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@@ -319,3 +319,6 @@ new_bookend/new_bookend_1/visual/eyddem__base_link__ior.exr filter=lfs diff=lfs
 new_bookend/new_bookend_8/visual/xqyxrq__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_goblet/new_goblet_0/visual/nawrfs__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 can/can_17/visual/model_normalized_2.obj filter=lfs diff=lfs merge=lfs -text
+chips/chips_9/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+chips/chips_10/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+chips/chips_4/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text

chips/chips_1/collision/model_normalized_collision_0.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
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chips/chips_1/collision/model_normalized_collision_1.obj

@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
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chips/chips_1/collision/model_normalized_collision_10.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
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chips/chips_1/collision/model_normalized_collision_11.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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chips/chips_1/collision/model_normalized_collision_12.obj

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+# https://github.com/mikedh/trimesh
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chips/chips_1/collision/model_normalized_collision_13.obj

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+# https://github.com/mikedh/trimesh
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chips/chips_1/collision/model_normalized_collision_14.obj

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+# https://github.com/mikedh/trimesh
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chips/chips_1/collision/model_normalized_collision_15.obj

@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
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chips/chips_1/collision/model_normalized_collision_16.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
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chips/chips_1/collision/model_normalized_collision_17.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
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chips/chips_1/collision/model_normalized_collision_18.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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+f 20 15 18

chips/chips_1/collision/model_normalized_collision_19.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.10720774 0.15764119 -0.06286855
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chips/chips_1/collision/model_normalized_collision_2.obj

@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.19323973 -0.28162807 0.04911152
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chips/chips_1/collision/model_normalized_collision_20.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.18322303 -0.26515152 -0.06637712
+v 0.18134303 -0.26413310 -0.13057872
+v 0.19351013 0.00091856 -0.09655623
+v 0.08221690 0.00705210 -0.11664208
+v 0.10746546 -0.26515152 -0.06637712
+v 0.11910909 -0.11614548 -0.14096856
+v 0.10729581 -0.26505293 -0.14010165
+v 0.07716243 -0.14393939 -0.06637712
+v 0.17692266 -0.08620111 -0.12374664
+v 0.12060211 -0.23402583 -0.14039679
+v 0.08096729 -0.14249806 -0.14500537
+v 0.11862521 -0.02830397 -0.12350235
+v 0.07697163 -0.08350668 -0.14046745
+v 0.10616428 -0.23410142 -0.14169084
+v 0.16432886 -0.01280914 -0.10916284
+v 0.10624545 -0.11597026 -0.14206023
+v 0.07564471 -0.02714260 -0.12766489
+v 0.17740608 -0.02759182 -0.11043465
+v 0.07664487 -0.00908144 -0.12204879
+v 0.18051385 -0.00984136 -0.10412438
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 8 7 5
+f 9 3 2
+f 9 2 6
+f 10 6 2
+f 10 2 7
+f 11 6 10
+f 11 7 8
+f 12 9 6
+f 13 12 6
+f 13 11 8
+f 14 11 10
+f 14 10 7
+f 14 7 11
+f 15 12 4
+f 15 4 3
+f 16 13 6
+f 16 6 11
+f 16 11 13
+f 17 4 12
+f 17 12 13
+f 17 13 8
+f 18 3 9
+f 18 9 12
+f 18 12 15
+f 19 17 8
+f 19 8 4
+f 19 4 17
+f 20 18 15
+f 20 15 3
+f 20 3 18

chips/chips_1/collision/model_normalized_collision_21.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.25622247 -0.08246406 0.07953572
+v 0.29711197 0.08474149 0.07750284
+v 0.26680963 0.23682135 0.11623528
+v 0.17927360 0.23736988 0.13691636
+v 0.31082561 0.23394606 0.08104451
+v 0.17897910 -0.02092620 0.11645963
+v 0.26654540 0.07120511 0.09728603
+v 0.31098916 0.19138092 0.07754894
+v 0.29567741 0.23630786 0.09968855
+v 0.17917774 0.10009564 0.13038389
+v 0.29100516 0.08655237 0.08241817
+v 0.22326697 -0.06588083 0.09742387
+v 0.18103708 -0.08232011 0.10839505
+v 0.30445527 0.23501214 0.08845113
+v 0.30281379 0.19189321 0.08732030
+v 0.29484641 0.20628785 0.09725103
+v 0.22415463 0.23606264 0.12896053
+v 0.25033249 -0.08060771 0.08272351
+v 0.22327940 0.04042714 0.11143150
+v 0.18801589 0.23429855 0.13121879
+v 0.19335651 0.10048297 0.12669035
+v 0.18945411 -0.08622154 0.10522271
+v 0.20872880 -0.08110973 0.09997801
+v 0.23625447 0.08635181 0.11246650
+v 0.22501527 0.22107615 0.12764443
+v 0.19395188 0.09421275 0.12587601
+f 8 2 1
+f 9 4 3
+f 9 8 5
+f 10 4 6
+f 11 7 1
+f 11 1 2
+f 13 8 1
+f 13 6 4
+f 13 5 8
+f 14 9 5
+f 14 5 4
+f 14 4 9
+f 15 2 8
+f 15 8 9
+f 16 9 3
+f 16 3 7
+f 16 7 11
+f 16 11 2
+f 16 15 9
+f 16 2 15
+f 17 3 4
+f 17 4 10
+f 18 1 7
+f 18 7 12
+f 19 6 13
+f 20 13 4
+f 20 4 5
+f 20 5 13
+f 22 13 1
+f 23 19 13
+f 23 12 19
+f 23 13 22
+f 23 18 12
+f 23 22 1
+f 23 1 18
+f 24 19 12
+f 24 12 7
+f 24 7 3
+f 25 17 10
+f 25 10 21
+f 25 3 17
+f 25 24 3
+f 25 21 24
+f 26 21 10
+f 26 10 6
+f 26 6 19
+f 26 24 21
+f 26 19 24

chips/chips_1/collision/model_normalized_collision_22.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.24310150 -0.46993812 -0.07415013
+v 0.31542480 -0.41391205 -0.05883082
+v 0.22445272 -0.39416538 -0.01904556
+v -0.26743389 -0.39474886 -0.03305528
+v -0.24321106 -0.40415646 -0.10266075
+v -0.14834865 -0.41969521 -0.02175747
+v 0.28776830 -0.45958616 -0.07094714
+v 0.25757917 -0.40233193 -0.09741185
+v 0.19650931 -0.43514442 -0.03850700
+v -0.22189846 -0.39444363 -0.01849678
+v -0.24455463 -0.47086095 -0.07498846
+v 0.29923726 -0.42295156 -0.05533348
+v 0.31218912 -0.39630403 -0.05068250
+v 0.25996741 -0.46455981 -0.09018883
+v 0.26900747 -0.43853430 -0.05431120
+v 0.24191420 -0.46268415 -0.06725085
+v -0.23192762 -0.46277965 -0.06603671
+v -0.28529423 -0.46019225 -0.07021569
+v 0.31752396 -0.40014991 -0.05499491
+v 0.31034377 -0.41006068 -0.05465531
+v 0.28422442 -0.45365752 -0.06648336
+v -0.29187659 -0.41041469 -0.04779021
+v -0.22212775 -0.45007726 -0.05375183
+v -0.16324658 -0.41887817 -0.02281560
+v -0.28517195 -0.39937046 -0.04055333
+f 8 5 4
+f 9 6 1
+f 9 3 6
+f 10 6 3
+f 10 3 4
+f 12 7 2
+f 13 8 4
+f 13 4 3
+f 14 8 2
+f 14 2 7
+f 14 7 1
+f 14 5 8
+f 14 11 5
+f 14 1 11
+f 15 3 9
+f 15 12 3
+f 16 9 1
+f 16 1 7
+f 16 7 9
+f 17 11 1
+f 17 1 6
+f 18 5 11
+f 18 11 17
+f 19 2 8
+f 19 8 13
+f 20 12 2
+f 20 19 13
+f 20 2 19
+f 20 13 3
+f 20 3 12
+f 21 15 9
+f 21 9 7
+f 21 7 12
+f 21 12 15
+f 22 5 18
+f 22 18 10
+f 23 18 17
+f 23 17 6
+f 24 6 10
+f 24 10 18
+f 24 23 6
+f 24 18 23
+f 25 4 5
+f 25 5 22
+f 25 22 10
+f 25 10 4

chips/chips_1/collision/model_normalized_collision_23.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.07716243 -0.14393939 -0.06637712
+v 0.11101843 -0.14247096 -0.14267987
+v 0.08221690 0.00705210 -0.11664208
+v -0.15832413 0.00391179 -0.10549257
+v -0.14928342 -0.14467599 -0.13633789
+v 0.11196744 -0.07924313 -0.13601922
+v 0.10636975 -0.14439225 -0.14310026
+v -0.15011030 -0.14393939 -0.06637712
+v -0.07227289 -0.07260305 -0.13952889
+v 0.07504529 -0.07267700 -0.13923424
+v -0.14627552 -0.05708445 -0.12452091
+v -0.07242308 -0.01319106 -0.12373427
+v -0.11840841 -0.14442876 -0.14218686
+v 0.10606476 -0.10116440 -0.13980521
+v 0.07520550 -0.01326882 -0.12347751
+v -0.11794266 -0.02827143 -0.12360117
+v -0.11830513 -0.11611635 -0.14111995
+v -0.14706506 -0.01183470 -0.11248134
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 10 7 9
+f 11 5 4
+f 12 4 3
+f 13 7 5
+f 14 10 6
+f 14 6 2
+f 14 2 7
+f 14 7 10
+f 15 3 6
+f 15 6 10
+f 15 12 3
+f 15 10 9
+f 15 9 12
+f 16 4 12
+f 16 12 9
+f 17 9 7
+f 17 7 13
+f 17 16 9
+f 17 11 16
+f 17 13 5
+f 17 5 11
+f 18 16 11
+f 18 11 4
+f 18 4 16

chips/chips_1/collision/model_normalized_collision_24.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.25561684 0.09659313 -0.04364328
+v 0.26629423 0.10259789 -0.03740830
+v -0.05920121 0.09848485 -0.02092257
+v -0.15073842 0.16062206 -0.05596617
+v 0.13382374 0.15093220 -0.06175915
+v -0.13215302 0.09392775 -0.08270156
+v 0.20729525 0.15240448 -0.04592163
+v 0.23726895 0.09459881 -0.05285778
+v -0.15461836 0.10584662 -0.07435478
+v -0.06197340 0.17561729 -0.05850702
+v 0.25993230 0.15975990 -0.02310192
+v 0.13487137 0.09378002 -0.08223071
+v -0.14942457 0.09737110 -0.07811228
+v -0.13128831 0.10767482 -0.07839350
+v 0.23476897 0.12220467 -0.04632459
+v 0.16543420 0.13750831 -0.06150865
+v 0.09095944 0.12273065 -0.07810308
+v -0.08816282 0.12277775 -0.07827237
+v 0.23674596 0.15399710 -0.03504010
+v 0.19409472 0.09420967 -0.06808005
+v 0.13400840 0.10753010 -0.07792663
+v -0.13110586 0.15110344 -0.06218966
+v 0.19281987 0.10808771 -0.06407405
+f 1 2 3
+f 8 1 3
+f 8 3 6
+f 8 2 1
+f 9 3 4
+f 10 7 5
+f 11 3 2
+f 11 7 10
+f 11 10 4
+f 11 4 3
+f 12 8 6
+f 13 9 6
+f 13 6 3
+f 13 3 9
+f 14 9 4
+f 14 6 9
+f 15 11 2
+f 15 2 8
+f 16 5 7
+f 17 10 5
+f 17 12 6
+f 18 6 14
+f 18 17 6
+f 18 10 17
+f 19 15 7
+f 19 7 11
+f 19 11 15
+f 20 7 15
+f 20 12 16
+f 20 15 8
+f 20 8 12
+f 21 16 12
+f 21 5 16
+f 21 17 5
+f 21 12 17
+f 22 18 14
+f 22 14 4
+f 22 4 10
+f 22 10 18
+f 23 20 16
+f 23 16 7
+f 23 7 20

chips/chips_1/collision/model_normalized_collision_25.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.28636159 -0.49592037 -0.08695286
+v -0.31365370 -0.26444499 -0.02117224
+v -0.28646782 -0.34090681 -0.09665978
+v -0.30556101 -0.27234243 -0.00807463
+v -0.33853995 -0.49441000 -0.08697420
+v -0.30333518 -0.26548720 -0.07694721
+v -0.28181964 -0.39384835 -0.03693489
+v -0.33776886 -0.41284337 -0.07014058
+v -0.33839463 -0.49408521 -0.08810917
+v -0.28183722 -0.45453964 -0.06631270
+v -0.33848545 -0.47394982 -0.08284483
+v -0.31137042 -0.26419705 -0.06549419
+v -0.28614406 -0.49575791 -0.08729285
+v -0.33876948 -0.45040507 -0.07923531
+v -0.33244713 -0.35999654 -0.06084155
+v -0.33291498 -0.37657738 -0.06621966
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 8 4 2
+f 9 1 5
+f 9 6 3
+f 10 3 7
+f 10 7 5
+f 10 5 1
+f 11 5 4
+f 11 4 8
+f 12 2 6
+f 13 9 3
+f 13 1 9
+f 13 10 1
+f 13 3 10
+f 14 6 9
+f 14 12 6
+f 14 8 12
+f 14 11 8
+f 14 9 5
+f 14 5 11
+f 15 8 2
+f 15 2 12
+f 16 15 12
+f 16 12 8
+f 16 8 15

chips/chips_1/collision/model_normalized_collision_26.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.19323973 -0.28162807 0.04911152
+v 0.30680167 -0.26407185 -0.07180142
+v 0.30988228 -0.00754642 0.01004704
+v 0.18322303 -0.00757576 0.00938046
+v 0.18134303 -0.26413310 -0.13057872
+v 0.30532065 -0.25983608 -0.00017118
+v 0.28044183 -0.26613835 -0.09836520
+v 0.18051385 -0.00984136 -0.10412438
+v 0.20976365 -0.26522143 -0.12558632
+v 0.29066444 -0.02675300 -0.05061847
+v 0.17834096 -0.11585857 -0.12788602
+v 0.30240664 -0.00945145 -0.02752940
+v 0.30035005 -0.16181096 -0.07146681
+v 0.17860175 -0.04084243 -0.11363952
+v 0.20742861 -0.16117775 -0.12409909
+v 0.24880148 -0.01279746 -0.07725393
+v 0.30106958 -0.05581159 -0.04243856
+v 0.25402275 -0.26510935 -0.11227511
+v 0.26467919 -0.11754401 -0.09308509
+v 0.23394208 -0.04198498 -0.09324885
+v 0.27590213 -0.17690422 -0.09377567
+v 0.26386600 -0.04325754 -0.07759132
+v 0.29047602 -0.08692205 -0.06548802
+v 0.20790657 -0.01221592 -0.09534582
+v 0.20677828 -0.05736607 -0.10754498
+v 0.29170153 -0.16262662 -0.07962871
+v 0.24966932 -0.17635229 -0.10803428
+v 0.27448403 -0.02719113 -0.06505723
+v 0.24850560 -0.07257404 -0.09229349
+v 0.27437652 -0.08714867 -0.07954721
+v 0.19218447 -0.04185620 -0.10915154
+v 0.23442618 -0.11752333 -0.10833582
+v 0.19224706 -0.11689737 -0.12347575
+f 1 3 4
+f 5 1 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 1
+f 8 4 3
+f 9 7 1
+f 9 1 5
+f 11 5 4
+f 12 3 2
+f 12 8 3
+f 13 2 7
+f 13 12 2
+f 14 11 4
+f 14 4 8
+f 15 9 5
+f 15 5 11
+f 16 12 10
+f 16 8 12
+f 17 13 10
+f 17 10 12
+f 17 12 13
+f 18 7 9
+f 18 9 15
+f 22 20 16
+f 23 10 13
+f 24 14 8
+f 24 8 16
+f 24 16 20
+f 25 11 14
+f 26 21 19
+f 26 13 7
+f 26 7 21
+f 26 23 13
+f 27 21 7
+f 27 7 18
+f 27 18 15
+f 27 19 21
+f 28 22 16
+f 28 16 10
+f 28 10 23
+f 29 22 19
+f 29 20 22
+f 30 19 22
+f 30 28 23
+f 30 22 28
+f 30 26 19
+f 30 23 26
+f 31 24 20
+f 31 20 25
+f 31 25 14
+f 31 14 24
+f 32 27 15
+f 32 19 27
+f 32 29 19
+f 32 25 20
+f 32 20 29
+f 33 32 15
+f 33 15 11
+f 33 11 25
+f 33 25 32

chips/chips_1/collision/model_normalized_collision_27.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.17868132 0.03645223 -0.09159695
+v -0.17604560 0.06385519 -0.08374350
+v -0.24074483 0.04689788 -0.06517186
+v -0.22636867 0.15962859 -0.03772832
+v -0.21995183 0.13758750 -0.04683509
+v -0.17676469 0.15517847 -0.05414700
+v -0.22415591 0.03648169 -0.07639265
+v -0.18436078 0.16438775 -0.04884665
+v -0.20471487 0.15264728 -0.04655286
+v -0.20492645 0.04729487 -0.07953118
+v -0.20616331 0.03416314 -0.08302078
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 3 4
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 9 6 5
+f 9 5 4
+f 9 8 6
+f 9 4 8
+f 10 7 5
+f 10 5 1
+f 10 1 7
+f 11 7 1
+f 11 1 3
+f 11 3 7

chips/chips_1/collision/model_normalized_collision_28.obj

@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.06166949 -0.15048668 0.11371292
+v -0.05920121 -0.14393939 -0.06637712
+v -0.06441516 0.00753076 -0.11828186
+v -0.15639817 -0.01226223 0.12190776
+v -0.15011030 -0.14393939 -0.06637712
+v -0.06291040 -0.01322662 0.13269879
+v -0.15338357 -0.14802398 0.10273644
+v -0.15832413 0.00391179 -0.10549257
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7

chips/chips_1/collision/model_normalized_collision_29.obj

@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01868178 -0.29204013 0.06325629
+v 0.01625035 -0.26155456 0.07671309
+v -0.06409297 -0.29052794 0.06193510
+v -0.06291040 -0.01322662 0.13269879
+v 0.01655637 -0.00757576 0.00938046
+v -0.05880807 -0.26092121 0.07531494
+v 0.01767179 -0.01337542 0.13393028
+v -0.05920121 -0.00757576 0.00938046
+v -0.05931890 -0.26641797 0.07292732
+f 5 1 3
+f 6 2 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 7 4 2
+f 8 5 3
+f 8 3 4
+f 8 4 5
+f 9 1 2
+f 9 2 6
+f 9 6 3
+f 9 3 1

chips/chips_1/collision/model_normalized_collision_3.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.31319785 0.23388960 0.06875745
+v 0.30887210 0.23091587 0.03331697
+v 0.31239223 0.27953393 0.04824198
+v -0.25212942 0.28157950 0.12210056
+v -0.25786489 0.22812698 0.11818652
+v -0.17776561 0.22952666 -0.02366310
+v 0.07648777 0.28009365 0.14720934
+v 0.31923494 0.28037684 0.06984579
+v 0.07607931 0.23535722 0.14640364
+v 0.18047747 0.22932065 -0.02321114
+v -0.23724295 0.27571451 0.00641819
+v -0.05893803 0.23533054 0.14775445
+v 0.26577720 0.27263476 0.01401823
+v 0.28076261 0.23017537 0.00949614
+v 0.06060727 0.27332701 -0.01772294
+v -0.23666081 0.23002079 -0.00910998
+v -0.05847519 0.28011514 0.14820118
+v 0.23918666 0.22971161 -0.00833304
+v 0.29453471 0.26051697 0.02636367
+v -0.07292375 0.27297836 -0.01694387
+v 0.21057319 0.27200606 -0.00110829
+v -0.23482520 0.25820789 -0.00047736
+v 0.27853127 0.24483128 0.01261491
+v -0.20785694 0.27215127 -0.00147718
+v 0.13524971 0.25782299 -0.01694922
+v 0.23875494 0.24424487 -0.00406575
+v -0.13243978 0.25799619 -0.01717722
+v 0.17947730 0.24377869 -0.01756227
+v -0.17771587 0.24266043 -0.01827233
+f 8 1 2
+f 8 2 3
+f 8 3 4
+f 8 4 7
+f 9 5 2
+f 9 2 1
+f 9 8 7
+f 9 1 8
+f 10 5 6
+f 11 4 3
+f 11 5 4
+f 12 9 7
+f 12 4 5
+f 12 5 9
+f 14 2 5
+f 15 10 6
+f 15 11 3
+f 16 6 5
+f 16 5 11
+f 17 12 7
+f 17 7 4
+f 17 4 12
+f 18 14 5
+f 18 5 10
+f 18 13 14
+f 19 13 3
+f 19 3 2
+f 19 2 14
+f 20 15 6
+f 20 11 15
+f 21 15 3
+f 21 3 13
+f 22 16 11
+f 22 6 16
+f 23 19 14
+f 23 14 13
+f 23 13 19
+f 24 11 20
+f 24 22 11
+f 24 6 22
+f 25 10 15
+f 25 15 21
+f 26 18 10
+f 26 10 21
+f 26 21 13
+f 26 13 18
+f 27 24 20
+f 27 20 6
+f 28 25 21
+f 28 21 10
+f 28 10 25
+f 29 27 6
+f 29 6 24
+f 29 24 27

chips/chips_1/collision/model_normalized_collision_30.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.14935406 0.23501562 0.13951013
+v -0.15011030 0.23484848 0.06998652
+v -0.15029882 0.42296087 0.06019227
+v -0.24047032 0.41625437 0.12213782
+v -0.25786489 0.22812698 0.11818652
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+v -0.22262158 0.23614254 0.12941903
+v -0.24103317 0.41674252 0.06982827
+v -0.20786517 0.41465307 0.12850751
+v -0.23927969 0.23529160 0.12463719
+v -0.22226284 0.37081625 0.12816114
+f 1 2 3
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+f 6 1 3
+f 6 3 4
+f 7 5 1
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+f 8 5 4
+f 8 4 3
+f 9 6 4
+f 9 1 6
+f 10 4 5
+f 10 5 7
+f 11 7 1
+f 11 1 9
+f 11 9 4
+f 11 10 7
+f 11 4 10

chips/chips_1/collision/model_normalized_collision_31.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.12979039 -0.36946935 0.01384404
+v 0.19700071 -0.34044298 -0.12067983
+v 0.19837455 -0.26515152 -0.02092257
+v 0.12261697 -0.26515152 -0.02092257
+v 0.12168449 -0.33948359 -0.13240615
+v 0.12817516 -0.36303846 0.01775553
+v 0.20532841 -0.35541579 0.00714655
+v 0.19610681 -0.26392306 -0.12819537
+v 0.18013325 -0.33879374 -0.12440406
+v 0.12210910 -0.26497174 -0.13857252
+v 0.18134303 -0.26413310 -0.13057872
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 7 2
+f 8 3 7
+f 8 4 3
+f 9 8 2
+f 9 2 5
+f 10 5 4
+f 10 4 8
+f 11 9 5
+f 11 5 10
+f 11 10 8
+f 11 8 9

chips/chips_1/collision/model_normalized_collision_4.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.18102882 -0.26125256 0.06145988
+v 0.20172704 -0.13650069 -0.12309493
+v 0.19072069 -0.14938640 0.09346977
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+v -0.14923370 -0.26454080 -0.13473598
+v 0.10966412 -0.14967185 0.10969158
+v 0.09099620 -0.26438570 -0.14149409
+v -0.14948146 -0.26312752 0.06551475
+v -0.14928342 -0.14467599 -0.13633789
+v 0.18322303 -0.26515152 -0.06637712
+v 0.01731103 -0.15076049 0.11493288
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+v 0.10610394 -0.24920875 -0.14096944
+v 0.01625035 -0.26155456 0.07671309
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+v -0.13257253 -0.18916256 -0.14030849
+v -0.13122159 -0.14452352 -0.13949800
+v 0.10628135 -0.25932310 0.07258676
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+f 19 15 1
+f 19 1 6
+f 19 6 11
+f 19 11 15

chips/chips_1/collision/model_normalized_collision_5.obj

@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
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+v 0.19610681 -0.26392306 -0.12819537
+v 0.28044183 -0.26613835 -0.09836520
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+v 0.25767842 -0.49560076 -0.08706778
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+v 0.33877571 -0.41272266 -0.06998999
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+v 0.33346368 -0.35996824 -0.06078272
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+v 0.33535281 -0.37596628 -0.06347433
+v 0.33337309 -0.36034674 -0.05928999
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+f 24 21 4
+f 24 4 14
+f 24 14 23

chips/chips_1/collision/model_normalized_collision_6.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.22288912 -0.00620588 0.10533003
+v -0.22335993 -0.00964825 -0.08932109
+v -0.23993783 0.44369892 0.11975572
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chips/chips_1/collision/model_normalized_collision_7.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.30142079 0.10110990 0.07399850
+v 0.30750638 0.09710086 0.00166750
+v 0.31082561 0.23394606 0.08104451
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+f 37 22 34

chips/chips_1/collision/model_normalized_collision_8.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.18653504 -0.14634554 0.09551148
+v 0.20172704 -0.13650069 -0.12309493
+v 0.17950315 -0.00599709 0.11820480
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+v -0.05920121 -0.14393939 -0.06637712
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+v 0.10671552 -0.08233200 0.12134594
+v 0.01731103 -0.15076049 0.11493288
+v 0.19351013 0.00091856 -0.09655623
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+v -0.05920121 -0.14393939 0.00938046
+v 0.17781789 -0.05098272 0.11306970
+f 1 2 3
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+f 13 6 5
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+f 14 12 1
+f 14 1 3
+f 14 3 12

chips/chips_1/collision/model_normalized_collision_9.obj

@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.33329205 0.34073682 0.08083067
+v -0.28631303 0.49579958 0.11204799
+v 0.15124895 0.35015303 0.02260708
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+v -0.14965208 0.35549287 0.13840502
+v 0.07704842 0.46102923 0.08277079
+v 0.28563414 0.35040103 0.05269511
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chips/chips_1/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="chips_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lays.001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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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_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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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_26._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_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"/>
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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_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="3.847574999999158e-06 -2.6679274999998884e-05 -0.02102577864999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="3.847574999999158e-06 -2.6679274999998884e-05 0.021489171099999992" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04912926974999999 0.07189134364999998 0.00023169622499999947" name="horizontal_radius_site"/>
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+  </worldbody>
+</mujoco>

chips/chips_1/visual/material.mtl

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

chips/chips_10/collision/model_normalized_collision_0.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.24613070 -0.10360636 0.18944376
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chips/chips_10/collision/model_normalized_collision_1.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.28814362 -0.00991465 -0.35587681
+v 0.28608260 -0.00621170 -0.44603590
+v 0.23471706 0.09629244 -0.35146078
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chips/chips_10/collision/model_normalized_collision_10.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+f 59 10 41
+f 60 44 29
+f 60 29 5
+f 60 35 44
+f 61 5 29
+f 61 29 45
+f 61 45 52
+f 61 60 5
+f 62 34 22
+f 62 22 50
+f 62 50 21
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+f 63 29 22
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+f 63 51 45
+f 63 45 29
+f 64 36 35
+f 64 35 60
+f 64 61 52
+f 64 60 61
+f 64 52 13
+f 64 13 36

chips/chips_10/collision/model_normalized_collision_11.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.13793570 0.06649867 0.14393940
+v -0.13793570 0.06649867 -0.23484850
+v -0.13606658 0.15728683 -0.17163484
+v -0.19492930 0.14144694 0.20118187
+v -0.27321906 0.06600495 0.22009031
+v -0.13616817 0.15645083 0.17124303
+v -0.27207224 0.06561760 -0.23598318
+v -0.21058627 0.11790683 0.28025494
+v -0.17908907 0.15382242 0.14211903
+v -0.13987949 0.13984042 -0.24353260
+v -0.24552579 0.11387282 -0.23535710
+v -0.25598231 0.09840015 0.26899464
+v -0.14245757 0.15023040 0.19805465
+v -0.15057184 0.15469673 0.17105737
+v -0.17782256 0.15415223 -0.12773742
+v -0.26269793 0.08991109 -0.23813663
+v -0.20774142 0.13881583 -0.20238944
+v -0.23680845 0.11142486 0.26810650
+v -0.23224084 0.12366260 0.21634369
+v -0.20369361 0.12171380 0.27241292
+v -0.13741363 0.15291722 0.18841933
+v -0.26282108 0.09035670 0.22222745
+v -0.18042198 0.13922832 -0.23057410
+v -0.16468388 0.15490823 -0.15704815
+v -0.20772827 0.13816134 0.20066916
+v -0.24571611 0.11285511 0.21942670
+v -0.23320884 0.12421422 -0.23083307
+v -0.15190680 0.14261138 -0.23078450
+v -0.15055207 0.15529269 -0.17163130
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 6 3
+f 10 3 2
+f 10 2 7
+f 12 5 8
+f 14 9 4
+f 14 6 9
+f 14 4 13
+f 15 9 3
+f 16 11 10
+f 16 10 7
+f 16 7 5
+f 17 9 15
+f 18 12 8
+f 19 12 18
+f 20 13 4
+f 20 8 1
+f 20 1 13
+f 21 13 1
+f 21 1 6
+f 21 14 13
+f 21 6 14
+f 22 11 16
+f 22 16 5
+f 22 5 12
+f 24 17 15
+f 24 15 3
+f 25 18 8
+f 25 19 18
+f 25 4 9
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+f 25 20 4
+f 25 8 20
+f 26 12 19
+f 26 22 12
+f 26 11 22
+f 27 26 19
+f 27 11 26
+f 27 17 23
+f 27 23 10
+f 27 10 11
+f 27 25 17
+f 27 19 25
+f 28 23 3
+f 28 3 10
+f 28 10 23
+f 29 23 17
+f 29 17 24
+f 29 24 3
+f 29 3 23

chips/chips_10/collision/model_normalized_collision_12.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.27277521 0.08327298 0.31080358
+v 0.29127460 0.04646481 -0.32038579
+v 0.23356776 0.11781295 -0.15876811
+v 0.23549730 0.11347215 0.27704999
+v 0.27490097 0.03973774 -0.36568186
+v 0.24608364 0.10881195 0.27627030
+v 0.26492693 0.08711362 -0.23415359
+v 0.27239348 0.06064027 0.17269182
+v 0.23846242 0.09315931 -0.35462996
+v 0.24895918 0.09855618 0.31438115
+v 0.28591738 0.05682374 -0.31910915
+v 0.24168475 0.11097477 -0.15872912
+v 0.29009185 0.04660361 -0.23536798
+v 0.23814471 0.10441359 0.30861855
+v 0.23592473 0.09937070 -0.33798261
+v 0.25985726 0.09416582 0.30706020
+v 0.26825161 0.06551353 0.21955359
+v 0.24491932 0.08430673 -0.35792295
+v 0.26055506 0.05540575 -0.35668187
+v 0.24451158 0.09522505 -0.33593693
+v 0.25322303 0.08187630 -0.34562308
+f 6 3 4
+f 10 6 4
+f 11 7 1
+f 11 1 2
+f 11 2 5
+f 12 6 1
+f 12 1 7
+f 12 7 3
+f 12 3 6
+f 13 8 5
+f 13 5 2
+f 13 2 1
+f 13 1 8
+f 14 10 4
+f 15 4 3
+f 15 14 4
+f 15 9 14
+f 16 10 1
+f 16 1 6
+f 16 6 10
+f 17 8 1
+f 17 1 10
+f 17 10 14
+f 17 5 8
+f 19 14 9
+f 19 17 14
+f 19 5 17
+f 19 18 5
+f 19 9 18
+f 20 15 3
+f 20 3 7
+f 20 7 11
+f 20 9 15
+f 21 11 5
+f 21 5 18
+f 21 18 9
+f 21 20 11
+f 21 9 20

chips/chips_10/collision/model_normalized_collision_13.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.33074958 -0.00549315 -0.44615567
+v 0.33074619 -0.00083415 -0.49874596
+v 0.32720894 0.00504645 -0.44467481
+v -0.24408332 0.02013916 -0.44550731
+v -0.24413072 -0.01307025 -0.45148216
+v 0.33009404 0.00015401 -0.49976377
+v 0.33019633 0.00247976 -0.46045264
+v -0.33774173 -0.00069258 -0.49669488
+v -0.34166589 -0.00143805 -0.46254889
+v -0.34154977 -0.00064914 -0.46302880
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 8 5
+f 9 5 4
+f 10 9 4
+f 10 4 8
+f 10 8 9

chips/chips_10/collision/model_normalized_collision_14.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.34117912 -0.00016062 0.46322375
+v 0.32658860 -0.00979520 0.40042756
+v 0.25355902 0.06913051 0.39508239
+v -0.29717085 0.05210709 0.39616732
+v -0.34193782 -0.00142037 0.46232508
+v -0.32419674 -0.00622318 0.39849482
+v 0.31639424 0.02907562 0.40020850
+v -0.25482904 0.03981099 0.43070290
+v 0.22732889 0.07143750 0.39395918
+v -0.32296386 0.02828837 0.39625132
+v 0.34069923 0.00127537 0.46218824
+v 0.29246619 0.05254529 0.39637318
+v -0.26951636 0.04892284 0.41816949
+v -0.33649675 -0.00255142 0.43843066
+v -0.34165501 -0.00010189 0.46272618
+v 0.28162102 0.04818201 0.42160925
+v 0.25388777 0.06325754 0.40599311
+v -0.29602050 0.04788459 0.40666420
+v -0.31867499 0.00289688 0.46045163
+v 0.29133770 0.03809210 0.43086446
+v 0.29086392 0.04856932 0.41020582
+f 5 2 1
+f 6 2 5
+f 9 2 6
+f 10 9 6
+f 10 4 9
+f 11 1 2
+f 11 2 7
+f 12 7 2
+f 12 11 7
+f 12 9 3
+f 12 2 9
+f 13 9 4
+f 14 10 6
+f 14 6 5
+f 14 5 10
+f 15 10 5
+f 15 4 10
+f 15 8 13
+f 15 5 1
+f 15 1 11
+f 17 13 8
+f 17 9 13
+f 17 8 16
+f 17 16 3
+f 17 3 9
+f 18 15 13
+f 18 13 4
+f 18 4 15
+f 19 15 11
+f 19 11 8
+f 19 8 15
+f 20 16 8
+f 20 8 11
+f 20 11 16
+f 21 12 3
+f 21 3 16
+f 21 16 11
+f 21 11 12

chips/chips_10/collision/model_normalized_collision_15.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.23743912 -0.10074952 -0.33736906
+v 0.27082225 -0.00381275 -0.46134749
+v 0.28843280 -0.01493816 -0.34707665
+v -0.32002659 -0.00533214 -0.35925375
+v -0.28161698 -0.05302101 -0.40983187
+v -0.31551133 -0.00820319 -0.34186603
+v 0.26593398 -0.06644332 -0.40522188
+v -0.18327406 -0.00440676 -0.46116209
+v -0.21209919 -0.10195978 -0.33575287
+v -0.30198063 -0.04451014 -0.34371108
+v 0.26766327 -0.05593140 -0.41671837
+v 0.26101059 -0.08925627 -0.33915469
+v -0.30793091 -0.01792890 -0.42204260
+v 0.23839495 -0.09710590 -0.35084637
+v -0.23957095 -0.08038729 -0.37772207
+v -0.31622146 -0.01821979 -0.35945501
+v -0.26294068 -0.08343998 -0.33815592
+v 0.24089862 -0.00528853 -0.46111599
+v -0.32411821 -0.00618526 -0.38676103
+v -0.30685789 -0.04224589 -0.38534023
+v 0.25934243 -0.08071824 -0.37927394
+v 0.21250866 -0.06808501 -0.40247949
+v -0.21225587 -0.09684788 -0.34835510
+v -0.26315487 -0.08049605 -0.35158157
+v -0.29279178 -0.05179037 -0.39544071
+v -0.32007065 -0.01964304 -0.38723046
+v -0.26660032 -0.06579451 -0.39401001
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 8 4 2
+f 9 1 6
+f 11 2 3
+f 11 3 7
+f 11 5 8
+f 12 7 3
+f 12 3 1
+f 13 8 5
+f 14 1 9
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+f 16 6 4
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+f 17 6 10
+f 18 11 8
+f 18 8 2
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+f 19 4 8
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+f 19 16 4
+f 20 17 10
+f 21 12 1
+f 21 1 14
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+f 22 15 5
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+f 22 11 7
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+f 23 15 14
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+f 26 16 19
+f 26 20 10
+f 26 10 16
+f 27 5 15
+f 27 15 24
+f 27 25 5
+f 27 24 25

chips/chips_10/collision/model_normalized_collision_16.obj

@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.26892527 -0.08317743 -0.23488424
+v 0.33730899 0.00015212 -0.49669488
+v 0.30041626 -0.00635856 -0.22095738
+v 0.28464026 0.05815647 -0.23422174
+v 0.27111739 -0.00861342 -0.44660331
+v 0.33236428 -0.00376378 -0.39356229
+v 0.27971637 -0.06624154 -0.21996956
+v 0.26517523 -0.07197937 -0.39656901
+v 0.28081248 0.04178832 -0.41047998
+v 0.29746998 0.02010152 -0.21999292
+v 0.33244142 -0.00626686 -0.39260061
+v 0.33009404 0.00015401 -0.49976377
+v 0.28993020 -0.05267371 -0.40724596
+v 0.26600646 0.04663937 -0.35552219
+v 0.29009185 0.04660361 -0.23536798
+v 0.29824449 0.01698741 -0.22105981
+v 0.28580895 -0.05447698 -0.21971990
+v 0.31454924 -0.02807091 -0.39622965
+v 0.27415431 -0.07614677 -0.23549976
+v 0.26766327 -0.05593140 -0.41671837
+v 0.33074619 -0.00083415 -0.49874596
+v 0.27415234 -0.06728239 -0.39651656
+v 0.30150967 -0.04250400 -0.40696705
+v 0.26695689 -0.03364147 -0.43068447
+v 0.28324406 -0.05986204 -0.22045779
+f 6 2 4
+f 7 4 1
+f 9 4 2
+f 10 4 7
+f 11 2 6
+f 12 9 2
+f 12 5 9
+f 14 8 1
+f 14 1 4
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+f 15 10 6
+f 15 6 4
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+f 16 11 6
+f 16 3 11
+f 17 10 7
+f 17 3 10
+f 17 11 3
+f 18 11 1
+f 18 2 11
+f 19 11 7
+f 19 7 1
+f 19 1 11
+f 21 12 2
+f 21 2 8
+f 21 20 12
+f 21 8 20
+f 22 8 2
+f 22 2 13
+f 22 13 1
+f 22 1 8
+f 23 13 2
+f 23 1 13
+f 23 18 1
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+f 24 14 5
+f 24 8 14
+f 24 20 8
+f 24 5 12
+f 24 12 20
+f 25 17 7
+f 25 7 11
+f 25 11 17

chips/chips_10/collision/model_normalized_collision_17.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.28339904 -0.01700142 0.00844769
+v 0.30091873 -0.00914570 -0.23489110
+v 0.19381316 0.13132285 -0.24319254
+v 0.01357946 0.08165018 0.00757576
+v 0.01357946 -0.00925891 -0.23484850
+v 0.26811057 0.07287670 0.00649885
+v 0.01357946 -0.00925891 0.00757576
+v 0.02057711 0.12921095 -0.25902153
+v 0.18024614 0.08165018 0.00757576
+v 0.28250893 0.04609774 -0.10056441
+v 0.28478665 0.05798450 -0.23555969
+f 5 2 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 3
+f 9 3 4
+f 9 4 1
+f 9 1 6
+f 10 6 1
+f 10 1 2
+f 11 10 2
+f 11 2 3
+f 11 3 6
+f 11 6 10

chips/chips_10/collision/model_normalized_collision_18.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.24667983 -0.11055705 0.26692159
+v 0.30325371 -0.03524854 0.31388507
+v 0.28787009 -0.06631122 0.30947664
+v 0.26568676 0.08949165 0.30947317
+v 0.27238401 0.05894155 0.18877449
+v 0.27283022 -0.06188155 0.18819131
+v 0.25990504 0.09140483 0.21468450
+v 0.30269780 0.03237102 0.31381531
+v 0.29626211 -0.05235640 0.31166844
+v 0.26437718 -0.09556690 0.26602861
+v 0.29881435 0.01757129 0.28521332
+v 0.26230314 0.09466350 0.26359960
+v 0.24613070 -0.10360636 0.18944376
+v 0.28293830 0.07070007 0.29741768
+v 0.27465945 -0.07895968 0.26764304
+v 0.29870998 -0.02127751 0.28558196
+v 0.25490529 -0.08995773 0.18848665
+v 0.26090560 0.07804463 0.19041419
+v 0.27289989 0.08337149 0.30897149
+v 0.28407114 0.07011018 0.31135419
+f 1 3 4
+f 3 2 4
+f 8 4 2
+f 9 6 2
+f 9 2 3
+f 10 3 1
+f 11 6 5
+f 11 8 2
+f 11 5 8
+f 12 7 1
+f 12 1 4
+f 13 1 7
+f 13 10 1
+f 14 8 5
+f 14 5 7
+f 14 7 12
+f 15 9 3
+f 15 6 9
+f 15 10 6
+f 15 3 10
+f 16 11 2
+f 16 2 6
+f 16 6 11
+f 17 6 10
+f 17 10 13
+f 17 5 6
+f 18 13 7
+f 18 7 5
+f 18 17 13
+f 18 5 17
+f 19 12 4
+f 20 14 12
+f 20 12 19
+f 20 8 14
+f 20 19 4
+f 20 4 8

chips/chips_10/collision/model_normalized_collision_19.obj

@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.17371524 -0.15278230 0.14742167
+v 0.16848411 -0.13782492 -0.24014573
+v 0.16509462 -0.00925891 0.14393940
+v -0.13793570 -0.00925891 0.14393940
+v -0.15053053 -0.16434937 0.00775572
+v -0.12278418 -0.00925891 -0.23484850
+v -0.14426814 -0.15791113 0.14973312
+v 0.16509462 -0.00925891 -0.23484850
+v -0.13793570 -0.00925891 0.00757576
+v -0.12208512 -0.14184861 -0.24315525
+f 5 2 1
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 2 5
+f 10 5 6
+f 10 8 2
+f 10 6 8