f 10 3 4
+f 10 4 9

bar_soap/bar_soap_0/collision/model_normalized_collision_22.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01759097 -0.47678772 0.11821490
+v 0.01688543 -0.47990947 0.10072565
+v 0.01667080 -0.38636364 0.10358535
+v -0.22397159 -0.38651880 0.16676881
+v -0.22497285 -0.47729398 0.11401873
+v 0.01675813 -0.38632762 0.17609149
+v -0.22575345 -0.38636364 0.10358535
+v -0.21022390 -0.45342930 0.16051436
+v -0.22648636 -0.47887492 0.10313515
+v -0.22626205 -0.46470647 0.15154902
+v 0.01698548 -0.45168097 0.16305527
+v -0.22429298 -0.44305544 0.16408550
+v 0.01626844 -0.46286069 0.15304446
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 3 2
+f 7 6 3
+f 7 4 6
+f 9 7 2
+f 9 2 5
+f 10 5 1
+f 10 9 5
+f 10 4 7
+f 10 7 9
+f 11 1 6
+f 11 8 10
+f 12 6 4
+f 12 10 8
+f 12 4 10
+f 12 11 6
+f 12 8 11
+f 13 11 10
+f 13 10 1
+f 13 1 11

bar_soap/bar_soap_0/collision/model_normalized_collision_23.obj

@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.31236187 0.23406737 0.10914141
+v 0.32181825 0.23430709 -0.02105494
+v 0.31883569 0.42983202 0.07268090
+v 0.28001011 0.46699608 0.10034373
+v 0.26429291 0.46343634 -0.01841846
+v 0.31552176 0.43216709 0.10225100
+v 0.32007153 0.23452718 0.08494739
+v 0.31880144 0.43068182 -0.01734955
+v 0.32205873 0.23489966 -0.01695621
+v 0.31704298 0.32559843 0.09900542
+v 0.31823911 0.41641011 0.08606501
+v 0.31523005 0.23487910 0.10172260
+v 0.31718827 0.34047500 0.09844063
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 7 2
+f 9 3 7
+f 9 8 3
+f 9 2 8
+f 10 6 1
+f 11 7 3
+f 11 3 6
+f 12 10 1
+f 12 1 7
+f 12 7 10
+f 13 10 7
+f 13 7 11
+f 13 11 6
+f 13 6 10

bar_soap/bar_soap_0/collision/model_normalized_collision_24.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01676594 -0.26533201 0.17314735
+v 0.01676125 -0.26513804 -0.16690804
+v 0.01689774 0.23481988 0.16631063
+v -0.14994576 0.23484931 0.16241979
+v -0.15001248 -0.26518402 -0.16627730
+v 0.01642258 0.23492857 -0.15650271
+v -0.14946409 -0.26535093 0.16923560
+v -0.14984527 0.23460151 -0.15878177
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5

bar_soap/bar_soap_0/collision/model_normalized_collision_25.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.14999587 -0.38636364 0.01267626
+v -0.14995585 -0.38632003 -0.16774401
+v -0.14969838 0.09841672 -0.16185622
+v -0.22575345 0.09848485 0.01267626
+v -0.22575345 -0.38636364 0.01267626
+v -0.22506360 -0.38631909 -0.16296907
+v -0.14999587 0.09848485 0.01267626
+v -0.22324309 0.09826218 -0.15502076
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6

bar_soap/bar_soap_0/collision/model_normalized_collision_26.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18036289 -0.47439996 0.00727905
+v 0.18388934 -0.48008783 -0.07737246
+v 0.18333747 -0.00757576 0.01267626
+v 0.01667080 -0.00757576 0.01267626
+v 0.01723281 -0.48439882 -0.07825629
+v 0.01736136 -0.48377203 0.01301203
+v 0.18333747 -0.00757576 -0.07823283
+v 0.01667080 -0.00757576 -0.07823283
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7

bar_soap/bar_soap_0/collision/model_normalized_collision_27.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01688543 -0.47990947 0.10072565
+v 0.01734287 -0.48230918 -0.12283031
+v 0.01597107 -0.38298529 -0.16972961
+v -0.14999587 -0.38636364 0.10358535
+v -0.15010859 -0.48614429 0.01203176
+v 0.01667080 -0.38636364 0.10358535
+v -0.15008963 -0.47573231 0.10181933
+v -0.15125470 -0.38773538 -0.16766268
+v 0.01667080 -0.38636364 0.01267626
+v -0.15010841 -0.47768140 -0.12195289
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 4 3
+f 8 7 4
+f 8 5 7
+f 9 6 2
+f 9 2 3
+f 9 3 6
+f 10 8 2
+f 10 2 5
+f 10 5 8

bar_soap/bar_soap_0/collision/model_normalized_collision_28.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.22575345 -0.00757576 0.01267626
+v -0.22575345 -0.00757576 -0.06308132
+v -0.22575345 0.35606061 0.01267626
+v -0.31744883 0.35536305 0.01265322
+v -0.32265672 -0.00761700 0.01299009
+v -0.22575345 0.35606061 -0.06308132
+v -0.31644282 -0.00793189 -0.06091729
+v -0.31454174 0.35595900 -0.06280636
+v -0.31533370 0.32541190 -0.06133490
+v -0.31565418 0.35551692 -0.04702685
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 8 2 7
+f 9 8 7
+f 9 7 5
+f 10 9 5
+f 10 5 4
+f 10 4 8
+f 10 8 9

bar_soap/bar_soap_0/collision/model_normalized_collision_29.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01675813 -0.38632762 0.17609149
+v 0.01667080 -0.38636364 0.01267626
+v 0.01667080 -0.26515152 0.01267626
+v -0.22332821 -0.26546342 0.16345332
+v -0.22575345 -0.38636364 0.01267626
+v 0.01676594 -0.26533201 0.17314735
+v -0.22397159 -0.38651880 0.16676881
+v -0.22575345 -0.26515152 0.01267626
+f 5 3 2
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7

bar_soap/bar_soap_0/collision/model_normalized_collision_3.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.18308110 0.23472672 0.16768002
+v 0.18333747 0.23484849 0.01267626
+v 0.22910720 0.46857433 0.14350541
+v -0.25506021 0.47112434 0.10192440
+v -0.14999587 0.23484849 0.01267626
+v 0.10806713 0.48798462 0.01256184
+v -0.26748003 0.44515255 0.14794106
+v 0.22880033 0.43162176 0.16180090
+v 0.19841393 0.46010904 0.03431489
+v 0.18325206 0.47846227 0.09941864
+v -0.23438875 0.45211708 0.01246677
+v -0.26019788 0.46040541 0.12669745
+v -0.14994576 0.23484931 0.16241979
+v 0.16967960 0.45981730 0.15115013
+v -0.21616472 0.47594652 0.01740477
+v -0.27023651 0.44668455 0.14704256
+v -0.08903662 0.23470989 0.16388087
+v -0.07411451 0.37041739 0.16340480
+v 0.22875247 0.46425448 0.14972964
+v 0.22882713 0.43370136 0.16150922
+v -0.22474912 0.47584052 0.05711513
+v -0.27077533 0.43180382 0.14776019
+v -0.08906796 0.35559504 0.16373351
+v 0.18349769 0.40042938 0.16419656
+v -0.26617865 0.43165117 0.14931604
+f 8 1 2
+f 8 2 3
+f 9 3 2
+f 9 2 6
+f 10 6 4
+f 10 4 3
+f 10 9 6
+f 10 3 9
+f 11 6 2
+f 11 2 5
+f 12 3 4
+f 15 11 4
+f 15 6 11
+f 16 4 11
+f 16 12 4
+f 16 3 12
+f 16 7 14
+f 17 13 5
+f 17 5 2
+f 17 2 1
+f 19 16 14
+f 19 3 16
+f 20 14 7
+f 20 19 14
+f 20 8 3
+f 20 3 19
+f 20 18 8
+f 20 7 18
+f 21 15 4
+f 21 4 6
+f 21 6 15
+f 22 16 11
+f 22 11 5
+f 22 5 13
+f 23 13 17
+f 23 17 1
+f 24 1 8
+f 24 8 18
+f 24 23 1
+f 24 18 23
+f 25 22 13
+f 25 7 16
+f 25 16 22
+f 25 13 23
+f 25 23 18
+f 25 18 7

bar_soap/bar_soap_0/collision/model_normalized_collision_30.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01667080 0.35606061 0.01267626
+v 0.01667080 0.35606061 -0.06308132
+v 0.01734592 0.48988387 -0.06409599
+v -0.14987339 0.48149914 0.01191730
+v -0.14999587 0.35606061 -0.06308132
+v 0.01699522 0.48167973 0.01196759
+v -0.14999587 0.35606061 0.01267626
+v 0.00169854 0.48882116 -0.06574520
+v -0.14867209 0.48236751 -0.06134307
+v -0.14999587 0.37121212 -0.06308132
+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 8 3 2
+f 8 2 5
+f 9 4 3
+f 9 3 8
+f 10 9 8
+f 10 8 5
+f 10 4 9
+f 10 7 4
+f 10 5 7

bar_soap/bar_soap_0/collision/model_normalized_collision_31.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01667080 0.23484849 0.01267626
+v 0.01642258 0.23492857 -0.15650271
+v 0.01667080 0.35606061 0.01267626
+v -0.14999587 0.35606061 0.01267626
+v -0.14984527 0.23460151 -0.15878177
+v 0.01661054 0.35575947 -0.15520607
+v -0.14999587 0.23484849 0.01267626
+v -0.14973826 0.35571058 -0.15537623
+v 0.00146370 0.35570912 -0.15526544
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 9 8 6
+f 9 6 5
+f 9 5 8

bar_soap/bar_soap_0/collision/model_normalized_collision_4.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.31251743 -0.45253762 0.07479175
+v 0.31488665 -0.43142468 -0.07793199
+v 0.31958533 -0.42966723 0.02750168
+v 0.31572891 -0.38629688 0.07273732
+v 0.18036289 -0.47439996 0.00727905
+v 0.31960227 -0.38636369 -0.01762735
+v 0.31889270 -0.43064087 -0.01713657
+v 0.26095454 -0.48079424 -0.12505356
+v 0.18362564 -0.45611201 0.07414904
+v 0.31910345 -0.41765430 0.02744796
+v 0.31923328 -0.41628287 -0.03208362
+v 0.30583206 -0.44837079 -0.07655689
+v 0.18311043 -0.47609000 -0.12528157
+v 0.18585702 -0.46382895 0.04836755
+v 0.31470279 -0.38889361 0.07900609
+v 0.18315277 -0.45626174 0.07272683
+v 0.31944199 -0.40136180 -0.03177570
+v 0.18346374 -0.47622857 -0.12280074
+f 1 3 4
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 3 7
+f 11 7 2
+f 12 8 2
+f 12 2 1
+f 12 1 8
+f 13 6 2
+f 13 2 8
+f 14 9 5
+f 14 5 1
+f 14 1 9
+f 15 9 1
+f 15 1 4
+f 15 4 9
+f 16 9 4
+f 16 4 6
+f 16 6 13
+f 16 13 5
+f 16 5 9
+f 17 6 3
+f 17 3 11
+f 17 11 2
+f 17 2 6
+f 18 13 8
+f 18 8 5
+f 18 5 13

bar_soap/bar_soap_0/collision/model_normalized_collision_5.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.14999587 -0.14393940 0.10358535
+v -0.14999587 -0.14393940 0.01267626
+v -0.14999587 0.09848485 0.01267626
+v -0.31280960 0.09882216 0.10308466
+v -0.31710254 -0.14399432 -0.06088186
+v -0.15224027 0.09889535 0.16360829
+v -0.31739230 -0.14239894 0.09745191
+v -0.22575345 -0.14393940 -0.06308132
+v -0.32171703 0.09843311 0.01306662
+v -0.22575345 -0.00757576 -0.06308132
+v -0.31822291 0.09855148 0.08292525
+v -0.31644282 -0.00793189 -0.06091729
+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 8 3 2
+f 8 2 5
+f 9 4 3
+f 9 5 7
+f 10 9 3
+f 10 3 8
+f 11 9 7
+f 11 7 4
+f 11 4 9
+f 12 5 9
+f 12 9 10
+f 12 10 8
+f 12 8 5

bar_soap/bar_soap_0/collision/model_normalized_collision_6.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01667080 -0.38636364 0.01267626
+v 0.10777084 -0.38680738 -0.17146459
+v 0.01667080 -0.26515152 0.01267626
+v -0.14999587 -0.26515152 0.01267626
+v -0.14995585 -0.38632003 -0.16774401
+v 0.01676125 -0.26513804 -0.16690804
+v 0.10757989 -0.38636364 -0.07823283
+v -0.02829484 -0.38746538 -0.16884242
+v -0.14999587 -0.38636364 0.01267626
+v -0.15001248 -0.26518402 -0.16627730
+v 0.10811047 -0.34133549 -0.17001512
+v 0.10757989 -0.34090909 -0.07823283
+f 1 3 4
+f 6 4 3
+f 7 3 1
+f 8 5 2
+f 8 7 1
+f 8 2 7
+f 9 1 4
+f 9 8 1
+f 9 5 8
+f 10 4 6
+f 10 9 4
+f 10 5 9
+f 10 2 5
+f 11 7 2
+f 11 10 6
+f 11 2 10
+f 12 3 7
+f 12 7 11
+f 12 11 6
+f 12 6 3

bar_soap/bar_soap_0/collision/model_normalized_collision_7.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.18388934 -0.48008783 -0.07737246
+v 0.18560581 -0.46511257 -0.17041052
+v 0.18333747 -0.38636364 -0.07823283
+v -0.29896406 -0.38717279 -0.11835322
+v -0.25349431 -0.47561252 -0.13762377
+v 0.18427823 -0.38708340 -0.17533361
+v 0.01667080 -0.38636364 -0.07823283
+v 0.06178458 -0.47436881 -0.14992911
+v -0.27687657 -0.46019489 -0.10732076
+v -0.26477182 -0.38686053 -0.15402956
+v -0.10369351 -0.47359304 -0.14674210
+v 0.18346374 -0.47622857 -0.12280074
+v 0.01723281 -0.48439882 -0.07825629
+v -0.26584701 -0.44644209 -0.15459638
+v 0.07871931 -0.46532861 -0.16698864
+v -0.25345777 -0.47565861 -0.12591997
+v -0.07389892 -0.40193555 -0.16815112
+v -0.25264616 -0.46566348 -0.15153681
+v -0.05880202 -0.38718733 -0.16805414
+v -0.07355899 -0.44515010 -0.16791190
+v -0.01244089 -0.45604905 -0.16748989
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 9 7 4
+f 10 4 7
+f 10 7 3
+f 10 3 6
+f 11 8 5
+f 11 2 8
+f 12 8 2
+f 12 2 1
+f 13 5 8
+f 13 1 7
+f 13 7 9
+f 13 12 1
+f 13 8 12
+f 14 9 4
+f 14 5 9
+f 14 4 10
+f 15 11 5
+f 15 2 11
+f 16 13 9
+f 16 9 5
+f 16 5 13
+f 17 14 10
+f 18 15 5
+f 18 5 14
+f 19 17 10
+f 19 10 6
+f 19 6 17
+f 20 14 17
+f 20 18 14
+f 20 17 6
+f 20 6 2
+f 21 15 18
+f 21 18 20
+f 21 20 2
+f 21 2 15

bar_soap/bar_soap_0/collision/model_normalized_collision_8.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.14998098 0.09847954 0.16369047
+v -0.14969838 0.09841672 -0.16185622
+v -0.14790680 0.47594416 -0.08941325
+v -0.21616472 0.47594652 0.01740477
+v -0.22482899 0.09850152 0.15757421
+v -0.22504232 0.41629140 -0.14755860
+v -0.14994828 0.40134022 0.16130744
+v -0.22324309 0.09826218 -0.15502076
+v -0.14932567 0.40035756 -0.15356099
+v -0.22503042 0.46967963 -0.10721495
+v -0.14987339 0.48149914 0.01191730
+v -0.22515063 0.40132786 0.15809134
+v -0.22346194 0.29485560 -0.15240549
+v -0.18023281 0.47028822 -0.10715066
+v -0.20985422 0.47898327 -0.00367279
+v -0.19427434 0.37042595 -0.15272751
+v -0.19348055 0.47570821 -0.06215048
+v -0.20912312 0.34038667 -0.15266713
+v -0.16441039 0.40041502 -0.15290002
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 9 3 2
+f 11 7 3
+f 12 5 1
+f 12 1 7
+f 12 4 10
+f 12 10 6
+f 12 6 5
+f 12 11 4
+f 12 7 11
+f 13 8 6
+f 13 2 8
+f 14 9 6
+f 14 6 10
+f 14 10 3
+f 14 3 9
+f 15 10 4
+f 15 4 11
+f 15 11 3
+f 16 9 2
+f 17 15 3
+f 17 3 10
+f 17 10 15
+f 18 16 2
+f 18 2 13
+f 18 13 6
+f 18 6 16
+f 19 16 6
+f 19 6 9
+f 19 9 16

bar_soap/bar_soap_0/collision/model_normalized_collision_9.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.22539620 -0.46101638 -0.06270524
+v -0.22506360 -0.38631909 -0.16296907
+v -0.21912985 0.46769816 -0.06718357
+v -0.22323828 0.14376721 -0.15435519
+v -0.31675235 0.23444937 -0.06124233
+v -0.30429944 -0.43986072 -0.06016482
+v -0.29849492 0.43995129 -0.11348531
+v -0.27063665 -0.44696891 -0.15281197
+v -0.31243456 0.40128594 -0.06268927
+v -0.22604491 0.45085951 -0.13997082
+v -0.23360754 -0.46774284 -0.09442588
+v -0.29834286 -0.41559655 -0.11773845
+v -0.26535618 0.45060350 -0.13561738
+v -0.26477182 -0.38686053 -0.15402956
+v -0.31451762 0.23444957 -0.07534892
+v -0.29504849 0.45148349 -0.09333918
+v -0.28387888 -0.44427483 -0.14118318
+v -0.31690837 -0.18909794 -0.06031733
+v -0.27509899 0.28042686 -0.13673508
+v -0.22553691 0.46240159 -0.12777432
+v -0.23676893 0.14378150 -0.15162623
+v -0.30342325 0.44060530 -0.09193751
+v -0.28607901 0.45076451 -0.12355021
+v -0.29879532 -0.44070604 -0.09166840
+v -0.28661618 -0.37200365 -0.13845765
+v -0.31415724 -0.18913452 -0.07409494
+v -0.26812986 0.46056372 -0.12621758
+v -0.25085739 -0.03827556 -0.15120732
+v -0.22550893 0.46748077 -0.07393730
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 6 1 5
+f 9 5 3
+f 10 3 4
+f 11 8 2
+f 11 2 1
+f 11 1 6
+f 13 10 4
+f 14 2 8
+f 15 9 7
+f 15 5 9
+f 15 7 12
+f 16 9 3
+f 17 8 11
+f 18 12 6
+f 18 6 5
+f 18 5 15
+f 19 14 8
+f 20 3 10
+f 21 4 2
+f 21 2 14
+f 21 19 13
+f 21 13 4
+f 22 16 7
+f 22 7 9
+f 22 9 16
+f 23 7 16
+f 23 19 7
+f 23 13 19
+f 24 17 11
+f 24 11 6
+f 24 6 12
+f 24 12 17
+f 25 17 12
+f 25 12 7
+f 25 7 19
+f 25 19 8
+f 25 8 17
+f 26 18 15
+f 26 15 12
+f 26 12 18
+f 27 20 10
+f 27 10 13
+f 27 13 23
+f 27 23 16
+f 28 21 14
+f 28 14 19
+f 28 19 21
+f 29 27 16
+f 29 16 3
+f 29 3 20
+f 29 20 27

bar_soap/bar_soap_0/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="bar_soap_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.010" texture="image0" specular="0.5" shininess="0.175575061"/>
+  </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_0.010"/>
+        <geom solimp="0.998 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"/>
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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_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="2.9533500000000757e-05 -0.00015108850000000168 -0.017533360999999994" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="2.9533500000000757e-05 -0.00015108850000000168 0.017609148999999994" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03232473899999999 0.04913752499999998 3.789399999999942e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bar_soap/bar_soap_0/visual/material.mtl

@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 175.57506100
+map_Kd material_0.png

bar_soap/bar_soap_1/collision/model_normalized_collision_0.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
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bar_soap/bar_soap_1/collision/model_normalized_collision_1.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
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bar_soap/bar_soap_1/collision/model_normalized_collision_10.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.31118946 -0.00756495 0.09320810
+v 0.33305969 -0.00757575 -0.06224654
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bar_soap/bar_soap_1/collision/model_normalized_collision_11.obj

@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.15342360 0.36745042 0.13221763
+v -0.15176001 0.35606061 -0.05701364
+v -0.15101646 0.49111231 -0.05503896
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bar_soap/bar_soap_1/collision/model_normalized_collision_12.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.31626127 -0.39884419 0.06937974
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bar_soap/bar_soap_1/collision/model_normalized_collision_13.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.19490380 0.41310255 0.11323561
+v 0.25976564 0.43528232 0.08468799
+v -0.17964609 0.47369089 0.06875048
+v -0.23990753 0.48503302 0.01809623
+v 0.19672485 0.41666668 0.01874393
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+v -0.15176001 0.41666668 0.01874393
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+v -0.18039799 0.49200301 0.01693475
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+f 38 11 16
+f 38 16 36

bar_soap/bar_soap_1/collision/model_normalized_collision_14.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.12211059 -0.39378171 0.13120080
+v 0.12067201 -0.38448105 0.13447149
+v -0.06076976 -0.39429739 0.13359387
+v -0.03054788 0.36968090 0.13496065
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+v -0.03526079 -0.31286278 0.15549848
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+v 0.06459925 -0.31316069 0.15549848
+v -0.06085091 -0.30854567 0.14896445
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+v -0.04428296 0.33308312 0.15549848
+v -0.02549206 0.35539838 0.14895061
+v -0.03573755 0.34416610 0.15549848
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+f 21 19 12
+f 21 12 14

bar_soap/bar_soap_1/collision/model_normalized_collision_15.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.19616704 -0.45926267 0.09050355
+v 0.19779159 -0.47798952 -0.06669713
+v 0.19598914 -0.26521166 -0.14421037
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+v 0.17847944 -0.32440153 -0.14592541
+v 0.19400729 -0.43535537 0.10767340
+v 0.17852157 -0.26540100 -0.14767511
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+f 22 20 11
+f 22 11 3
+f 22 3 20

bar_soap/bar_soap_1/collision/model_normalized_collision_16.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.19627357 -0.48571127 -0.05421075
+v 0.19565910 -0.46203993 -0.09324673
+v 0.19672485 -0.40151515 -0.05701364
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+v -0.28174675 -0.45947366 -0.06040489
+v -0.29397309 -0.45551014 -0.05458067
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bar_soap/bar_soap_1/collision/model_normalized_collision_17.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.19435704 -0.26519419 0.14124969
+v 0.19672485 -0.26515152 0.01874393
+v 0.19672485 0.41666668 0.01874393
+v 0.12069560 0.41498076 0.11930449
+v 0.12096727 -0.26515152 0.01874393
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+v 0.12060292 -0.26518845 0.14831534
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+v 0.17884963 0.32399234 0.13710253
+v 0.15046553 0.33923445 0.13817180
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+f 15 12 13

bar_soap/bar_soap_1/collision/model_normalized_collision_18.obj

@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.19672485 -0.00757575 0.01874393
+v 0.19550440 -0.00764140 -0.14082540
+v 0.19672485 0.09848485 0.01874393
+v 0.01490666 0.09848485 0.01874393
+v 0.01490666 -0.00757575 0.01874393
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+v 0.01490666 -0.00781415 -0.15020260
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+v 0.12014261 0.06792018 -0.14691139
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+f 12 10 8
+f 12 8 11

bar_soap/bar_soap_1/collision/model_normalized_collision_19.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01490666 -0.40151515 0.01874393
+v 0.01485016 -0.39786163 -0.13734675
+v 0.01490666 -0.26515152 0.01874393
+v -0.15176001 -0.26515152 0.01874393
+v -0.15176001 -0.40151515 0.01874393
+v 0.01490666 -0.26530170 -0.15496994
+v -0.15141603 -0.39793292 -0.13553132
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+v -0.15096191 -0.26535406 -0.15057239
+v -0.15086126 -0.35493452 -0.14673536
+v -0.13564294 -0.36557567 -0.14589758
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+f 10 6 8
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+f 11 8 7
+f 11 7 10

bar_soap/bar_soap_1/collision/model_normalized_collision_2.obj

@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.29521721 0.23483576 0.10820188
+v 0.32163142 0.23490076 -0.07946165
+v 0.27995528 0.45857613 0.05178912
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