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bagel/bagel_1/collision/model_normalized_collision_0.obj

@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_1/collision/model_normalized_collision_1.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.26107887 -0.16395451 -0.06163854
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+v 0.27465273 -0.00678119 -0.06930251
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bagel/bagel_1/collision/model_normalized_collision_10.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00504755 -0.27274126 0.12571277
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bagel/bagel_1/collision/model_normalized_collision_11.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.04373699 -0.30845930 0.06728972
+v 0.28034619 -0.13402823 0.02517883
+v 0.19835605 -0.21877019 0.02868234
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bagel/bagel_1/collision/model_normalized_collision_12.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.04099118 -0.31296641 0.06243222
+v 0.09133947 -0.28295266 -0.05346594
+v 0.09362355 -0.26884725 0.07195394
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bagel/bagel_1/collision/model_normalized_collision_13.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_1/collision/model_normalized_collision_14.obj

@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_1/collision/model_normalized_collision_15.obj

@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_1/collision/model_normalized_collision_16.obj

@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_1/collision/model_normalized_collision_17.obj

@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_1/collision/model_normalized_collision_18.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_1/collision/model_normalized_collision_19.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_1/collision/model_normalized_collision_2.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.19327521 -0.23078714 0.17177216
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bagel/bagel_1/collision/model_normalized_collision_20.obj

@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_1/collision/model_normalized_collision_21.obj

@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
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+f 42 33 40

bagel/bagel_1/collision/model_normalized_collision_22.obj

@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.30287931 -0.00759517 0.08418848
+v 0.31761275 -0.01222028 -0.02867446
+v 0.31616630 0.02327280 0.06623975
+v 0.29483778 0.10010042 0.08473839
+v 0.24800578 0.05804255 -0.06192810
+v 0.31334169 0.04796647 0.01287350
+v 0.30147163 0.07096692 0.08942579
+v 0.31586515 -0.00527349 0.06113260
+v 0.28220034 -0.00455645 -0.05690126
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+v 0.28783072 -0.00959584 -0.04739704
+v 0.27898072 0.08633608 -0.00985396
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+v 0.29812991 0.09130979 0.08092351
+v 0.29331766 0.10272609 0.05202870
+v 0.25363852 0.07601359 -0.04846895
+v 0.30819653 0.03984552 -0.00675205
+v 0.30359333 0.07291307 0.01870794
+v 0.27302770 0.06101307 -0.03816887
+v 0.31555289 -0.00093776 -0.02486015
+f 7 1 3
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+f 21 14 19
+f 22 19 6
+f 22 6 2
+f 22 21 19
+f 22 2 21

bagel/bagel_1/collision/model_normalized_collision_23.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.08861315 -0.28725262 -0.04687771
+v 0.09533257 -0.27258551 -0.06454628
+v 0.09080978 -0.17413422 -0.12630582
+v -0.07218179 -0.19286273 -0.04356555
+v -0.06888427 -0.26924448 -0.07047714
+v 0.05361646 -0.16900573 -0.10989073
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+v -0.07585660 -0.27844497 -0.05158395
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+v -0.05089789 -0.23972393 -0.08010342
+v -0.04006481 -0.26477869 -0.08311028
+f 1 2 3
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+f 28 16 21

bagel/bagel_1/collision/model_normalized_collision_24.obj

@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.08290424 -0.02670972 0.17174791
+v 0.20438843 0.00970074 0.15669820
+v 0.09767862 0.01776116 0.22150498
+v 0.13383645 0.07016450 0.22984883
+v 0.09772071 -0.01593808 0.11370844
+v 0.18771486 0.06203052 0.20166791
+v 0.08434276 -0.01433382 0.19819473
+v 0.14099767 -0.02187516 0.11125991
+v 0.10338308 0.04029548 0.23088592
+v 0.18804155 0.01720187 0.17435271
+v 0.18980952 0.07322182 0.20565576
+v 0.19716008 -0.00845621 0.14704544
+v 0.08575485 -0.02514794 0.11796994
+v 0.11278517 0.02338986 0.21919308
+v 0.19957760 0.06672713 0.19567862
+v 0.15882208 0.07402290 0.22031625
+v 0.09007600 -0.00590657 0.20387005
+f 9 7 3
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+f 17 14 3
+f 17 3 7
+f 17 7 12
+f 17 12 14

bagel/bagel_1/collision/model_normalized_collision_25.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.08747566 -0.17684012 0.10400584
+v 0.10941040 -0.11634700 0.08438914
+v 0.02122998 -0.07967704 0.13209404
+v 0.00515591 -0.17174781 0.15099836
+v -0.01124196 -0.08033127 0.06753828
+v 0.09099559 -0.09250675 0.06318429
+v 0.03620819 -0.17994012 0.12906883
+v -0.00058994 -0.10249734 0.11775468
+v 0.10403082 -0.14687138 0.08873545
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+v 0.10853737 -0.10048763 0.07829492
+v -0.00215881 -0.11327269 0.08871486
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+v 0.00956376 -0.09349095 0.12855975
+v 0.09498060 -0.16797807 0.09747046
+v 0.04983470 -0.09445176 0.06245828
+v 0.10516694 -0.13978997 0.08661357
+v 0.00198188 -0.11675691 0.13019261
+v 0.09180911 -0.10643527 0.06892334
+f 1 2 3
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+f 19 14 15
+f 20 16 10
+f 20 10 6
+f 20 6 9
+f 20 9 16

bagel/bagel_1/collision/model_normalized_collision_26.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.14418148 0.10671146 -0.02496655
+v 0.19763623 0.15611025 -0.01667545
+v 0.20056675 0.19170450 0.08491336
+v 0.11959901 0.23199018 0.08466278
+v 0.12887806 0.20751294 0.03892906
+v 0.18872483 0.20158155 0.01805327
+v 0.11783746 0.11848759 0.00025136
+v 0.15516711 0.10927778 -0.02943739
+v 0.19712335 0.19221880 0.00698065
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+v 0.12706846 0.22317500 0.05221879
+v 0.12679282 0.10822828 -0.01340824
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+v 0.15862350 0.12111478 -0.02495855
+v 0.19110124 0.20396846 0.08663368
+v 0.19770928 0.16681383 -0.00988483
+v 0.15998480 0.21925170 0.04183679
+v 0.15885565 0.20679498 0.02542433
+v 0.17190853 0.16582883 -0.00412625
+v 0.18692133 0.20752717 0.08317828
+f 8 2 3
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+f 20 14 2
+f 20 2 15
+f 21 16 6
+f 21 6 10
+f 21 10 16

bagel/bagel_1/collision/model_normalized_collision_27.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.26584708 -0.13612700 0.04482651
+v 0.31704868 -0.06547677 -0.03217838
+v 0.30175970 -0.10510695 0.01438480
+v 0.31255204 -0.00658328 0.06569525
+v 0.26764360 -0.00894623 -0.07710686
+v 0.31451310 -0.05947929 0.03116375
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+f 28 12 22

bagel/bagel_1/collision/model_normalized_collision_28.obj

@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.24317509 -0.07209842 0.18520252
+v -0.12535272 -0.01887746 0.07764197
+v -0.23658597 -0.06527513 0.19565258
+v -0.21695043 -0.00493869 0.19462417
+v -0.26487184 -0.04965866 0.15149515
+v -0.22077016 -0.01839461 0.19690095
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+v -0.22449339 -0.01294693 0.15441734
+v -0.12315121 -0.00653419 0.08157821
+v -0.22863567 -0.01409231 0.18369873
+v -0.15497783 -0.05136244 0.07840101
+v -0.20063200 -0.07438400 0.09781843
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+v -0.26445040 -0.05902621 0.15039676
+v -0.26464758 -0.05843966 0.15084786
+f 5 1 3
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+f 14 5 12
+f 15 14 1
+f 15 1 5
+f 15 5 14

bagel/bagel_1/collision/model_normalized_collision_29.obj

@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00698229 -0.09029459 0.19175419
+v 0.09087416 -0.05109589 0.06702784
+v 0.08198941 -0.06671956 0.05901971
+v 0.09397656 -0.01625662 0.17852385
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+v 0.04038695 -0.05120906 0.19869249
+v 0.09089679 -0.01542633 0.08019598
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+v 0.01545469 -0.07826267 0.19607116
+v 0.09146113 -0.04553621 0.07225160
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+v 0.08738962 -0.01653291 0.08222309
+v 0.05111773 -0.04385236 0.19551668
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+f 14 9 1
+f 14 1 4
+f 14 6 9
+f 14 12 6
+f 14 4 12

bagel/bagel_1/collision/model_normalized_collision_3.obj

@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.02637709 -0.06095746 0.03327677
+v 0.19690933 0.03730345 -0.08139169
+v 0.19604745 0.11645650 -0.04126936
+v 0.05781108 0.11578487 0.03456304
+v 0.06651566 -0.05667941 -0.05857152
+v 0.05690486 -0.00670856 0.04388756
+v 0.14770600 -0.01993893 -0.08787515
+v -0.06118931 -0.00711662 0.05265625
+v 0.08370065 0.12247761 0.02527725
+v 0.05266115 -0.03888090 0.03994460
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+v 0.04176082 -0.05767860 -0.03238298
+v -0.05744855 0.01973405 0.06035536
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+v 0.13086153 0.10296037 -0.01913588
+v 0.19504861 0.06144355 -0.07066220
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bagel/bagel_1/collision/model_normalized_collision_30.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.07918084 0.11558509 0.12591829
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bagel/bagel_1/collision/model_normalized_collision_31.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.17894724 0.19923312 0.17363462
+v 0.18530711 0.20867835 0.08460452
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bagel/bagel_1/collision/model_normalized_collision_4.obj

@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
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+v 0.30350842 -0.04855205 0.06200279
+v 0.25194858 -0.00221550 0.13336280
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bagel/bagel_1/collision/model_normalized_collision_5.obj

@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.28579888 -0.00791058 -0.05137459
+v 0.27895385 -0.01186861 -0.06874530
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bagel/bagel_1/collision/model_normalized_collision_6.obj

@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_1/collision/model_normalized_collision_7.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
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+f 18 10 13

bagel/bagel_1/collision/model_normalized_collision_8.obj

@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.13669282 -0.05299983 0.26621014
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bagel/bagel_1/collision/model_normalized_collision_9.obj

@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.00508564 -0.10238483 0.19862847
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bagel/bagel_1/model.xml

@@ -0,0 +1,81 @@
+<mujoco model="bagel_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16000000000000006 0.16000000000000006 0.16000000000000006" refquat="0.9113269120084753 0.1274488947760398 0.0527910607256972 0.387882898020677"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material0.003" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </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="material0.003"/>
+        <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"/>
+        <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="-0.002205407106255329 -0.0058217392540457855 -0.011631645597479916" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.002205407106255329 -0.0058217392540457855 0.040227589441829886" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04679871671457084 0.037545441614987816 0.014297971922174987" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>

bagel/bagel_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 359.99999300
+map_Kd material_0.jpeg

bagel/bagel_3/collision/model_normalized_collision_0.obj

@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.37158477 -0.15518247 0.09320100
+v 0.41083812 -0.06644650 0.07438213
+v 0.32037448 0.18338169 0.12292415
+v 0.29513990 0.29145664 0.07736864
+v 0.18207153 -0.14746486 0.07632067
+v 0.37798237 0.17068718 0.07543619
+v 0.33918998 -0.14283858 0.12605538
+v 0.13530376 0.23680005 0.10362418
+v 0.40904825 -0.00926621 0.08625266
+v 0.34285973 0.21282173 0.09594825
+v 0.13688449 0.16325115 0.07511478
+v 0.35434224 -0.14249039 0.11826903
+v 0.25696674 -0.14762901 0.12631666
+v 0.22138633 0.23112975 0.12498840
+v 0.34446841 0.18015668 0.10977739
+v 0.41481343 -0.00764968 0.07834117
+v 0.39508048 -0.00815674 0.09713831
+v 0.33484641 0.25595200 0.07286442
+v 0.29031703 0.27178809 0.10106327
+v 0.13210303 0.23430448 0.09939878
+v 0.38990727 -0.08173130 0.09576569
+v 0.18782944 -0.15200809 0.08366075
+v 0.21162073 0.21864833 0.12423548
+v 0.29074265 0.22804763 0.12354689
+v 0.37269913 0.16866638 0.08418412
+v 0.34008361 -0.07112577 0.12379441
+v 0.30258292 0.28692234 0.07366547
+v 0.29052620 0.28526122 0.08795470
+v 0.16667665 0.23537251 0.11255008
+v 0.31599911 0.25279788 0.09458231
+v 0.40371776 -0.06624583 0.08338330
+v 0.23113446 -0.14729583 0.11435643
+v 0.31895149 0.22640948 0.10948407
+v 0.35818634 0.18171209 0.09619442
+v 0.32885509 0.25247990 0.08214946
+v 0.29970078 0.26770031 0.09642557
+v 0.30639996 0.21280589 0.12155997
+v 0.29978664 0.28137179 0.08321645
+f 5 2 1
+f 12 7 1
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+f 14 13 7
+f 16 9 2
+f 16 2 6
+f 17 7 12
+f 17 15 3
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bagel/bagel_3/collision/model_normalized_collision_10.obj

@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_3/collision/model_normalized_collision_11.obj

@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_3/collision/model_normalized_collision_12.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_3/collision/model_normalized_collision_13.obj

@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_3/collision/model_normalized_collision_14.obj

@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_3/collision/model_normalized_collision_16.obj

@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
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bagel/bagel_3/collision/model_normalized_collision_17.obj

@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.34897825 0.22798247 0.07537789
+v 0.36328096 0.22731717 -0.04743235
+v 0.31254454 0.31221606 0.00380548
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bagel/bagel_3/collision/model_normalized_collision_18.obj

@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.08231633 -0.27018281 0.11786878
+v -0.07990947 -0.26515152 0.00610286
+v -0.08875480 -0.15903798 -0.00042213
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+v -0.20392163 -0.23901347 0.12900219
+v -0.20698761 -0.19538738 0.11393111
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+f 16 15 1
+f 16 1 13

bagel/bagel_3/collision/model_normalized_collision_19.obj

@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02084782 -0.26943850 -0.10318995
+v -0.01000718 -0.23676397 -0.08594786
+v -0.26860460 -0.30222250 -0.08206838
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+v -0.26016313 -0.27995308 -0.10544745
+v -0.18854146 -0.23264352 -0.12896835
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+f 21 5 14
+f 21 14 18

bagel/bagel_3/collision/model_normalized_collision_20.obj

@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.20108260 0.05301447 0.02131338
+v -0.08016346 0.23764016 -0.11160239
+v -0.07922950 0.23328355 0.09879264
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+f 18 10 15

bagel/bagel_3/collision/model_normalized_collision_22.obj

@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.25216831 0.10366892 0.09001208
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+f 20 12 13

bagel/bagel_3/collision/model_normalized_collision_23.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00836251 -0.27391099 0.08954173
+v 0.01118351 -0.26746604 -0.10325122
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+f 23 10 22

bagel/bagel_3/collision/model_normalized_collision_25.obj

@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.20796932 0.23484848 0.00610286
+v 0.20509419 0.23550054 -0.13587158
+v 0.23079046 0.38392423 0.02089472
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+f 23 20 21

bagel/bagel_3/collision/model_normalized_collision_27.obj

@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.34992653 -0.00782847 0.11613776
+v -0.35263674 -0.00757576 0.02125437
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