diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90912c4f9df0052debdedd1a15a34fe7e2bb5254
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.26765047 -0.06580904 0.04308079
+v 0.26451834 -0.06813301 0.00111286
+v 0.26410062 0.02087480 -0.02943303
+v 0.14551560 0.02107240 0.04505060
+v 0.07495861 -0.06310068 -0.03641848
+v 0.26510773 0.02339569 0.06830222
+v 0.14423810 -0.06688999 -0.00465981
+v 0.26320417 -0.04359397 -0.02135236
+v 0.14286046 0.02081887 -0.04436114
+v 0.26815715 -0.05495778 0.05438773
+v 0.14731334 -0.04369972 0.03651133
+v 0.08292405 -0.05124979 -0.03669201
+v 0.21755600 -0.01845379 -0.03585423
+v 0.08165235 -0.06296817 -0.02202073
+v 0.14642933 -0.06566278 0.01282506
+v 0.17781405 -0.05279663 0.03655511
+v 0.17815065 -0.03166034 0.04851426
+v 0.20218334 -0.03174981 -0.03393004
+v 0.21757092 0.01845403 -0.03585235
+v 0.25274185 -0.06416452 0.04212326
+v 0.25339031 -0.05334283 0.05263492
+v 0.16255696 -0.00536952 0.05052546
+v 0.19216908 -0.06421619 0.02670899
+v 0.20833803 -0.04261714 0.04962543
+v 0.16257799 0.00657183 0.05042733
+v 0.17743872 0.01874897 0.05210152
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 10 1 3
+f 10 3 6
+f 12 9 5
+f 12 5 4
+f 12 4 9
+f 13 5 9
+f 13 3 8
+f 14 11 4
+f 14 4 5
+f 14 5 7
+f 15 7 1
+f 15 14 7
+f 15 11 14
+f 16 11 15
+f 17 10 6
+f 18 13 8
+f 18 8 5
+f 18 5 13
+f 19 13 9
+f 19 9 3
+f 19 3 13
+f 20 1 10
+f 20 10 16
+f 20 15 1
+f 21 16 10
+f 21 11 16
+f 22 17 6
+f 22 4 11
+f 22 11 17
+f 23 20 16
+f 23 16 15
+f 23 15 20
+f 24 17 11
+f 24 11 21
+f 24 21 10
+f 24 10 17
+f 25 22 6
+f 25 4 22
+f 26 25 6
+f 26 6 4
+f 26 4 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5501ff95097a1ca90a157f18eeee1ce79f8a05b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.03078521 0.19864312 0.08380017
+v -0.03395987 0.19477477 -0.06950910
+v -0.05067856 0.23500907 -0.08510193
+v -0.11713807 0.26936510 0.08380015
+v -0.13982898 0.24900434 -0.07774172
+v -0.04974963 0.23614096 0.08380015
+v -0.09848485 0.22030260 -0.10615912
+v -0.12330812 0.25351849 0.08380015
+v -0.11657708 0.27121442 -0.06828034
+v -0.12689559 0.25684368 0.08523047
+v -0.04391639 0.21294577 -0.09949151
+v -0.14195275 0.25715471 -0.05312883
+v -0.10207585 0.24388736 -0.10233408
+v -0.10270231 0.26700555 -0.06828034
+v -0.10326331 0.26515623 0.08380015
+v -0.14281782 0.25430295 -0.06904888
+v -0.10271132 0.25784999 -0.09259259
+v -0.07706365 0.24914044 -0.08599388
+v -0.07385127 0.23999886 -0.09573538
+v -0.04773592 0.22344317 -0.09568858
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 10 1 6
+f 10 8 1
+f 10 5 8
+f 11 3 2
+f 11 2 7
+f 12 4 9
+f 12 10 4
+f 13 7 5
+f 13 11 7
+f 14 6 3
+f 14 9 4
+f 15 10 6
+f 15 4 10
+f 15 14 4
+f 15 6 14
+f 16 12 9
+f 16 9 5
+f 16 5 10
+f 16 10 12
+f 17 13 5
+f 17 5 9
+f 17 9 14
+f 18 17 14
+f 18 14 3
+f 19 11 13
+f 19 13 17
+f 19 18 3
+f 19 17 18
+f 20 19 3
+f 20 3 11
+f 20 11 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6441eae72a4921bf6d18e9b117c71f9d79e3d7e1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.05758774 -0.24086801 0.08391718
+v 0.00380737 -0.15539265 -0.10343780
+v -0.00871593 -0.20279977 -0.07882678
+v 0.01553757 -0.14758945 0.08487533
+v -0.03787879 -0.15848528 -0.10615900
+v -0.00527564 -0.19339296 -0.08747482
+v -0.00752641 -0.20398924 0.07913464
+v -0.04667516 -0.21168360 0.08380029
+v 0.00983161 -0.14453954 -0.06878914
+v -0.05953691 -0.23722137 -0.08936063
+v -0.05026792 -0.23429817 -0.08553445
+v -0.00291813 -0.19532773 0.08380029
+v -0.04045128 -0.20411588 0.07929074
+v -0.00208786 -0.18085758 -0.09568845
+v -0.04373307 -0.21195788 -0.09992398
+v -0.04915567 -0.23565344 0.08380030
+v -0.05606697 -0.23054267 -0.09538499
+v -0.03065798 -0.20942775 -0.09568844
+f 6 4 3
+f 8 5 1
+f 8 1 4
+f 9 5 4
+f 9 2 5
+f 9 4 6
+f 10 1 5
+f 11 3 7
+f 11 1 10
+f 11 6 3
+f 12 7 3
+f 12 3 4
+f 12 4 1
+f 13 8 4
+f 13 4 5
+f 13 5 8
+f 14 9 6
+f 14 2 9
+f 15 5 2
+f 15 2 14
+f 16 11 7
+f 16 1 11
+f 16 12 1
+f 16 7 12
+f 17 10 5
+f 17 5 15
+f 17 11 10
+f 18 6 11
+f 18 11 17
+f 18 14 6
+f 18 17 15
+f 18 15 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2d07640fc7dede1e4d08918807b281f1ad573e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.40183038 -0.07872501 0.05221522
+v 0.40098810 -0.07046363 0.01481690
+v 0.39393670 0.03439832 0.09085411
+v 0.25972224 0.03126027 0.06494816
+v 0.26451834 -0.06813301 0.00111286
+v 0.40026878 0.02073941 -0.01272407
+v 0.34220129 -0.07410813 0.04777663
+v 0.26410062 0.02087480 -0.02943303
+v 0.33548195 0.03125715 0.08008899
+v 0.26647214 -0.07146738 0.03320968
+v 0.26320417 -0.04359397 -0.02135236
+v 0.33915306 -0.05463766 -0.00657600
+v 0.33872541 -0.01996945 -0.02051502
+v 0.36950756 -0.06800299 0.00864974
+v 0.33874032 0.01996975 -0.02051315
+v 0.39949419 -0.04324068 -0.00557451
+v 0.32342217 -0.03181224 -0.01899554
+v 0.27819526 -0.04286651 -0.01998280
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 8 4 3
+f 8 3 6
+f 9 7 3
+f 9 3 4
+f 9 4 7
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 5
+f 11 5 4
+f 11 4 8
+f 12 5 11
+f 13 11 8
+f 14 12 2
+f 14 2 5
+f 14 5 12
+f 15 13 8
+f 15 8 6
+f 15 6 13
+f 16 12 11
+f 16 2 12
+f 16 13 6
+f 16 6 2
+f 17 11 13
+f 17 13 16
+f 18 17 16
+f 18 16 11
+f 18 11 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b8bda00290004fc76f337c3c7cc5be3b84710a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.41284808 -0.20080601 0.08523061
+v -0.40960254 -0.19808667 -0.09245077
+v -0.44696970 -0.06757619 -0.10615903
+v -0.48724997 -0.06600660 0.08523057
+v -0.47852123 -0.10881332 -0.06828034
+v -0.47116125 -0.07031845 0.08424819
+v -0.41531725 -0.15737784 -0.10495884
+v -0.44652467 -0.16083706 -0.08510194
+v -0.44765651 -0.16176597 0.08380027
+v -0.48333508 -0.06481903 -0.09223690
+v -0.43111691 -0.15519275 0.08380027
+v -0.40981094 -0.18316197 -0.10046170
+v -0.41846647 -0.19298237 -0.08704236
+v -0.47667184 -0.10825230 0.08380026
+v -0.47009126 -0.06539772 -0.10250345
+v -0.47751557 -0.09335675 -0.08817347
+v -0.43495884 -0.16377976 -0.09568846
+v -0.42060058 -0.19473382 0.08380029
+v -0.46749306 -0.09491260 -0.09844000
+v -0.42143087 -0.18026367 -0.09568845
+f 6 3 4
+f 6 4 1
+f 7 3 1
+f 9 1 4
+f 9 5 8
+f 10 5 4
+f 11 6 1
+f 11 1 3
+f 11 3 6
+f 12 7 1
+f 12 1 2
+f 13 8 2
+f 13 2 1
+f 14 9 4
+f 14 4 5
+f 14 5 9
+f 15 10 4
+f 15 4 3
+f 15 3 7
+f 16 8 5
+f 16 5 10
+f 17 7 12
+f 18 9 8
+f 18 8 13
+f 18 13 1
+f 18 1 9
+f 19 16 10
+f 19 10 15
+f 19 15 7
+f 19 7 17
+f 19 17 8
+f 19 8 16
+f 20 17 12
+f 20 12 2
+f 20 2 8
+f 20 8 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7097f79edf2cf3b273230e628f19a0270fe40f6e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.41952834 -0.09940882 -0.09974461
+v -0.41666667 -0.09787922 -0.10615902
+v -0.41722998 0.08410984 -0.10154276
+v -0.46241571 0.08862447 -0.05633949
+v -0.46212121 0.00818139 -0.10615905
+v -0.46412502 0.08454681 -0.05312883
+v -0.44560920 -0.09715202 -0.10597947
+v -0.41666667 0.08393896 -0.10615908
+v -0.46026662 0.08337638 -0.10399169
+v -0.46562253 0.00852624 -0.08578268
+v -0.44788297 -0.09836737 -0.08412379
+v -0.46833390 0.07067205 -0.05312883
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 6 4
+f 9 8 5
+f 9 4 8
+f 10 5 7
+f 10 9 5
+f 11 7 1
+f 11 1 6
+f 11 10 7
+f 12 6 9
+f 12 9 10
+f 12 11 6
+f 12 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22313f42ea07313b0c976a43dd3f7e307f42533
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.15933939 -0.27717455 0.08564199
+v -0.05606697 -0.23054267 -0.09538499
+v -0.09277250 -0.26203795 0.07925162
+v -0.04667516 -0.21168360 0.08380029
+v -0.15641753 -0.25820735 -0.07011224
+v -0.05758774 -0.24086801 0.08391718
+v -0.15493005 -0.26311089 0.08380031
+v -0.04982168 -0.20784954 -0.06928640
+v -0.15873744 -0.28328622 -0.06828034
+v -0.09357719 -0.26053249 -0.07910934
+v -0.10292683 -0.26505412 0.08380031
+v -0.04790117 -0.21018969 0.05293178
+v -0.09932103 -0.23267846 -0.10481719
+v -0.05953691 -0.23722137 -0.08936063
+v -0.10294137 -0.26500621 -0.08037812
+v -0.07558892 -0.25068817 0.08380031
+v -0.07175160 -0.22756425 -0.10240142
+v -0.06079783 -0.21293724 -0.07605758
+v -0.10192044 -0.24296683 -0.10282746
+v -0.07671552 -0.24858046 -0.08648732
+v -0.07369585 -0.23907834 -0.09622877
+f 6 2 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 4 2
+f 9 1 5
+f 10 6 3
+f 11 6 1
+f 11 9 3
+f 11 1 9
+f 12 7 4
+f 12 5 7
+f 12 8 5
+f 12 4 8
+f 13 9 5
+f 14 2 6
+f 14 6 10
+f 15 10 3
+f 15 3 9
+f 16 11 3
+f 16 3 6
+f 16 6 11
+f 17 13 8
+f 17 8 2
+f 18 13 5
+f 18 5 8
+f 18 8 13
+f 19 15 9
+f 19 9 13
+f 19 13 17
+f 20 14 10
+f 20 10 15
+f 20 2 14
+f 21 19 17
+f 21 17 2
+f 21 2 20
+f 21 20 15
+f 21 15 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4185d4f70dd92f821de495219ae5b88d8020a2c5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.40183038 -0.07872501 0.05221522
+v 0.40437520 -0.07015458 0.07030120
+v 0.26647214 -0.07146738 0.03320968
+v 0.26652894 0.07147027 0.03321928
+v 0.38686155 0.07764419 0.05178313
+v 0.23549504 -0.00666665 0.06480963
+v 0.34146727 0.07682063 0.03650548
+v 0.40279583 0.03661448 0.09197787
+v 0.26815715 -0.05495778 0.05438773
+v 0.23551401 0.00787420 0.06471357
+v 0.34138062 -0.07674037 0.03670842
+v 0.39621502 0.06078910 0.07714297
+v 0.40490327 -0.05737104 0.08217466
+v 0.25391207 -0.03165481 0.06364652
+v 0.26765047 -0.06580904 0.04308079
+v 0.31414478 -0.00530916 0.08046891
+v 0.32852944 0.06684327 0.05674832
+v 0.31382265 -0.06620096 0.05412044
+v 0.31443007 -0.05412597 0.06530920
+v 0.23835151 -0.00532591 0.06549808
+v 0.31416297 0.00651128 0.08037008
+v 0.32967301 -0.03156225 0.07881523
+v 0.38800039 0.07282300 0.06160996
+v 0.26829841 0.05580657 0.05369973
+v 0.32972739 0.03268802 0.07852148
+v 0.23837126 0.00655536 0.06539811
+v 0.26780732 0.06629604 0.04237999
+v 0.32912672 0.05488978 0.06783539
+v 0.25396769 0.03269114 0.06338064
+v 0.38913936 0.04633821 0.08490038
+v 0.28410822 0.04363162 0.06474716
+v 0.35979779 0.04381041 0.08022909
+f 1 2 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 10 4 3
+f 10 3 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 8 1
+f 12 1 5
+f 13 2 8
+f 15 9 14
+f 15 14 6
+f 15 6 3
+f 16 13 8
+f 18 2 13
+f 18 9 15
+f 18 15 3
+f 18 3 2
+f 19 14 9
+f 19 13 14
+f 19 18 13
+f 19 9 18
+f 20 10 6
+f 20 6 16
+f 21 16 8
+f 21 20 16
+f 22 14 13
+f 22 13 16
+f 22 16 6
+f 22 6 14
+f 23 17 12
+f 23 12 5
+f 23 5 4
+f 24 12 17
+f 25 21 8
+f 25 10 21
+f 26 21 10
+f 26 10 20
+f 26 20 21
+f 27 24 17
+f 27 4 10
+f 27 23 4
+f 27 17 23
+f 28 12 24
+f 29 10 25
+f 29 27 10
+f 29 24 27
+f 29 25 8
+f 30 8 12
+f 30 12 28
+f 31 28 24
+f 31 24 29
+f 31 30 28
+f 32 31 29
+f 32 29 8
+f 32 8 30
+f 32 30 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aee864b11d7fcbf21018eb29e94ae597cd799b4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.46826847 0.12458061 0.08380019
+v -0.35225236 0.22832935 -0.10164430
+v -0.43040757 0.12863952 -0.10569380
+v -0.35317078 0.24519913 0.08523047
+v -0.44611409 0.16171130 -0.08474706
+v -0.36743214 0.21900736 0.08380016
+v -0.44706261 0.16248975 0.08380018
+v -0.37322691 0.23459846 -0.08474700
+v -0.43436488 0.16450352 -0.09568856
+v -0.46466270 0.12265330 -0.08902949
+v -0.35517848 0.21865225 -0.10432720
+v -0.44321452 0.13548499 0.08380019
+v -0.46196944 0.13636521 0.08380019
+v -0.35134751 0.24178802 -0.09190280
+v -0.37400535 0.23554698 0.08380015
+v -0.37601910 0.22284923 -0.09568857
+v -0.46030793 0.13547714 -0.08573014
+v -0.45330327 0.12468022 -0.09877097
+v -0.45107272 0.13863948 -0.09568855
+v -0.40151515 0.15969654 -0.10615910
+f 8 5 7
+f 10 3 1
+f 11 2 4
+f 11 4 6
+f 12 1 3
+f 12 6 4
+f 12 4 1
+f 13 7 5
+f 13 1 4
+f 13 4 7
+f 14 8 4
+f 14 4 2
+f 15 8 7
+f 15 7 4
+f 15 4 8
+f 16 11 9
+f 16 2 11
+f 16 14 2
+f 16 8 14
+f 16 9 5
+f 16 5 8
+f 17 10 1
+f 17 13 5
+f 17 1 13
+f 18 9 3
+f 18 3 10
+f 19 5 9
+f 19 18 10
+f 19 9 18
+f 19 17 5
+f 19 10 17
+f 20 11 6
+f 20 3 9
+f 20 9 11
+f 20 12 3
+f 20 6 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6295fd11f72a5ee02f0451cd5296634eb7185f8d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.04738639 -0.07046030 0.08380025
+v 0.06995603 -0.06265228 -0.06828034
+v 0.10137192 0.00684878 0.03831379
+v 0.04488947 0.08606562 0.08523052
+v 0.03827067 0.08405784 -0.06836180
+v 0.06713951 0.06381645 0.08380048
+v 0.06747927 -0.06270944 0.08380057
+v 0.04264301 -0.06902140 -0.06927065
+v 0.06474586 0.07830051 -0.06828034
+v 0.10135009 -0.00564697 0.03841746
+v 0.05970860 0.08136858 0.08513469
+v 0.09898098 0.02262138 0.03529956
+v 0.09384750 0.03529743 0.02999452
+v 0.06474587 0.07830051 0.03778027
+f 5 1 4
+f 7 1 2
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 9 8 5
+f 9 2 8
+f 9 5 4
+f 10 7 2
+f 10 2 3
+f 10 3 6
+f 10 6 7
+f 11 7 6
+f 11 4 7
+f 11 9 4
+f 12 11 6
+f 12 6 3
+f 12 3 9
+f 13 12 9
+f 13 11 12
+f 14 13 9
+f 14 9 11
+f 14 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d98035ce4e419caa984154ce2d2b894ab98d9cc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.35606061 0.08393896 -0.10215686
+v -0.29545455 0.15969654 -0.10615910
+v -0.31472554 0.24316114 -0.07001860
+v -0.33700721 0.25845721 -0.06828034
+v -0.42673211 0.15552250 -0.10343789
+v -0.29545455 0.23545412 -0.10615912
+v -0.43874277 0.13309478 -0.06984214
+v -0.29545455 0.15969654 -0.10215688
+v -0.41666667 0.08393896 -0.10615908
+v -0.29658001 0.23916430 -0.08602247
+v -0.35015508 0.23955713 -0.09568858
+v -0.42575124 0.15471752 -0.06671918
+v -0.35606061 0.08393896 -0.10615908
+v -0.43040757 0.12863952 -0.10569380
+v -0.41722998 0.08410984 -0.10154276
+v -0.33619582 0.24178769 -0.09877098
+v -0.39914545 0.21741511 -0.06828034
+v -0.39250302 0.20932126 -0.09568857
+v -0.33416889 0.25314706 -0.08902951
+v -0.34879185 0.25215821 -0.06828034
+v -0.34699275 0.24879230 -0.08573018
+f 8 1 2
+f 8 3 1
+f 8 2 6
+f 10 6 4
+f 10 4 3
+f 10 8 6
+f 10 3 8
+f 12 7 1
+f 12 1 3
+f 12 3 4
+f 13 2 1
+f 13 1 9
+f 13 9 6
+f 13 6 2
+f 14 9 7
+f 14 7 5
+f 14 5 6
+f 14 6 9
+f 15 9 1
+f 15 1 7
+f 15 7 9
+f 16 6 5
+f 17 5 7
+f 17 7 12
+f 18 16 5
+f 18 11 16
+f 18 5 17
+f 19 16 11
+f 19 4 6
+f 19 6 16
+f 20 17 12
+f 20 12 4
+f 21 18 17
+f 21 11 18
+f 21 17 20
+f 21 19 11
+f 21 20 4
+f 21 4 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd6ad8abf68e47fd424c8bb2bd56eec5d86522ba
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.48360873 0.08126479 0.08459928
+v -0.41666667 0.08393896 -0.10615908
+v -0.46469765 0.08931668 0.08380020
+v -0.44321452 0.13548499 0.08380019
+v -0.46466270 0.12265330 -0.08902949
+v -0.48019271 0.08022855 -0.09004279
+v -0.46826847 0.12458061 0.08380019
+v -0.41666667 0.12939351 -0.10615909
+v -0.47437319 0.10876625 -0.08597929
+v -0.42135165 0.13189769 -0.09138221
+v -0.46868833 0.08133491 -0.10030932
+v -0.47633536 0.10936145 0.08380020
+v -0.45330327 0.12468022 -0.09877097
+v -0.46676161 0.10862368 -0.09589768
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 7 1 4
+f 7 4 5
+f 8 4 2
+f 9 6 1
+f 9 7 5
+f 10 4 8
+f 11 8 2
+f 11 2 6
+f 12 9 1
+f 12 1 7
+f 12 7 9
+f 13 10 8
+f 13 5 4
+f 13 4 10
+f 13 8 11
+f 14 11 6
+f 14 6 9
+f 14 13 11
+f 14 9 5
+f 14 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74cac41518462a871f9237f88e2b8597d59a1cb1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.05970860 0.08136858 0.08513469
+v 0.05671710 0.08046102 -0.09057816
+v 0.02237195 0.16212193 -0.08517946
+v -0.04352392 0.22857549 0.08506878
+v 0.03390189 0.08732875 -0.07608294
+v 0.02354387 0.16308370 0.08380018
+v 0.05098731 0.10873229 -0.08650190
+v 0.03981916 0.08912373 0.07968218
+v 0.00620100 0.12865869 -0.10589818
+v -0.03203975 0.22410684 -0.03797731
+v 0.05321501 0.10965508 0.08380020
+v 0.04488947 0.08606562 0.08523052
+v 0.05148593 0.08347049 -0.09616806
+v -0.03078521 0.19864312 0.08380017
+v 0.00834285 0.17819458 -0.08614966
+v -0.03326573 0.22261297 0.08380016
+v -0.04109346 0.23153703 -0.03797731
+v 0.03671673 0.13582524 -0.08622355
+v 0.02740735 0.13894793 -0.09596503
+v -0.02458108 0.19105135 -0.03797732
+v 0.00025897 0.16884333 -0.09956907
+v 0.02935159 0.12483563 -0.09926438
+v -0.00054947 0.18333138 -0.09156004
+v 0.01084610 0.16509744 -0.09568856
+f 5 2 1
+f 6 4 1
+f 7 1 2
+f 11 6 1
+f 11 1 7
+f 11 3 6
+f 12 8 5
+f 12 5 1
+f 12 1 4
+f 13 2 5
+f 13 5 9
+f 13 7 2
+f 14 12 4
+f 14 8 12
+f 14 9 5
+f 14 5 8
+f 15 10 6
+f 15 6 3
+f 16 4 6
+f 16 6 10
+f 17 16 10
+f 17 4 16
+f 17 10 15
+f 18 11 7
+f 18 3 11
+f 19 3 18
+f 19 18 7
+f 19 7 13
+f 20 14 4
+f 20 4 17
+f 20 17 9
+f 20 9 14
+f 21 9 17
+f 22 19 13
+f 22 13 9
+f 22 21 19
+f 22 9 21
+f 23 21 17
+f 23 17 15
+f 23 15 3
+f 24 23 3
+f 24 3 19
+f 24 19 21
+f 24 21 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75f3a11072de87280429ba665b350e45b623160
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.46279444 0.02431325 0.10201281
+v 0.46149360 0.02240008 -0.00447657
+v 0.46127372 0.08094911 0.05218305
+v 0.34231532 0.07438863 0.04737018
+v 0.34051173 0.02240347 -0.01959512
+v 0.46004906 0.05930763 0.08723006
+v 0.40201053 0.02260959 0.09590745
+v 0.45911418 0.07108228 0.02143281
+v 0.45915896 0.07178066 0.07521669
+v 0.44499949 0.02129895 -0.00706148
+v 0.33548195 0.03125715 0.08008899
+v 0.38818214 0.03582919 0.08928659
+v 0.45856591 0.05853138 0.00975243
+v 0.34042218 0.07274239 0.01421822
+v 0.38977074 0.06951716 0.06769147
+v 0.39943650 0.04418636 -0.00507546
+v 0.33947118 0.04709920 -0.01054702
+v 0.39032071 0.05684823 0.07945620
+v 0.44462264 0.03299453 -0.00374313
+f 1 2 3
+f 6 1 3
+f 8 3 2
+f 9 6 3
+f 9 3 4
+f 10 7 5
+f 10 2 1
+f 10 1 7
+f 11 5 7
+f 12 7 1
+f 12 1 6
+f 12 11 7
+f 13 8 2
+f 14 4 3
+f 14 3 8
+f 14 11 4
+f 15 9 4
+f 15 6 9
+f 17 5 11
+f 17 11 14
+f 17 16 5
+f 17 13 16
+f 17 14 8
+f 17 8 13
+f 18 12 6
+f 18 6 15
+f 18 11 12
+f 18 15 4
+f 18 4 11
+f 19 10 5
+f 19 5 16
+f 19 2 10
+f 19 16 13
+f 19 13 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaea15a41ef13c2a5383ef9669652e8a8e4104a5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.35979428 0.22728783 0.08523048
+v -0.28030303 0.23545412 -0.10615912
+v -0.28301382 0.25954192 0.08441058
+v -0.27863138 0.27539792 0.08523046
+v -0.34879185 0.25215821 -0.06828034
+v -0.35652313 0.22116793 -0.06847551
+v -0.34788085 0.25045385 0.08380015
+v -0.27747531 0.27158689 -0.09207447
+v -0.33920233 0.23226099 -0.10343791
+v -0.32087712 0.26481983 0.08380015
+v -0.27809307 0.25847186 -0.10234106
+v -0.32028188 0.26285760 -0.08597935
+v -0.33416889 0.25314706 -0.08902951
+v -0.32013928 0.25524602 -0.09589768
+v -0.33619582 0.24178769 -0.09877098
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 9 6 5
+f 9 2 6
+f 10 7 4
+f 10 5 7
+f 11 8 4
+f 11 4 2
+f 11 2 9
+f 12 5 10
+f 12 10 4
+f 12 4 8
+f 13 5 12
+f 14 11 9
+f 14 13 12
+f 14 12 8
+f 14 8 11
+f 15 9 5
+f 15 5 13
+f 15 14 9
+f 15 13 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d06a7b7382d693de85aa6111b53debdeae2dfc35
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.03783805 -0.15851871 -0.09884830
+v 0.00757576 -0.06757619 -0.10615903
+v -0.09845003 0.20521623 -0.09895472
+v -0.29562543 0.20571440 -0.10154280
+v -0.41666667 -0.09787922 -0.10615902
+v -0.09848485 0.20515109 -0.10615911
+v -0.41697154 -0.09804218 -0.10032129
+v 0.00797358 0.05375661 -0.10067337
+v -0.03787879 -0.15848528 -0.10615900
+v -0.29545455 0.20515109 -0.10615911
+v -0.41722998 0.08410984 -0.10154276
+v 0.00782619 -0.06765216 -0.09989904
+v -0.03757785 0.14479199 -0.10054053
+v 0.00757576 0.05363593 -0.10615907
+v -0.35606061 -0.15848528 -0.10615900
+v -0.41666667 0.08393896 -0.10615908
+v -0.03787879 0.14454503 -0.10615910
+v -0.35606061 -0.15848528 -0.10215679
+f 6 4 3
+f 7 1 3
+f 10 4 6
+f 11 7 3
+f 11 3 4
+f 11 5 7
+f 12 2 8
+f 12 9 2
+f 12 1 9
+f 12 8 3
+f 12 3 1
+f 13 6 3
+f 13 3 8
+f 14 8 2
+f 15 7 5
+f 15 9 1
+f 16 5 11
+f 16 15 5
+f 16 11 4
+f 16 4 10
+f 17 6 13
+f 17 13 8
+f 17 8 14
+f 17 15 16
+f 17 9 15
+f 17 14 2
+f 17 2 9
+f 17 16 10
+f 17 10 6
+f 18 15 1
+f 18 1 7
+f 18 7 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c51d8e294ec95a0663781855079ed06a4f3fed
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01540648 0.13357911 -0.07004652
+v 0.00620100 0.12865869 -0.10589818
+v -0.00568626 0.19426724 -0.08711987
+v -0.04109346 0.23153703 -0.03797731
+v -0.09848485 0.14454502 -0.10215688
+v -0.00201822 0.19727751 -0.03797731
+v -0.00268189 0.18158135 -0.09568856
+v -0.03787879 0.12939350 -0.10215687
+v -0.09848485 0.22030260 -0.10615912
+v -0.03460589 0.22097997 -0.08607211
+v 0.01191069 0.14686209 -0.03797731
+v -0.09848485 0.14454503 -0.10615909
+v -0.09596962 0.22500827 -0.08699707
+v -0.03125201 0.20991518 -0.09568857
+v -0.03203975 0.22410684 -0.03797731
+v -0.02458108 0.19105135 -0.03797732
+v -0.03787879 0.12939351 -0.10615909
+v -0.07937318 0.22771154 -0.06995137
+v -0.04554176 0.22611676 -0.09051230
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 10 6 3
+f 11 1 6
+f 11 8 1
+f 11 5 8
+f 12 8 5
+f 12 5 9
+f 13 9 5
+f 14 7 2
+f 14 2 9
+f 14 10 3
+f 14 3 7
+f 15 10 4
+f 15 6 10
+f 15 11 6
+f 15 4 11
+f 16 11 4
+f 16 4 5
+f 16 5 11
+f 17 2 8
+f 17 8 12
+f 17 12 9
+f 17 9 2
+f 18 13 5
+f 18 5 4
+f 19 9 13
+f 19 14 9
+f 19 10 14
+f 19 13 18
+f 19 18 4
+f 19 4 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4545f07fab8cbfecaf88c00297c64fde0347ef9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00285733 -0.18491601 0.08523060
+v 0.06995603 -0.06265228 -0.06828034
+v 0.05052227 -0.11874303 0.07925180
+v 0.06923877 -0.06313013 0.07994872
+v 0.00757576 -0.06757619 -0.10615903
+v 0.06502623 -0.07717428 0.07942941
+v 0.05353848 -0.10858871 0.08380026
+v 0.02278259 -0.16124767 -0.08553441
+v 0.04738639 -0.07046030 0.08380025
+v 0.06508233 -0.07719134 -0.06828034
+v 0.02413782 -0.16235990 0.08380027
+v 0.04619132 -0.06550155 -0.10303877
+v -0.00013883 -0.18245712 -0.09191498
+v 0.02041764 -0.13504638 0.08380027
+v 0.06411972 -0.06634000 0.08523061
+v 0.04901683 -0.11793836 -0.07910929
+v 0.01060984 -0.17884382 0.08380028
+v 0.00044229 -0.16778251 -0.09992398
+v 0.04296533 -0.10765089 -0.09665481
+v 0.05113009 -0.10785815 -0.08667712
+v 0.00875347 -0.17732031 -0.08650463
+v 0.01144012 -0.16437367 -0.09568846
+v 0.06002006 -0.06476371 -0.09281902
+f 5 4 2
+f 6 2 4
+f 7 6 4
+f 7 3 6
+f 9 4 5
+f 10 6 3
+f 10 2 6
+f 11 7 1
+f 11 3 7
+f 11 8 3
+f 12 5 2
+f 14 9 5
+f 14 5 1
+f 14 1 9
+f 15 7 4
+f 15 4 9
+f 15 9 1
+f 15 1 7
+f 16 10 3
+f 16 3 8
+f 17 11 1
+f 17 8 11
+f 18 13 1
+f 18 1 5
+f 18 5 12
+f 19 18 12
+f 20 2 10
+f 20 10 16
+f 20 16 8
+f 20 8 19
+f 21 13 8
+f 21 8 17
+f 21 17 1
+f 21 1 13
+f 22 8 13
+f 22 13 18
+f 22 19 8
+f 22 18 19
+f 23 20 19
+f 23 19 12
+f 23 12 2
+f 23 2 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..268420b4cb34055125778cfbb100f213b7469a2c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.26510773 0.02339569 0.06830222
+v 0.34051173 0.02240347 -0.01959512
+v 0.34146727 0.07682063 0.03650548
+v 0.16117960 0.06637611 0.01532979
+v 0.14286046 0.02081887 -0.04436114
+v 0.33325661 0.04345223 0.07496012
+v 0.17743872 0.01874897 0.05210152
+v 0.33986701 0.06701259 0.00466110
+v 0.26829841 0.05580657 0.05369973
+v 0.32383008 0.01978323 -0.02240068
+v 0.14551560 0.02107240 0.04505060
+v 0.33919397 0.05463921 -0.00657049
+v 0.14257851 0.05703028 -0.02494414
+v 0.20716954 0.06611760 0.02740207
+v 0.18768950 0.01934613 -0.03927095
+v 0.14741630 0.04466538 0.03604916
+v 0.17820798 0.03269425 0.04823980
+v 0.18720057 0.03337359 -0.03530484
+v 0.15941091 0.06722952 -0.00449389
+v 0.14184645 0.04414949 -0.03526929
+v 0.14662088 0.05750287 0.02553113
+v 0.25353633 0.05420018 0.05191976
+v 0.20843743 0.04359448 0.04918524
+v 0.32338152 0.03294793 -0.01866883
+v 0.20282229 0.05390231 -0.02147539
+v 0.27813798 0.04379361 -0.01948921
+v 0.17794593 0.05351058 0.03600413
+f 6 1 2
+f 6 2 3
+f 8 3 2
+f 9 6 3
+f 10 2 1
+f 10 1 7
+f 11 5 7
+f 11 7 1
+f 12 8 2
+f 14 9 3
+f 14 3 4
+f 15 10 7
+f 15 7 5
+f 17 11 1
+f 17 1 6
+f 17 16 11
+f 18 2 10
+f 18 15 5
+f 18 10 15
+f 19 4 3
+f 19 3 8
+f 19 8 13
+f 20 5 11
+f 20 11 13
+f 20 18 5
+f 21 13 11
+f 21 11 16
+f 21 19 13
+f 21 4 19
+f 21 14 4
+f 21 9 14
+f 22 16 6
+f 22 6 9
+f 23 17 6
+f 23 6 16
+f 23 16 17
+f 24 12 2
+f 24 2 18
+f 25 20 13
+f 25 12 20
+f 25 13 8
+f 25 8 12
+f 26 20 12
+f 26 18 20
+f 26 24 18
+f 26 12 24
+f 27 21 16
+f 27 16 22
+f 27 22 9
+f 27 9 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e9ecc81cf508992dd15ee4080e2fd397858a555
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.11288220 0.25309176 0.08532545
+v -0.11497110 0.24620560 -0.06736574
+v -0.14853549 0.28090889 -0.06828034
+v -0.27504392 0.27872309 0.08380014
+v -0.27978904 0.24891124 -0.10483330
+v -0.14909647 0.27905960 0.08380014
+v -0.11657708 0.27121442 -0.06828034
+v -0.28301382 0.25954192 0.08441058
+v -0.27506047 0.27877765 -0.07983950
+v -0.11713807 0.26936510 0.08380015
+v -0.16015216 0.27013366 -0.09753095
+v -0.27677432 0.26927599 -0.09568859
+v -0.16079059 0.27880301 -0.08699669
+v -0.15955242 0.24908423 -0.10574214
+v -0.26344380 0.27872140 -0.08694186
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 9 4 3
+f 9 8 4
+f 10 7 6
+f 10 6 1
+f 10 1 7
+f 12 5 8
+f 12 8 9
+f 12 11 5
+f 13 3 7
+f 13 7 11
+f 14 11 7
+f 14 7 2
+f 14 2 5
+f 14 5 11
+f 15 9 3
+f 15 3 13
+f 15 12 9
+f 15 13 11
+f 15 11 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8848c80931a1010b38fe9f374131a0574f54dd92
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.14519092 -0.06711487 0.00451123
+v 0.14423810 -0.06688999 -0.00465981
+v 0.14257851 0.05703028 -0.02494414
+v 0.07473002 0.06256836 0.02147996
+v 0.07473366 -0.06363951 0.02193898
+v 0.14741630 0.04466538 0.03604916
+v 0.14190586 -0.04320316 -0.03576811
+v 0.12909178 -0.06661431 -0.00460734
+v 0.14662088 0.05750287 0.02553113
+v 0.14731334 -0.04369972 0.03651133
+v 0.14184645 0.04414949 -0.03526929
+v 0.07606894 -0.02104140 -0.06474710
+v 0.07412408 0.06565505 -0.03576378
+v 0.07587816 0.05153273 0.03680441
+v 0.14651045 -0.05693703 0.02599142
+v 0.07648448 0.02314209 -0.06499078
+v 0.07628225 -0.04942734 -0.05114579
+v 0.07638856 0.05157482 -0.05211264
+v 0.07663825 -0.05080442 0.03718625
+v 0.08165235 -0.06296817 -0.02202073
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 9 6 1
+f 10 1 6
+f 11 1 7
+f 11 9 1
+f 11 3 9
+f 13 9 3
+f 13 4 9
+f 13 12 5
+f 13 5 4
+f 14 9 4
+f 14 6 9
+f 14 10 6
+f 14 4 5
+f 15 5 1
+f 15 1 10
+f 16 11 7
+f 16 7 12
+f 16 12 13
+f 17 5 12
+f 17 12 7
+f 17 7 2
+f 18 13 3
+f 18 3 11
+f 18 16 13
+f 18 11 16
+f 19 14 5
+f 19 10 14
+f 19 15 10
+f 19 5 15
+f 20 8 5
+f 20 5 17
+f 20 17 2
+f 20 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4617e03e5f08e90c7be45d0ae48f2851c94c74
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.47327427 -0.04858054 0.09016178
+v 0.48330676 -0.02081314 0.09178580
+v 0.43539271 -0.04304319 0.09620227
+v 0.43315171 0.05012992 0.09190733
+v 0.48319439 0.02200918 0.09170451
+v 0.40273573 -0.03549287 0.09228534
+v 0.47864203 -0.01835686 0.09719350
+v 0.43305316 -0.04918341 0.09239696
+v 0.40548710 0.03268491 0.09366232
+v 0.40279583 0.03661448 0.09197787
+v 0.47082794 -0.04282204 0.09375368
+v 0.45996906 0.04465556 0.09582717
+v 0.40542975 -0.03156347 0.09397092
+v 0.43548736 0.04398921 0.09571101
+v 0.47850858 0.01953124 0.09703540
+v 0.46075116 0.05077433 0.09261027
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 2 5
+f 8 6 1
+f 8 1 3
+f 8 3 6
+f 10 4 1
+f 10 1 6
+f 11 7 3
+f 11 3 1
+f 11 1 7
+f 13 6 3
+f 13 3 9
+f 13 10 6
+f 13 9 10
+f 14 10 9
+f 14 4 10
+f 14 9 3
+f 15 7 5
+f 15 12 14
+f 15 14 3
+f 15 3 7
+f 16 5 4
+f 16 14 12
+f 16 4 14
+f 16 15 5
+f 16 12 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80542fcc9515621b66a70bc7e900860930e0c93c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.45931590 -0.08158652 0.05080508
+v 0.45924089 -0.07041368 0.02084449
+v 0.46025480 0.02061506 0.10348400
+v 0.40480613 0.02103119 0.09691959
+v 0.40098810 -0.07046363 0.01481690
+v 0.45872217 0.02145931 -0.00529495
+v 0.40490327 -0.05737104 0.08217466
+v 0.46014098 -0.05859862 0.08781766
+v 0.45829848 -0.08024164 0.04045061
+v 0.46036083 -0.02015432 0.10358879
+v 0.40026878 0.02073941 -0.01272407
+v 0.40437520 -0.07015458 0.07030120
+v 0.40478882 -0.02060988 0.09695455
+v 0.43212063 -0.08109110 0.04109435
+v 0.39949419 -0.04324068 -0.00557451
+v 0.45935858 -0.07138655 0.07574471
+v 0.43310167 -0.08158176 0.05001422
+v 0.45862530 -0.05822956 0.00960128
+v 0.45874177 -0.02050487 -0.00537958
+v 0.44466099 -0.03187467 -0.00406104
+v 0.41448541 -0.04251220 -0.00420614
+f 6 4 3
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 10 6 3
+f 10 2 6
+f 10 8 2
+f 10 7 8
+f 10 3 4
+f 11 4 6
+f 12 8 7
+f 13 12 7
+f 13 5 12
+f 13 10 4
+f 13 7 10
+f 14 9 1
+f 14 5 9
+f 15 4 11
+f 15 13 4
+f 15 5 13
+f 16 1 8
+f 16 8 12
+f 17 12 5
+f 17 5 14
+f 17 14 1
+f 17 16 12
+f 17 1 16
+f 18 2 5
+f 18 5 15
+f 19 15 11
+f 19 11 6
+f 19 6 2
+f 19 2 18
+f 20 19 18
+f 20 15 19
+f 21 20 18
+f 21 18 15
+f 21 15 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6a645aa9ad57a64bf4258d4d4b5aa6dce90adc4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 0.20515109 -0.10615911
+v -0.09485838 0.21193573 -0.09494530
+v -0.29562543 0.20571440 -0.10154280
+v -0.16033356 0.28344336 -0.06828034
+v -0.10402009 0.25540146 -0.09616144
+v -0.28132642 0.25397933 -0.06898161
+v -0.10270231 0.26700555 -0.06828034
+v -0.27978904 0.24891124 -0.10483330
+v -0.09267027 0.23118092 -0.07652221
+v -0.14908380 0.27910130 -0.07990674
+v -0.16015216 0.27013366 -0.09753095
+v -0.29545455 0.20515109 -0.10615911
+v -0.10389000 0.26309023 -0.08614173
+v -0.14853549 0.28090889 -0.06828034
+v -0.16053048 0.28144402 -0.08051046
+v -0.29545455 0.23545412 -0.10615912
+v -0.14741696 0.26944465 -0.09580576
+v -0.29658001 0.23916430 -0.08602247
+v -0.29760052 0.22737695 -0.09449578
+f 1 2 3
+f 5 2 1
+f 7 4 6
+f 8 6 4
+f 9 6 3
+f 9 3 2
+f 9 7 6
+f 9 2 5
+f 11 5 1
+f 11 1 8
+f 12 1 3
+f 13 9 5
+f 13 7 9
+f 13 10 7
+f 14 10 4
+f 14 4 7
+f 14 7 10
+f 15 11 8
+f 15 8 4
+f 15 4 10
+f 16 8 1
+f 16 1 12
+f 17 10 13
+f 17 15 10
+f 17 11 15
+f 17 13 5
+f 17 5 11
+f 18 6 8
+f 18 8 16
+f 18 3 6
+f 19 18 16
+f 19 16 12
+f 19 12 3
+f 19 3 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6945175e716e1a044b2bec6f2c40f251d9a12225
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.45935858 -0.07138655 0.07574471
+v 0.49282680 -0.04409065 0.02046080
+v 0.48021589 0.05562368 0.08092137
+v 0.45915896 0.07178066 0.07521669
+v 0.45976909 0.04734906 0.00394573
+v 0.46014098 -0.05859862 0.08781766
+v 0.45862530 -0.05822956 0.00960128
+v 0.49272578 0.04503538 0.02095230
+v 0.46004906 0.05930763 0.08723006
+v 0.48916125 -0.05930086 0.06259940
+v 0.49259899 -0.01822111 0.00877719
+v 0.45911418 0.07108228 0.02143281
+v 0.48009045 -0.05495794 0.08151068
+v 0.48872732 0.06034565 0.06247564
+v 0.48079313 -0.06634507 0.03029797
+v 0.48170089 -0.04214639 0.00994282
+v 0.49348680 0.00649471 0.00832468
+v 0.48145689 0.04311031 0.01035887
+v 0.47933202 -0.06614039 0.07039098
+v 0.48024477 0.06687337 0.03060487
+v 0.47885962 0.06683085 0.06997495
+v 0.49072495 -0.05740005 0.03067383
+v 0.45924089 -0.07041368 0.02084449
+v 0.46909958 -0.05661694 0.01177791
+v 0.46870091 0.06868011 0.02305383
+v 0.49060325 0.05806757 0.03126351
+v 0.46898957 -0.06797910 0.02252544
+f 6 4 1
+f 7 1 4
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 2 8
+f 11 7 5
+f 12 7 4
+f 12 5 7
+f 13 6 1
+f 13 10 3
+f 13 3 6
+f 14 10 8
+f 14 3 10
+f 16 11 2
+f 16 7 11
+f 17 8 2
+f 17 2 11
+f 17 11 5
+f 18 17 5
+f 18 8 17
+f 19 13 1
+f 19 10 13
+f 19 15 10
+f 19 1 15
+f 20 12 4
+f 21 4 3
+f 21 3 14
+f 21 20 4
+f 21 14 20
+f 22 15 2
+f 22 2 10
+f 22 10 15
+f 23 15 1
+f 23 1 7
+f 24 7 16
+f 24 23 7
+f 24 16 2
+f 24 2 15
+f 25 18 5
+f 25 5 12
+f 25 12 20
+f 25 20 8
+f 25 8 18
+f 26 20 14
+f 26 14 8
+f 26 8 20
+f 27 24 15
+f 27 15 23
+f 27 23 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..602936aa3cf49971d323522f094919c72268f6b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.01260746 -0.16679040 -0.07702776
+v 0.01589088 -0.13262676 -0.07015577
+v 0.00277633 -0.15454649 -0.06704534
+v -0.03787879 -0.06757619 -0.10215681
+v 0.00380737 -0.15539265 -0.10343780
+v -0.03787879 -0.15848528 -0.10615900
+v 0.00757576 -0.06757619 -0.10615903
+v -0.03206460 -0.16325686 -0.09468855
+v 0.00782619 -0.06765216 -0.09989904
+v 0.01509623 -0.08500902 -0.09519350
+v -0.03787879 -0.06757619 -0.10615903
+v -0.03787879 -0.12818225 -0.10215680
+f 1 3 4
+f 3 2 4
+f 5 2 3
+f 5 3 1
+f 7 5 6
+f 8 6 5
+f 8 5 1
+f 8 1 4
+f 9 7 4
+f 9 4 2
+f 10 2 5
+f 10 5 7
+f 10 9 2
+f 10 7 9
+f 11 7 6
+f 11 6 4
+f 11 4 7
+f 12 8 4
+f 12 4 6
+f 12 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99d5af0791ecce24abfe6654ea6fcf415faa1fd5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.29288423 -0.27122422 0.08513480
+v -0.29402500 -0.27498484 -0.06828034
+v -0.29884435 -0.24541750 -0.07608299
+v -0.42404192 -0.16453798 0.08410730
+v -0.37459932 -0.23505953 0.08380030
+v -0.40879317 -0.20949747 -0.06828034
+v -0.30063933 -0.25133476 0.07968186
+v -0.32117082 -0.26473064 0.08380031
+v -0.40756713 -0.20800353 0.08380030
+v -0.34929540 -0.25188909 -0.06828035
+v -0.41988022 -0.16112257 -0.06910726
+v -0.29758125 -0.25640516 0.08523062
+v -0.41113466 -0.16637980 -0.07659529
+v -0.32177453 -0.26656709 -0.06828035
+v -0.37582537 -0.23655346 -0.06828035
+f 1 2 3
+f 7 3 4
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 9 4 6
+f 10 8 5
+f 11 6 4
+f 12 1 3
+f 12 3 7
+f 12 7 4
+f 12 4 1
+f 13 6 11
+f 13 11 4
+f 13 4 3
+f 14 10 3
+f 14 3 2
+f 14 2 8
+f 14 8 10
+f 15 10 5
+f 15 6 13
+f 15 13 3
+f 15 3 10
+f 15 9 6
+f 15 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c6ab01d6c528248fa8fefb71eacdf209bec35d3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.16021540 -0.28343178 -0.06828034
+v -0.02663657 -0.18286305 -0.07799796
+v -0.33903549 -0.23073759 -0.06748975
+v -0.29545455 -0.15848528 -0.10215678
+v -0.10386468 -0.25448092 -0.09665482
+v -0.04049945 -0.23104958 -0.06828034
+v -0.03787879 -0.15848528 -0.10615900
+v -0.27689778 -0.26847183 -0.09617873
+v -0.10236582 -0.26690355 -0.06828035
+v -0.03206460 -0.16325686 -0.09468855
+v -0.04714188 -0.22295575 -0.09568844
+v -0.16070891 -0.27842109 -0.08755349
+v -0.27594136 -0.28047046 -0.06828035
+v -0.33970591 -0.23199187 -0.10343777
+v -0.05040393 -0.16064069 -0.10051267
+v -0.10365739 -0.26264575 -0.08667714
+v -0.14731313 -0.26857567 -0.09634112
+v -0.27479813 -0.27670171 -0.08591223
+v -0.29545455 -0.15848528 -0.10615900
+v -0.33751078 -0.25818811 -0.06828034
+v -0.32177453 -0.26656709 -0.06828035
+v -0.32024802 -0.26250292 -0.08650191
+v -0.32029465 -0.25432549 -0.09639109
+v -0.33451701 -0.25258715 -0.08952292
+v -0.33635119 -0.24086716 -0.09926439
+f 3 2 4
+f 6 2 3
+f 9 6 3
+f 9 3 1
+f 10 4 2
+f 10 2 7
+f 11 5 7
+f 11 7 2
+f 11 2 6
+f 13 1 3
+f 15 10 7
+f 15 7 4
+f 15 4 10
+f 16 5 11
+f 16 9 1
+f 16 1 12
+f 16 11 6
+f 16 6 9
+f 17 12 8
+f 17 16 12
+f 17 5 16
+f 17 8 14
+f 17 14 7
+f 17 7 5
+f 18 12 1
+f 18 1 13
+f 18 8 12
+f 19 4 7
+f 19 7 14
+f 19 14 3
+f 19 3 4
+f 20 3 14
+f 21 13 3
+f 21 3 20
+f 21 18 13
+f 22 8 18
+f 22 18 21
+f 22 21 20
+f 23 14 8
+f 23 8 22
+f 24 22 20
+f 24 20 14
+f 24 23 22
+f 25 24 14
+f 25 14 23
+f 25 23 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb600606d1b3cdf71ad4358168926a74408d107
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.33751078 -0.25818811 -0.06828034
+v -0.29545455 -0.23424285 -0.10615898
+v -0.29545455 -0.15848528 -0.10215678
+v -0.48273008 -0.09493854 -0.06828034
+v -0.40772590 -0.19621003 -0.09600773
+v -0.31520995 -0.24285613 -0.07022302
+v -0.35046351 -0.23892293 -0.09596503
+v -0.40879317 -0.20949747 -0.06828034
+v -0.46749306 -0.09491260 -0.09844000
+v -0.35606061 -0.09787922 -0.10215681
+v -0.29681262 -0.23871980 -0.08655786
+v -0.33635119 -0.24086716 -0.09926439
+v -0.46065604 -0.13445196 -0.08599390
+v -0.37363751 -0.23388756 -0.08517954
+v -0.47751557 -0.09335675 -0.08817347
+v -0.29545455 -0.15848528 -0.10615900
+v -0.37661312 -0.22236183 -0.09568844
+v -0.33451701 -0.25258715 -0.08952292
+v -0.46417739 -0.13633417 -0.06828034
+v -0.40578283 -0.20582935 -0.08711990
+v -0.45151443 -0.13766432 -0.09573536
+v -0.37582537 -0.23655346 -0.06828035
+v -0.35606061 -0.09787922 -0.10615902
+v -0.47460582 -0.10762560 -0.08614175
+v -0.34734082 -0.24823235 -0.08622361
+v -0.34929540 -0.25188909 -0.06828035
+v -0.47852123 -0.10881332 -0.06828034
+v -0.46691701 -0.10749548 -0.09616141
+f 6 4 1
+f 9 2 5
+f 10 6 3
+f 10 4 6
+f 11 6 1
+f 11 1 2
+f 11 2 3
+f 11 3 6
+f 12 5 2
+f 15 4 10
+f 16 3 2
+f 17 12 7
+f 17 5 12
+f 17 7 14
+f 18 12 2
+f 18 2 1
+f 18 7 12
+f 19 13 8
+f 20 13 5
+f 20 8 13
+f 20 14 8
+f 20 17 14
+f 20 5 17
+f 21 9 5
+f 21 5 13
+f 22 1 8
+f 22 8 14
+f 23 15 10
+f 23 9 15
+f 23 10 3
+f 23 3 16
+f 23 16 2
+f 23 2 9
+f 24 4 15
+f 24 13 19
+f 24 21 13
+f 25 14 7
+f 25 7 18
+f 25 18 1
+f 26 22 14
+f 26 1 22
+f 26 25 1
+f 26 14 25
+f 27 24 19
+f 27 4 24
+f 27 19 8
+f 27 8 1
+f 27 1 4
+f 28 24 15
+f 28 15 9
+f 28 9 21
+f 28 21 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea42d7820a3326007ffb9a013eab044f279551d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.14876001 -0.27895744 0.08380031
+v -0.14646395 -0.27137503 -0.09277229
+v -0.15493005 -0.26311089 0.08380031
+v -0.29758125 -0.25640516 0.08523062
+v -0.27594136 -0.28047046 -0.06828035
+v -0.29557346 -0.24978638 -0.06836183
+v -0.14517254 -0.27563227 0.08523063
+v -0.16070891 -0.27842109 -0.08755349
+v -0.27538035 -0.27862103 0.08380031
+v -0.15641753 -0.25820735 -0.07011224
+v -0.29402500 -0.27498484 -0.06828034
+v -0.14937371 -0.27693436 -0.08607457
+v -0.29288423 -0.27122422 0.08513480
+v -0.15968714 -0.27364379 -0.09451889
+f 6 4 3
+f 7 3 4
+f 8 1 5
+f 9 5 1
+f 9 1 7
+f 10 6 3
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 11 4 6
+f 11 5 9
+f 12 7 1
+f 12 2 7
+f 12 1 8
+f 13 9 7
+f 13 7 4
+f 13 11 9
+f 13 4 11
+f 14 11 6
+f 14 6 2
+f 14 8 5
+f 14 5 11
+f 14 12 8
+f 14 2 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22c808a75e039355bbcdbc825ec65a579d88241d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.03704424 -0.07191920 -0.07827709
+v 0.06995603 -0.06265228 -0.06828034
+v 0.01540648 0.13357911 -0.07004652
+v -0.03787879 0.12939351 -0.10215687
+v 0.05713953 -0.06399473 -0.09636417
+v -0.03787879 0.05363593 -0.10215685
+v 0.06569523 0.06270935 -0.08573434
+v 0.00757576 -0.06757619 -0.10615903
+v 0.07015239 0.06393428 -0.06619396
+v 0.06580462 -0.06153592 -0.08620350
+v 0.02935159 0.12483563 -0.09926438
+v 0.01060047 -0.06849373 -0.09932237
+v -0.03787879 0.05363593 -0.10615907
+v 0.05713492 0.06520449 -0.09611177
+v -0.02024708 0.13142895 -0.09956199
+v 0.04667238 0.12599513 -0.06828034
+v -0.03787879 0.12939351 -0.10615909
+v 0.04280993 0.10877909 -0.09639108
+v 0.04107149 0.12300140 -0.08952290
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 8 5 1
+f 9 3 2
+f 9 2 7
+f 10 7 2
+f 10 2 5
+f 12 8 1
+f 12 1 6
+f 12 6 8
+f 13 8 6
+f 13 6 4
+f 14 10 5
+f 14 7 10
+f 14 5 8
+f 14 8 11
+f 15 4 3
+f 15 3 11
+f 16 9 7
+f 16 11 3
+f 16 3 9
+f 17 11 8
+f 17 8 13
+f 17 13 4
+f 17 15 11
+f 17 4 15
+f 18 14 11
+f 18 7 14
+f 19 16 7
+f 19 7 18
+f 19 18 11
+f 19 11 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b2b6a56fd73d0bcf40e439e43e571b924fd37e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.47116125 -0.07031845 0.08424819
+v -0.44696970 -0.06757619 -0.10615903
+v -0.46802283 0.08572920 0.08523052
+v -0.44696970 0.00818139 -0.10615905
+v -0.49031861 -0.05072500 -0.08699670
+v -0.49061691 -0.06243180 -0.07990678
+v -0.48096019 -0.06409862 -0.09580574
+v -0.48019271 0.08022855 -0.09004279
+v -0.49023878 0.06352830 0.08380020
+v -0.46026662 0.08337638 -0.10399169
+v -0.46051996 -0.07168661 -0.07774173
+v -0.48079168 0.06525873 -0.09568853
+v -0.49057517 -0.06241912 0.08380025
+v -0.49029331 0.06354486 -0.07983945
+v -0.48360873 0.08126479 0.08459928
+v -0.49023688 0.05192819 -0.08694189
+v -0.46868833 0.08133491 -0.10030932
+f 1 2 3
+f 3 2 4
+f 7 6 5
+f 10 4 2
+f 10 2 7
+f 10 8 3
+f 10 3 4
+f 11 7 2
+f 11 2 1
+f 11 1 6
+f 11 6 7
+f 12 10 7
+f 13 6 1
+f 13 1 3
+f 14 13 9
+f 14 6 13
+f 15 3 8
+f 15 14 9
+f 15 8 14
+f 15 13 3
+f 15 9 13
+f 16 12 7
+f 16 7 5
+f 16 5 6
+f 16 6 14
+f 16 14 8
+f 16 8 12
+f 17 12 8
+f 17 8 10
+f 17 10 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9218f3460a45eece2ecacea61ded2cde300583b0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/model.xml
@@ -0,0 +1,93 @@
+<mujoco model="pan_35">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <material name="Material.277" specular="0.5" shininess="0.618129492" rgba="0.053940 0.052534 0.052534 1.0"/>
+    <material name="Material.278" specular="0.5" shininess="0.000537194" rgba="0.275436 0.062006 0.010361 1.0"/>
+    <material name="Material.279" specular="0.5" shininess="0.000226077" rgba="0.126219 0.053713 0.027605 1.0"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0 -0.045 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_0_vis" conaffinity="0" contype="0" group="1" material="Material.279"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Material.278"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_2_vis" conaffinity="0" contype="0" group="1" material="Material.277"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+          <geom rgba="0 0 0 0" size="0.06 0.012" pos="0 0.045 -0.005" type="cylinder" name="liquid" class="region"/>
+          <geom rgba="0 0 0 0 " size="0.057 0.015" pos="0 0.045 0" type="cylinder" name="reg_int" class="region"/>
+        </body>
+        <geom class="region" name="reg_bbox" type="box" pos="1.2737999999951069e-06 -0.0453156879 -0.000282736300000001" size="0.06235753920000001 0.10793572020000003 0.0230722701"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e1b7262822ab32cf1935ee2aceb871e959811025
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.05490196 0.05098039 0.05098039
+Ks 0.50196078 0.50196078 0.50196078
+Ns 618.12949200
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e37dc4c1463c3ca18c05ddac007512df2606b115
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/model_normalized_0.obj
@@ -0,0 +1,1624 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b4e8693119974079bf93efb322a90c7f30c23b7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/model_normalized_1.obj
@@ -0,0 +1,1876 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/model_normalized_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf93ca8ab57396da053982435bef6873e88b4737
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_0/visual/model_normalized_2.obj
@@ -0,0 +1,3897 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bee1a40bd5535933e8b8231c00154e3f4b93db2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04257278 0.02393344 -0.03829437
+v 0.02955428 0.03787880 -0.06454461
+v 0.02955423 0.09845526 -0.00318914
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+v 0.02955423 0.09833297 -0.06436491
+v -0.03182705 0.08974359 -0.00315098
+v -0.03182705 0.03787880 -0.06454461
+v 0.02955423 0.09848485 -0.02676141
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+f 8 4 5
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+f 9 2 5
+f 9 5 6
+f 10 7 6
+f 10 6 4
+f 10 4 3
+f 10 3 1
+f 10 1 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..780b1218a5986389590b0849dcc6a1e755c9508a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.20742871 -0.39890190 -0.01828090
+v 0.25406307 -0.30999801 -0.01828090
+v 0.24281116 -0.31577711 -0.01828090
+v 0.19546142 -0.37121210 -0.06464014
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+v 0.19546142 -0.32575756 -0.06464014
+v 0.23992339 -0.34743142 -0.01828090
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+v 0.19546142 -0.37121210 -0.05175986
+v 0.24092716 -0.32116480 -0.06464014
+v 0.22576445 -0.31060604 -0.06464014
+v 0.21352653 -0.39147170 -0.01828090
+v 0.23770124 -0.33179925 -0.05706444
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+f 14 4 12
+f 15 5 10
+f 15 10 2
+f 15 2 7
+f 16 9 2
+f 16 2 10
+f 16 10 6
+f 16 6 9
+f 17 11 1
+f 17 5 11
+f 17 8 5
+f 17 1 8
+f 18 15 7
+f 18 7 5
+f 18 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfed893ee39a0bb23ac989ce35a76ffa2130dd4d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.14665826 -0.45585633 -0.01828090
+v 0.21061294 -0.37121210 -0.06464014
+v 0.21550725 -0.37382816 -0.01828090
+v 0.15000688 -0.37121210 -0.05175986
+v 0.13485537 -0.44696968 -0.06464014
+v 0.16232007 -0.43167032 -0.01828090
+v 0.19999851 -0.40795559 -0.01828090
+v 0.13485537 -0.40151513 -0.05175986
+v 0.15000688 -0.37121210 -0.06464014
+v 0.13652284 -0.45008929 -0.02707280
+v 0.20021752 -0.39298385 -0.06464014
+v 0.13485537 -0.40151513 -0.06464014
+v 0.15636183 -0.43625098 -0.06464014
+v 0.15484972 -0.44956013 -0.01828090
+v 0.14417067 -0.45120239 -0.03871577
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 9 4 2
+f 9 2 5
+f 9 8 4
+f 10 6 4
+f 10 1 6
+f 10 4 8
+f 10 8 5
+f 10 5 1
+f 11 5 2
+f 11 2 7
+f 12 9 5
+f 12 5 8
+f 12 8 9
+f 13 11 7
+f 13 5 11
+f 14 13 7
+f 14 7 1
+f 14 1 13
+f 15 13 1
+f 15 1 5
+f 15 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8377de6da6f4abf990a688a359326d7cbe50ff
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.14048796 -0.01783294 -0.01828095
+v -0.06211433 -0.00757575 -0.06464020
+v -0.06211433 -0.00757575 -0.05175991
+v -0.05857418 0.02620838 -0.01828095
+v -0.12229168 -0.00837781 -0.06464020
+v -0.05713479 0.02146329 -0.03748321
+v -0.06435323 0.01495651 -0.01828095
+v -0.14011864 -0.01852390 -0.02718097
+v -0.14395948 -0.00938171 -0.01828095
+v -0.08782462 0.00758696 -0.06464020
+v -0.13407631 -0.01467680 -0.05706444
+v -0.14907776 -0.01238356 -0.01828095
+v -0.06007505 0.01600465 -0.06464020
+v -0.11409120 0.00658317 -0.01828095
+v -0.14802200 -0.01367001 -0.02472556
+v -0.07244897 0.02199955 -0.01828095
+v -0.11599267 -0.00501092 -0.06464020
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 3
+f 8 3 1
+f 9 1 4
+f 10 2 5
+f 11 5 2
+f 11 2 8
+f 12 1 9
+f 12 9 5
+f 13 4 6
+f 13 6 2
+f 13 2 10
+f 14 9 4
+f 15 8 1
+f 15 1 12
+f 15 11 8
+f 15 12 5
+f 15 5 11
+f 16 14 4
+f 16 10 14
+f 16 13 10
+f 16 4 13
+f 17 14 10
+f 17 10 5
+f 17 5 9
+f 17 9 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c3d46fc7ff00058266ef9826b66d4f5dcce50df
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.05497389 -0.49398103 -0.01828090
+v 0.05647473 -0.48377714 -0.06464014
+v 0.05909779 -0.46212119 -0.05175986
+v -0.07726584 -0.46212119 -0.06464014
+v -0.05773619 -0.49314309 -0.01828090
+v 0.05909779 -0.46212119 -0.06464014
+v 0.06075294 -0.48272906 -0.01828090
+v -0.01484639 -0.48916393 -0.05706444
+v -0.08159894 -0.47640552 -0.01828090
+v 0.02686473 -0.48798016 -0.05706444
+v -0.07311185 -0.47873035 -0.06464014
+v -0.05634915 -0.48857066 -0.03678438
+v -0.07581983 -0.48765742 -0.01828090
+f 6 2 4
+f 6 4 3
+f 7 1 2
+f 7 5 1
+f 7 6 3
+f 7 2 6
+f 8 1 5
+f 9 7 3
+f 9 3 4
+f 9 5 7
+f 10 8 2
+f 10 2 1
+f 10 1 8
+f 11 4 2
+f 11 2 8
+f 11 9 4
+f 12 11 8
+f 12 8 5
+f 12 5 11
+f 13 11 5
+f 13 5 9
+f 13 9 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1371a0b6f3b96dd5aba92f69fa80402591f30232
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.05858147 -0.49072213 -0.02630209
+v 0.14730808 -0.44368116 -0.06464014
+v 0.15172254 -0.44906020 -0.02745979
+v 0.08940082 -0.44696968 -0.05175986
+v 0.05647473 -0.48377714 -0.06464014
+v 0.06470164 -0.48059478 -0.02846082
+v 0.10044523 -0.47888492 -0.02310775
+v 0.08940082 -0.44696968 -0.06464014
+v 0.11290181 -0.46259044 -0.02832062
+v 0.05909779 -0.46212119 -0.06464014
+v 0.14589979 -0.45443735 -0.02451149
+v 0.12799946 -0.46444615 -0.02300567
+v 0.08422426 -0.47535940 -0.06464014
+v 0.14226062 -0.44762894 -0.06464014
+f 3 2 4
+f 7 1 5
+f 8 4 2
+f 8 2 5
+f 9 3 4
+f 9 4 6
+f 10 5 1
+f 10 1 6
+f 10 6 4
+f 10 8 5
+f 10 4 8
+f 11 2 3
+f 11 9 6
+f 11 3 9
+f 12 6 1
+f 12 1 7
+f 12 11 6
+f 13 7 5
+f 13 5 2
+f 14 12 7
+f 14 2 11
+f 14 11 12
+f 14 13 2
+f 14 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0de01701a6b4f38c28d3bd61176b34b4f8da76e4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.12643978 -0.45392817 -0.04260748
+v -0.12272039 -0.44696968 -0.06464014
+v -0.12272039 -0.38636362 -0.05175986
+v -0.18332644 -0.38636362 -0.05175986
+v -0.17464817 -0.42124367 -0.06464014
+v -0.18942058 -0.40651646 -0.01828090
+v -0.15816428 -0.43477168 -0.06464014
+v -0.12272039 -0.38636362 -0.06464014
+v -0.13923385 -0.44951770 -0.01828090
+v -0.18332644 -0.38636362 -0.06464014
+v -0.17313611 -0.43455268 -0.01828090
+f 1 2 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 1 3
+f 9 3 6
+f 10 6 4
+f 10 5 6
+f 10 8 5
+f 10 4 8
+f 11 7 1
+f 11 1 9
+f 11 5 7
+f 11 9 6
+f 11 6 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd43e5a1a81c5d04ab2a6be6ae906899fd1f8673
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.24306536 -0.31493916 -0.01828090
+v -0.22878099 -0.31060604 -0.06464014
+v -0.23969436 -0.14062882 -0.01828095
+v -0.22878099 -0.14393938 -0.06464014
+v -0.25582366 -0.24818657 -0.05706444
+v -0.24539016 -0.30645208 -0.06464014
+v -0.25980283 -0.29107644 -0.01828090
+v -0.24201926 -0.14911592 -0.06464014
+v -0.25643193 -0.16449161 -0.01828092
+v -0.25431725 -0.30916007 -0.01828090
+v -0.25523038 -0.28968941 -0.03678434
+v -0.25601596 -0.17976924 -0.03699630
+v -0.25094627 -0.14640797 -0.01828094
+v -0.25463994 -0.20647549 -0.05706442
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 4 2
+f 8 3 4
+f 8 6 5
+f 8 4 6
+f 9 7 1
+f 9 1 3
+f 10 7 6
+f 10 6 1
+f 10 1 7
+f 11 7 5
+f 11 5 6
+f 11 6 7
+f 12 5 7
+f 12 7 9
+f 12 9 8
+f 13 9 3
+f 13 3 8
+f 13 8 9
+f 14 12 8
+f 14 8 5
+f 14 5 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e07c40bd401350dca396b2587e26da98bdfb86
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.18056630 -0.42845490 -0.01828090
+v -0.17464817 -0.42124367 -0.05706444
+v -0.18332644 -0.34090907 -0.05175986
+v -0.24352586 -0.34069172 -0.01828090
+v -0.21392549 -0.37628042 -0.06464014
+v -0.22877555 -0.34900482 -0.01828090
+v -0.18192870 -0.41526869 -0.06464014
+v -0.21474047 -0.38999241 -0.01828090
+v -0.23529861 -0.33629416 -0.06464014
+v -0.19685077 -0.39746274 -0.01828090
+v -0.18332644 -0.34090907 -0.06464014
+v -0.23092783 -0.36426095 -0.01828090
+v -0.18855703 -0.42189709 -0.01828090
+f 1 2 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 8 1 4
+f 9 5 4
+f 9 4 3
+f 9 7 5
+f 10 6 1
+f 10 1 3
+f 10 3 6
+f 11 3 2
+f 11 2 7
+f 11 9 3
+f 11 7 9
+f 12 8 4
+f 12 4 5
+f 12 5 8
+f 13 7 1
+f 13 1 8
+f 13 8 5
+f 13 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a016bdec69ea183ebba8131e5663da762bb7d7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.04696281 -0.08333332 -0.05175991
+v -0.04696281 -0.08333332 -0.06464020
+v -0.04696281 -0.00757575 -0.05175991
+v -0.11024700 -0.00256529 -0.02726154
+v -0.13787190 -0.08333332 -0.06464020
+v -0.13787190 -0.08333332 -0.05175991
+v -0.04696281 -0.00757575 -0.06464020
+v -0.14011864 -0.01852390 -0.02718097
+v -0.13407631 -0.01467681 -0.06464020
+v -0.13746843 -0.00833058 -0.02654039
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 6 1
+f 8 1 4
+f 8 5 6
+f 9 7 5
+f 9 5 8
+f 9 4 7
+f 10 9 8
+f 10 8 4
+f 10 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d872b232dce9f184780bab76919b77f0bc739a43
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.13787190 -0.08333332 -0.05175991
+v -0.13787190 -0.08333332 -0.06464020
+v -0.13407631 -0.01467681 -0.06464020
+v -0.13787190 -0.00757575 -0.01828095
+v -0.20442788 -0.07845034 -0.01828095
+v -0.19847796 -0.08333332 -0.06464020
+v -0.14911790 -0.02417544 -0.01828095
+v -0.18916381 -0.04552270 -0.01828095
+v -0.15813151 -0.01981375 -0.01828095
+v -0.18938279 -0.06049452 -0.06464020
+v -0.14315968 -0.01959480 -0.06464020
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 9 8 4
+f 10 6 5
+f 10 5 8
+f 10 3 6
+f 11 9 4
+f 11 4 3
+f 11 3 10
+f 11 10 8
+f 11 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7640f5343c9903e22213edddb32aba1b2c8e348a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.09208666 -0.47097529 -0.04272743
+v 0.15000688 -0.40151513 -0.06464014
+v 0.15000688 -0.14393938 -0.05175991
+v -0.12272039 -0.14393938 -0.05175991
+v -0.12272039 -0.44696968 -0.06464014
+v 0.15000688 -0.14393938 -0.06464014
+v 0.13589893 -0.44892204 -0.04210780
+v 0.08940082 -0.46212119 -0.06464014
+v -0.12643978 -0.45392817 -0.04260748
+v -0.12272039 -0.14393938 -0.06464014
+v 0.15000688 -0.40151513 -0.05175986
+v -0.07726584 -0.46212119 -0.06464014
+v 0.13485537 -0.44696968 -0.06464014
+v -0.07726584 -0.46212119 -0.05175986
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 5 2
+f 9 7 4
+f 9 1 7
+f 10 6 5
+f 10 4 6
+f 10 9 4
+f 10 5 9
+f 11 7 2
+f 11 3 7
+f 11 6 3
+f 11 2 6
+f 12 8 1
+f 12 5 8
+f 12 9 5
+f 13 7 1
+f 13 1 8
+f 13 8 2
+f 13 2 7
+f 14 12 1
+f 14 1 9
+f 14 9 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f695060a620b6140fa6f43082389a8224cff951
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.21676135 -0.09519846 -0.01828095
+v 0.21392547 -0.09039983 -0.05706444
+v 0.22184575 -0.08542790 -0.01828095
+v 0.18190675 -0.05108454 -0.01828095
+v 0.15000688 -0.08333332 -0.06464020
+v 0.19426659 -0.06644537 -0.06464020
+v 0.21606076 -0.09557293 -0.02730518
+v 0.15000688 -0.08333332 -0.05175991
+v 0.20912697 -0.08455283 -0.06464020
+v 0.20147784 -0.06052729 -0.01828095
+v 0.15000688 -0.05303029 -0.06464020
+v 0.21500585 -0.07701118 -0.01828095
+v 0.15000688 -0.05303029 -0.05175991
+f 1 3 4
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 3 2
+f 9 2 5
+f 9 5 6
+f 10 6 4
+f 10 4 3
+f 11 6 5
+f 11 4 6
+f 12 10 3
+f 12 3 9
+f 12 9 6
+f 12 6 10
+f 13 8 4
+f 13 4 11
+f 13 11 5
+f 13 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdaabd55219d05d2416d5d3892a10f6a4248f75a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.19538003 -0.05309709 -0.01828095
+v 0.18816880 -0.05901518 -0.06464020
+v 0.14294046 -0.01941479 -0.06464020
+v 0.12005811 -0.00691297 -0.01828095
+v 0.08940082 -0.05303029 -0.05175991
+v 0.15632900 -0.01833439 -0.01828095
+v 0.16379936 -0.03622415 -0.01828095
+v 0.08940082 -0.05303029 -0.06464020
+v 0.18855698 -0.04478321 -0.01828095
+v 0.08940082 -0.00757575 -0.06464020
+v 0.18192863 -0.05141150 -0.06464020
+v 0.08940082 -0.00757575 -0.05175991
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 9 6 1
+f 10 8 5
+f 10 4 3
+f 10 3 8
+f 11 2 3
+f 11 3 6
+f 11 6 9
+f 11 9 1
+f 11 1 2
+f 12 10 5
+f 12 5 4
+f 12 4 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10a17abccd93a633c569b8139649af16f109965e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02955421 0.18939397 0.00354164
+v 0.02955423 0.19777249 0.02509934
+v -0.03182705 0.19777661 0.02512509
+v -0.03182705 0.23828081 0.05427363
+v 0.02955423 0.23484849 0.00354162
+v 0.02955423 0.22960451 0.05120212
+v -0.03182705 0.18939394 0.00354162
+v -0.03182705 0.22959002 0.05119575
+v 0.02955423 0.23827978 0.05428574
+v -0.03182705 0.23484849 0.00354162
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 5 1
+f 7 1 3
+f 7 3 4
+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 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4d6b16df4c431976b0e4e68fb6613a7fa5d836
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.25069213 -0.14556999 -0.01828094
+v 0.24176508 -0.14827798 -0.05706440
+v 0.21392547 -0.09039983 -0.06464020
+v 0.20258162 -0.07748992 -0.02757224
+v 0.19546142 -0.14393938 -0.05175991
+v 0.22521262 -0.09172690 -0.01828095
+v 0.24048831 -0.14406911 -0.06464014
+v 0.21061294 -0.08333332 -0.01828095
+v 0.19546142 -0.08333332 -0.06464020
+v 0.24117747 -0.12159519 -0.01828095
+v 0.19546142 -0.14393938 -0.06464014
+v 0.23944022 -0.13979087 -0.01828095
+v 0.22328433 -0.10790910 -0.06464018
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 5 4
+f 9 4 3
+f 10 6 1
+f 10 1 7
+f 11 7 2
+f 11 2 5
+f 11 5 9
+f 11 9 3
+f 11 3 7
+f 12 8 5
+f 12 5 1
+f 12 1 8
+f 13 10 7
+f 13 7 3
+f 13 3 6
+f 13 6 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca88ea25755a2c9db38eef4c313058c5d11211b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.07581983 -0.48765742 -0.01828090
+v -0.07311185 -0.47873035 -0.06464014
+v -0.07726584 -0.44696968 -0.05175986
+v -0.16408237 -0.44198287 -0.01828090
+v -0.10204637 -0.47970160 -0.01828090
+v -0.14911057 -0.44220187 -0.06464014
+v -0.08159894 -0.47640552 -0.01828090
+v -0.07726584 -0.44696968 -0.06464014
+v -0.16070881 -0.43787219 -0.03887384
+v -0.13092070 -0.46426794 -0.01828090
+v -0.08698661 -0.47452148 -0.06464014
+v -0.11566463 -0.46211574 -0.01828090
+v -0.14294046 -0.44726556 -0.06464014
+v -0.15665219 -0.44808064 -0.01828090
+f 1 2 3
+f 5 1 4
+f 7 1 3
+f 7 4 1
+f 8 3 2
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 10 5 4
+f 11 6 2
+f 11 2 1
+f 11 1 5
+f 12 7 3
+f 12 3 4
+f 12 4 7
+f 13 5 10
+f 13 11 5
+f 13 6 11
+f 13 4 6
+f 14 13 10
+f 14 10 4
+f 14 4 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cdd2e5a317dc679ae613216437a938b478751d4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05497389 -0.49398103 -0.01828090
+v 0.15438236 -0.43714970 -0.02736858
+v 0.14035926 -0.45922319 -0.01828090
+v 0.15488988 -0.43776812 -0.01828090
+v 0.06075294 -0.48272906 -0.01828090
+v 0.11290181 -0.46259044 -0.02832062
+v 0.06052520 -0.48197821 -0.02719424
+v 0.13999460 -0.45854095 -0.02127657
+v 0.14528178 -0.44452276 -0.02820820
+v 0.05463573 -0.49286627 -0.02279200
+v 0.11009913 -0.47445495 -0.02149983
+v 0.07858625 -0.47641831 -0.02807662
+v 0.11049097 -0.47518804 -0.01828090
+v 0.06859032 -0.48892053 -0.02172722
+v 0.06884866 -0.48977217 -0.01828090
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 7 5 4
+f 7 4 2
+f 8 2 3
+f 9 7 2
+f 9 8 6
+f 9 2 8
+f 10 1 5
+f 10 5 7
+f 11 6 8
+f 12 9 6
+f 12 7 9
+f 12 10 7
+f 12 11 10
+f 12 6 11
+f 13 3 1
+f 13 11 8
+f 13 8 3
+f 14 10 11
+f 15 13 1
+f 15 1 10
+f 15 10 14
+f 15 14 11
+f 15 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7461039a3dc4d898dbd68cd0b674a6f7bcfb34d2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.23214244 -0.34270581 -0.01828090
+v -0.21362947 -0.34090907 -0.06464014
+v -0.21362947 -0.31060604 -0.05175986
+v -0.25431725 -0.30916007 -0.01828090
+v -0.23529861 -0.33629416 -0.06464014
+v -0.24306536 -0.31493916 -0.01828090
+v -0.21362947 -0.34090907 -0.05175986
+v -0.24636163 -0.33538638 -0.01828090
+v -0.21362947 -0.31060604 -0.06464014
+v -0.24118132 -0.32032687 -0.06464014
+v -0.24539016 -0.30645208 -0.06464014
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 9 3 2
+f 9 2 5
+f 10 8 4
+f 10 5 8
+f 10 9 5
+f 11 4 3
+f 11 3 9
+f 11 10 4
+f 11 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4185b1f5a2c15dda56cb8329da85bb0dc32e92ed
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.04696281 -0.14393938 -0.05175991
+v -0.04696281 -0.14393938 -0.06464014
+v -0.04696281 -0.08333332 -0.06464020
+v -0.20278639 -0.07979748 -0.04240356
+v -0.21362947 -0.14393938 -0.05175991
+v -0.04696281 -0.08333332 -0.05175991
+v -0.21558180 -0.09744130 -0.04210780
+v -0.21362947 -0.09848483 -0.06464019
+v -0.21362947 -0.14393938 -0.06464014
+v -0.19847796 -0.08333332 -0.06464020
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 7 4
+f 9 8 2
+f 9 2 5
+f 9 5 7
+f 9 7 8
+f 10 8 4
+f 10 4 3
+f 10 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f70ce6f7d5ffa5e023b69a820c418eabf6eac43b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08940082 -0.14393938 -0.05175991
+v 0.08940082 -0.14393938 -0.06464014
+v 0.08940082 -0.00757575 -0.05175991
+v -0.04696281 -0.00757575 -0.05175991
+v -0.04696281 -0.14393938 -0.06464014
+v 0.08940082 -0.00757575 -0.06464020
+v -0.04696281 -0.14393938 -0.05175991
+v -0.04696281 -0.00757575 -0.06464020
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb85ecedfebceb30ff3c8c269858bc3d5b7b539
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02955423 0.28085075 0.06412959
+v 0.02955423 0.28039586 0.00485078
+v 0.02955423 0.31192463 0.00226352
+v -0.03182705 0.30978402 0.06383695
+v -0.03182705 0.28084102 0.06411819
+v 0.02955423 0.30979890 0.06386583
+v -0.03182705 0.28039321 0.00479964
+v -0.03182705 0.31188670 0.00223993
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60fc09913211e02274525001628fc4d1159bb8d8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02955423 0.23827978 0.05428574
+v 0.02955423 0.23258528 -0.02440309
+v 0.02955423 0.28146488 0.00477498
+v -0.03182705 0.28030475 0.06409918
+v -0.03182705 0.23828081 0.05427363
+v -0.03182705 0.28147375 0.00472219
+v 0.02955423 0.28030440 0.06410987
+v -0.03182705 0.23260503 -0.02440779
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf047c4d189ee42681bb2a01d66f0e0b8724459a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.25094627 -0.14640797 -0.01828094
+v -0.18938277 -0.06049454 -0.05706448
+v -0.21362947 -0.14393938 -0.05175991
+v -0.19659400 -0.05457642 -0.01828095
+v -0.21428875 -0.09107960 -0.06464020
+v -0.23969436 -0.14062882 -0.01828095
+v -0.22588282 -0.09298109 -0.01828095
+v -0.19681299 -0.06954822 -0.06464020
+v -0.24074251 -0.14490706 -0.06464014
+v -0.21185807 -0.08750404 -0.01828095
+v -0.20269180 -0.06200661 -0.01828095
+v -0.19847796 -0.09848483 -0.06464019
+v -0.24598034 -0.14791437 -0.03837690
+v -0.23025371 -0.12094784 -0.06464016
+v -0.20291081 -0.07697841 -0.06464020
+v -0.21362947 -0.14393938 -0.06464014
+v -0.24184775 -0.12284934 -0.01828095
+f 3 2 4
+f 6 1 3
+f 6 4 1
+f 8 4 2
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 5 7
+f 11 7 1
+f 11 1 4
+f 12 8 2
+f 12 2 3
+f 13 3 1
+f 13 1 9
+f 14 7 5
+f 14 5 9
+f 15 5 11
+f 15 12 5
+f 15 8 12
+f 15 11 4
+f 15 4 8
+f 16 12 3
+f 16 9 5
+f 16 5 12
+f 16 13 9
+f 16 3 13
+f 17 14 9
+f 17 9 1
+f 17 1 7
+f 17 7 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f031b1382c806052f17f0dcf5f8be01f5b2829
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.02955418 0.16046581 -0.00119555
+v 0.02955423 0.19020368 0.01784795
+v -0.03182705 0.19020673 0.01784768
+v -0.03182705 0.18939394 0.00354162
+v -0.03182705 0.16044896 -0.00116254
+v 0.02955421 0.18939397 0.00354164
+f 5 1 2
+f 5 2 3
+f 5 4 1
+f 5 3 4
+f 6 1 4
+f 6 2 1
+f 6 4 3
+f 6 3 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdf07c0b4350e3e37382a43aa5e77b01cfc9d78c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02955423 0.31058916 0.06382450
+v 0.02955423 0.31192463 0.00226352
+v 0.02955418 0.49999989 0.05921599
+v -0.03182710 0.50000000 0.05921599
+v -0.03182705 0.31188670 0.00223993
+v -0.03182705 0.31058727 0.06379424
+v 0.02955418 0.49881084 -0.00215380
+v -0.03182710 0.49881084 -0.00215380
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 4 7
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a31640a76bec7d922d799d7ad4d16a85b667e79d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.14791226 -0.01149450 -0.01828095
+v 0.14511049 -0.01616710 -0.03935346
+v 0.02955428 0.03787880 -0.06454461
+v -0.05857418 0.02620838 -0.01828095
+v -0.06211433 -0.00757575 -0.05175991
+v 0.06968660 0.02283755 -0.01828095
+v 0.12543108 -0.01005584 -0.06464020
+v -0.06435323 0.01495651 -0.01828095
+v -0.03182705 0.03787880 -0.06454461
+v 0.11174499 0.00783731 -0.01828095
+v 0.13173009 -0.01342273 -0.06464020
+v -0.06007505 0.01600465 -0.06464020
+v -0.06211433 -0.00757575 -0.06464020
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 8 5 1
+f 8 1 4
+f 9 4 3
+f 10 6 1
+f 10 3 6
+f 10 7 3
+f 11 1 2
+f 11 10 1
+f 11 7 10
+f 12 8 4
+f 12 4 9
+f 12 7 11
+f 12 9 3
+f 12 3 7
+f 13 11 2
+f 13 2 5
+f 13 12 11
+f 13 5 8
+f 13 8 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cdf6820d07da744b0db23246e36961056c7876b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.24408791 -0.31156824 -0.01828090
+v 0.25533982 -0.30578914 -0.01828090
+v 0.23944022 -0.13979087 -0.01828095
+v 0.24513602 -0.30729003 -0.06464014
+v 0.25608896 -0.22118713 -0.06464014
+v 0.22576445 -0.31060604 -0.06464014
+v 0.25617775 -0.16365362 -0.01828092
+v 0.25579471 -0.24848082 -0.06464014
+v 0.22576445 -0.31060604 -0.05175986
+v 0.22576445 -0.14393938 -0.06464014
+v 0.24176507 -0.14827799 -0.06464014
+v 0.25145959 -0.18023639 -0.05706444
+v 0.25069213 -0.14556999 -0.01828094
+f 2 1 4
+f 6 4 1
+f 6 5 4
+f 7 2 5
+f 7 1 2
+f 7 3 1
+f 8 5 2
+f 8 2 4
+f 8 4 5
+f 9 6 1
+f 9 1 3
+f 10 5 6
+f 10 9 3
+f 10 6 9
+f 11 5 10
+f 11 10 3
+f 12 11 7
+f 12 7 5
+f 12 5 11
+f 13 11 3
+f 13 3 7
+f 13 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca07173995570406cb433e9d06ac71a6d349c272
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.02955423 0.09845526 -0.00318914
+v 0.02955423 0.09833297 -0.06436491
+v 0.02955423 0.23484849 0.00354162
+v -0.03182705 0.23484849 0.00354162
+v -0.03182705 0.09833510 -0.06436773
+v -0.03182705 0.09846888 -0.00317174
+v 0.02955420 0.20977315 -0.04299409
+v -0.03182705 0.15794167 -0.06053016
+v 0.02955423 0.22501593 -0.03166718
+v 0.02955418 0.18375935 -0.05499775
+v -0.03182705 0.22503796 -0.03162069
+v -0.03182705 0.18376250 -0.05496315
+v -0.03182705 0.20974906 -0.04298811
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 6 1 3
+f 6 3 4
+f 8 2 5
+f 8 5 4
+f 9 3 2
+f 10 2 8
+f 10 9 2
+f 10 7 9
+f 11 8 4
+f 11 4 3
+f 11 3 9
+f 12 10 8
+f 12 8 11
+f 13 12 11
+f 13 7 10
+f 13 10 12
+f 13 11 9
+f 13 9 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ba0ad708be24e8b65b53225f0f8dea49499d35
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.19546142 -0.37121210 -0.05175986
+v 0.22576445 -0.32575756 -0.06464014
+v 0.22576445 -0.14393938 -0.05175991
+v 0.15000688 -0.14393938 -0.05175991
+v 0.15000688 -0.37121210 -0.06464014
+v 0.22576445 -0.14393938 -0.06464014
+v 0.22576445 -0.32575756 -0.05175986
+v 0.19546142 -0.37121210 -0.06464014
+v 0.15000688 -0.37121210 -0.05175986
+v 0.15000688 -0.14393938 -0.06464014
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 6 5
+f 10 5 4
+f 10 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ba7467ee063634c89209b3ac1ee74351a0760d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.19546142 -0.14393938 -0.05175991
+v 0.19546142 -0.14393938 -0.06464014
+v 0.20155854 -0.07832954 -0.04260725
+v 0.08940082 -0.05303029 -0.05175991
+v 0.08940082 -0.14393938 -0.05175991
+v 0.15000688 -0.05303029 -0.06464020
+v 0.19546142 -0.08333332 -0.06464020
+v 0.15000688 -0.05303029 -0.05175991
+v 0.08940082 -0.05303029 -0.06464020
+v 0.08940082 -0.14393938 -0.06464014
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 6 3
+f 7 3 2
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 9 5 4
+f 9 4 6
+f 9 6 7
+f 10 2 5
+f 10 5 9
+f 10 9 7
+f 10 7 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82d4a58c69b37a7fe3cba7cba659f5c73ce0ee50
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.12272039 -0.38636362 -0.05175986
+v -0.12272039 -0.38636362 -0.06464014
+v -0.12272039 -0.14393938 -0.05175991
+v -0.23763506 -0.14125352 -0.04272739
+v -0.22878099 -0.31060604 -0.05175986
+v -0.22878099 -0.14393938 -0.06464014
+v -0.18332644 -0.38636362 -0.06464014
+v -0.18332644 -0.38636362 -0.05175986
+v -0.12272039 -0.14393938 -0.06464014
+v -0.22878099 -0.31060604 -0.06464014
+v -0.21362947 -0.34090907 -0.05175986
+v -0.21362947 -0.34090907 -0.06464014
+f 1 3 4
+f 7 2 1
+f 7 6 2
+f 8 1 4
+f 8 7 1
+f 9 2 6
+f 9 1 2
+f 9 3 1
+f 9 6 4
+f 9 4 3
+f 10 5 4
+f 10 4 6
+f 10 6 7
+f 11 8 4
+f 11 4 5
+f 11 7 8
+f 11 5 10
+f 12 11 10
+f 12 10 7
+f 12 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7aa6fabf55ce0417e64471f4f11d6417b2b27940
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_12">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.266" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0.0 -0.057 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_0_vis" conaffinity="0" contype="0" group="1" material="Material.266"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        </body>
+        <geom class="region" name="reg_bbox" type="box" pos="0.00045313494598211307 -0.05775237116031036 -6.382624999999933e-05" size="0.06495069975727234 0.12349524277821813 0.016096223750000003"/>
+        <geom rgba="0 0 0 0" size="0.064 0.0002" pos="0 0.001 -0.01" type="cylinder" name="liquid" class="region"/>
+        <geom rgba="0 0 0 0 " size="0.063 0.003" pos="0 0.001 -0.008" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_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.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_1/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cb3e9e0ef5399949d7d7322bc484b9d5b486ffa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_1/visual/model_normalized_0.obj
@@ -0,0 +1,1736 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 296/296/296 290/290/290 291/291/291
+f 296/296/296 291/291/291 297/297/297
+f 298/298/298 292/292/292 293/293/293
+f 298/298/298 293/293/293 299/299/299
+f 141/141/141 294/294/294 295/295/295
+f 141/141/141 295/295/295 142/142/142
+f 241/241/241 296/296/296 297/297/297
+f 241/241/241 297/297/297 242/242/242
+f 300/300/300 298/298/298 299/299/299
+f 300/300/300 299/299/299 301/301/301
+f 74/74/74 104/104/104 73/73/73
+f 104/104/104 74/74/74 103/103/103
+f 103/103/103 74/74/74 75/75/75
+f 103/103/103 75/75/75 102/102/102
+f 102/102/102 75/75/75 76/76/76
+f 102/102/102 76/76/76 101/101/101
+f 101/101/101 76/76/76 77/77/77
+f 101/101/101 77/77/77 100/100/100
+f 100/100/100 77/77/77 78/78/78
+f 100/100/100 78/78/78 99/99/99
+f 99/99/99 78/78/78 79/79/79
+f 99/99/99 79/79/79 98/98/98
+f 98/98/98 79/79/79 80/80/80
+f 98/98/98 80/80/80 97/97/97
+f 97/97/97 80/80/80 81/81/81
+f 97/97/97 81/81/81 96/96/96
+f 96/96/96 81/81/81 82/82/82
+f 96/96/96 82/82/82 95/95/95
+f 95/95/95 82/82/82 83/83/83
+f 95/95/95 83/83/83 94/94/94
+f 94/94/94 83/83/83 84/84/84
+f 94/94/94 84/84/84 93/93/93
+f 93/93/93 84/84/84 85/85/85
+f 93/93/93 85/85/85 92/92/92
+f 92/92/92 85/85/85 86/86/86
+f 92/92/92 86/86/86 87/87/87
+f 92/92/92 87/87/87 91/91/91
+f 91/91/91 87/87/87 88/88/88
+f 91/91/91 88/88/88 90/90/90
+f 90/90/90 88/88/88 89/89/89
+f 210/210/210 208/208/208 209/209/209
+f 208/208/208 210/210/210 211/211/211
+f 208/208/208 211/211/211 239/239/239
+f 239/239/239 211/211/211 212/212/212
+f 239/239/239 212/212/212 238/238/238
+f 238/238/238 212/212/212 213/213/213
+f 238/238/238 213/213/213 237/237/237
+f 237/237/237 213/213/213 214/214/214
+f 237/237/237 214/214/214 236/236/236
+f 236/236/236 214/214/214 215/215/215
+f 236/236/236 215/215/215 235/235/235
+f 235/235/235 215/215/215 216/216/216
+f 235/235/235 216/216/216 234/234/234
+f 234/234/234 216/216/216 217/217/217
+f 234/234/234 217/217/217 233/233/233
+f 233/233/233 217/217/217 218/218/218
+f 233/233/233 218/218/218 232/232/232
+f 232/232/232 218/218/218 219/219/219
+f 232/232/232 219/219/219 231/231/231
+f 231/231/231 219/219/219 220/220/220
+f 231/231/231 220/220/220 230/230/230
+f 230/230/230 220/220/220 221/221/221
+f 230/230/230 221/221/221 229/229/229
+f 229/229/229 221/221/221 222/222/222
+f 229/229/229 222/222/222 228/228/228
+f 228/228/228 222/222/222 223/223/223
+f 228/228/228 223/223/223 227/227/227
+f 227/227/227 223/223/223 224/224/224
+f 227/227/227 224/224/224 226/226/226
+f 226/226/226 224/224/224 225/225/225
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c00d3eb64373e2ecbc68196e15a72935380edc82
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_0.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.11453602 -0.23774982 0.03074048
+v -0.01048838 -0.14677778 0.03059596
+v -0.02833319 -0.15633728 0.03251452
+v -0.15909090 -0.14901272 -0.03381547
+v -0.10640375 -0.21445019 -0.01695759
+v -0.10677263 -0.22618923 0.03251452
+v -0.05168097 -0.19163144 0.01578300
+v -0.16098611 -0.22019483 -0.02566324
+v -0.04348322 -0.14471228 -0.02176700
+v -0.04964106 -0.19428983 0.03059596
+v -0.09701822 -0.22208733 0.00058790
+v -0.15767442 -0.22819004 -0.01144352
+v -0.01617790 -0.14241206 -0.00110653
+v -0.15909090 -0.14901272 -0.04237613
+v -0.09288587 -0.22747265 0.03059596
+v -0.03805621 -0.18270498 0.03059596
+v -0.08554521 -0.21133052 0.03251452
+v -0.11924366 -0.22638450 -0.00912075
+v -0.04514482 -0.15858880 -0.01790286
+v -0.16045723 -0.19116865 -0.03465410
+v -0.08588334 -0.14646269 -0.03436703
+v -0.04071465 -0.18066510 0.01578301
+v -0.10555552 -0.22285157 -0.00637315
+v -0.06531282 -0.19361191 -0.00515198
+v -0.13038345 -0.19061520 -0.03208738
+v -0.10116316 -0.17582529 -0.03110112
+v -0.03873415 -0.16703325 -0.00515190
+v -0.08592369 -0.16078840 -0.03172017
+v -0.02329944 -0.15209903 -0.00001399
+f 3 2 4
+f 6 3 4
+f 6 4 1
+f 11 7 10
+f 12 1 4
+f 12 4 8
+f 13 4 2
+f 14 4 13
+f 15 6 1
+f 15 11 10
+f 15 1 11
+f 16 2 3
+f 16 3 10
+f 16 10 7
+f 16 13 2
+f 17 10 3
+f 17 3 6
+f 17 15 10
+f 17 6 15
+f 18 1 12
+f 18 12 8
+f 18 8 5
+f 19 9 13
+f 20 8 4
+f 20 4 14
+f 21 14 13
+f 21 13 9
+f 22 16 7
+f 22 13 16
+f 23 11 1
+f 23 1 18
+f 23 18 5
+f 24 5 19
+f 24 23 5
+f 24 11 23
+f 24 7 11
+f 25 20 14
+f 25 14 21
+f 25 8 20
+f 25 5 8
+f 26 19 5
+f 26 25 21
+f 26 5 25
+f 27 24 19
+f 27 19 13
+f 27 22 7
+f 27 7 24
+f 28 26 21
+f 28 21 9
+f 28 9 19
+f 28 19 26
+f 29 27 13
+f 29 13 22
+f 29 22 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..909241093354a521bead06f96e6bcb09a38283cc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.11622849 0.20836568 -0.02230317
+v -0.11781113 0.21969636 -0.01695759
+v -0.10854213 0.22692218 0.03251452
+v -0.29339903 0.25961631 0.03059596
+v -0.28019820 0.21382743 -0.03135940
+v -0.17621267 0.26026396 0.03059596
+v -0.14903326 0.23262897 -0.01695759
+v -0.29623219 0.25083361 0.03251452
+v -0.11606515 0.23906306 0.03059596
+v -0.26270143 0.25661948 -0.00025111
+v -0.29559558 0.24599799 0.01041569
+v -0.12147475 0.23227906 0.03251452
+v -0.13697370 0.24031584 0.00034148
+v -0.27925953 0.23700068 -0.02005079
+v -0.20691441 0.25723561 -0.00039177
+v -0.13435464 0.24663881 0.03059596
+v -0.12041068 0.22857199 -0.00692963
+v -0.29293891 0.25612162 0.01501400
+v -0.17667690 0.25673773 0.01487340
+v -0.15131987 0.24226010 -0.00579152
+v -0.27864648 0.24749571 -0.01053007
+f 1 2 3
+f 5 1 3
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 6 4
+f 9 3 2
+f 11 8 4
+f 11 5 8
+f 12 8 3
+f 12 6 8
+f 12 3 9
+f 14 7 5
+f 14 5 11
+f 15 10 4
+f 15 4 6
+f 15 7 14
+f 16 12 9
+f 16 6 12
+f 16 9 13
+f 17 13 9
+f 17 9 2
+f 18 14 11
+f 18 11 4
+f 18 4 10
+f 19 15 6
+f 19 16 13
+f 19 6 16
+f 20 7 15
+f 20 13 17
+f 20 17 2
+f 20 2 7
+f 20 19 13
+f 20 15 19
+f 21 15 14
+f 21 10 15
+f 21 18 10
+f 21 14 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ecc4ff0ce4be438c0a26cc4c1cfd0a5dbdc7fe9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_10.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.15087467 -0.25348167 0.03059596
+v -0.11571072 -0.21976230 -0.01575409
+v -0.11212951 -0.22840813 0.03251452
+v -0.30854440 -0.21979303 -0.02486084
+v -0.20684148 -0.25278474 -0.00700984
+v -0.13169075 -0.21776208 -0.02080506
+v -0.31267978 -0.24492821 0.03251452
+v -0.11965256 -0.24054899 0.03059596
+v -0.16488407 -0.25177146 -0.00008826
+v -0.19092033 -0.24347935 -0.01695759
+v -0.13799475 -0.23912188 0.03251452
+v -0.30515674 -0.25706906 0.03059596
+v -0.12100194 -0.23729121 0.01500808
+v -0.26379798 -0.24479244 -0.01695759
+v -0.13433113 -0.22653911 -0.01695759
+v -0.31593093 -0.23762561 0.00758314
+v -0.11924366 -0.22638450 -0.00912075
+v -0.29312946 -0.25256410 -0.00046784
+v -0.13646472 -0.23653973 -0.00523494
+v -0.26279925 -0.25235762 -0.00670014
+v -0.30537260 -0.24243858 -0.00982259
+v -0.30377973 -0.25374467 0.01468939
+v -0.30732806 -0.23200799 -0.01899645
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 9 1 5
+f 10 4 6
+f 10 9 5
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 5 1
+f 12 1 7
+f 13 2 8
+f 13 8 1
+f 13 1 9
+f 14 10 5
+f 14 4 10
+f 15 10 6
+f 15 6 2
+f 15 9 10
+f 16 12 7
+f 16 7 4
+f 17 2 13
+f 19 17 13
+f 19 13 9
+f 19 9 15
+f 19 15 2
+f 19 2 17
+f 20 18 14
+f 20 14 5
+f 20 5 12
+f 20 12 18
+f 21 14 18
+f 22 21 18
+f 22 18 12
+f 22 12 16
+f 22 16 21
+f 23 21 16
+f 23 16 4
+f 23 4 14
+f 23 14 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7879ec17f5fffc1c2413016968c53c0e3762fac
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.11410796 0.18370602 -0.03148110
+v -0.10906780 0.19027450 -0.01858086
+v -0.32442407 0.18110126 -0.03502169
+v -0.34232200 0.21803480 -0.00714797
+v -0.17586226 0.21071302 -0.03181573
+v -0.34630931 0.19135826 -0.02114438
+v -0.14523502 0.18119269 -0.03544560
+v -0.11622849 0.20836568 -0.02230317
+v -0.27976047 0.21050254 -0.03214210
+v -0.11320395 0.21566756 -0.00530850
+v -0.33865435 0.20918026 -0.02392988
+v -0.14551175 0.19567613 -0.03234731
+v -0.34063173 0.18395917 -0.03284827
+v -0.32414734 0.19558472 -0.03192339
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 4 5
+f 9 7 3
+f 9 5 7
+f 10 6 2
+f 10 4 6
+f 10 2 8
+f 10 8 5
+f 10 5 4
+f 11 6 4
+f 11 4 9
+f 12 7 5
+f 12 1 7
+f 12 8 1
+f 12 5 8
+f 13 3 6
+f 13 6 11
+f 14 13 11
+f 14 11 9
+f 14 9 3
+f 14 3 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..086c98d3aafa0605f5df96e6db977730538871b0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_12.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02833319 -0.15633728 0.03251452
+v 0.00899469 -0.08899439 0.03251452
+v -0.05154135 -0.08902340 -0.02658006
+v -0.05593755 -0.08720243 -0.03646904
+v -0.01789596 -0.12594222 -0.01695759
+v -0.00487339 -0.13946017 0.03059596
+v -0.05462824 -0.13263506 -0.03054437
+v -0.00115267 -0.08479122 -0.01736975
+v -0.02101558 -0.14680074 0.03251452
+v -0.03082858 -0.14279635 -0.01695759
+v -0.05597906 -0.10182554 -0.03517191
+v -0.01025881 -0.13532778 0.00058789
+v -0.04173084 -0.10196259 -0.03208738
+v 0.00677577 -0.09435130 0.03251452
+v -0.04348322 -0.14471228 -0.02176700
+v -0.00949446 -0.12679047 -0.00637304
+v -0.00580700 -0.09801484 -0.01695759
+v -0.04145411 -0.08692570 -0.03337074
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 8 4 2
+f 9 2 1
+f 9 1 6
+f 11 7 1
+f 11 1 4
+f 12 6 1
+f 12 1 10
+f 12 2 6
+f 13 5 7
+f 13 7 11
+f 14 9 6
+f 14 6 2
+f 14 2 9
+f 15 10 1
+f 15 1 7
+f 15 7 5
+f 15 5 10
+f 16 8 2
+f 16 2 12
+f 16 12 10
+f 16 10 5
+f 17 13 8
+f 17 5 13
+f 17 16 5
+f 17 8 16
+f 18 4 8
+f 18 8 13
+f 18 13 11
+f 18 11 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a6bfdc80b3a6271be3af19c2e39b0a2bbf7cc3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_13.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.48792899 0.07639802 0.03059596
+v -0.42827281 0.12099411 -0.02655541
+v -0.44395901 0.07701295 -0.02878807
+v -0.43579647 0.15707023 0.03251452
+v -0.45814535 0.13036537 0.00025181
+v -0.47578821 0.08392112 0.03251452
+v -0.46428259 0.13348538 0.03059596
+v -0.42808125 0.15115014 -0.01626445
+v -0.45027289 0.11880686 -0.01695759
+v -0.44311408 0.14753370 0.03251452
+v -0.42661122 0.13487065 -0.02269129
+v -0.45364125 0.14751069 0.03059596
+v -0.48130350 0.07365366 -0.00110653
+v -0.44580536 0.14149798 -0.00487205
+v -0.43959729 0.13320901 -0.01765548
+v -0.45617392 0.07579656 -0.02292371
+v -0.45975102 0.11645684 -0.00602203
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 1 6
+f 9 2 3
+f 10 7 6
+f 10 6 4
+f 11 8 4
+f 11 4 2
+f 12 4 8
+f 12 10 4
+f 12 7 10
+f 12 5 7
+f 13 3 1
+f 13 1 5
+f 14 9 5
+f 14 12 8
+f 14 5 12
+f 15 8 11
+f 15 14 8
+f 15 9 14
+f 15 11 2
+f 15 2 9
+f 16 13 9
+f 16 9 3
+f 16 3 13
+f 17 13 5
+f 17 5 9
+f 17 9 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0c1e1c931e4cae7c4fdbda69257d1c146b1828
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_14.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.35479630 0.12245026 -0.04222493
+v -0.33896822 0.16663971 -0.03629155
+v -0.34186514 0.17041506 -0.02640317
+v -0.37667652 0.20659350 0.00867305
+v -0.43694329 0.14632404 -0.01056828
+v -0.34316013 0.20490665 -0.01553610
+v -0.35839864 0.12550859 -0.03232334
+v -0.39822973 0.13634509 -0.03220849
+v -0.33859020 0.18129859 -0.03363097
+v -0.39272949 0.18802248 -0.01695759
+v -0.42827281 0.12099411 -0.02655541
+v -0.43893953 0.14433048 0.00867309
+v -0.35345166 0.18092057 -0.03158945
+v -0.41905314 0.18670718 0.01477304
+v -0.39860774 0.12148363 -0.03425002
+v -0.42036851 0.16038343 -0.01695759
+v -0.43512844 0.12625459 -0.01232754
+v -0.33987072 0.19696531 -0.02979422
+v -0.41672967 0.18438364 0.00037125
+v -0.43760880 0.16198624 0.01332325
+v -0.44457021 0.15217640 0.01133833
+v -0.43211722 0.15777238 -0.00619739
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 9 6 3
+f 9 3 2
+f 10 4 6
+f 11 1 7
+f 12 7 4
+f 13 1 8
+f 13 8 10
+f 13 9 2
+f 13 2 1
+f 15 11 8
+f 15 8 1
+f 15 1 11
+f 16 10 8
+f 16 8 11
+f 16 11 5
+f 17 11 7
+f 17 7 12
+f 17 5 11
+f 18 13 10
+f 18 10 6
+f 18 6 9
+f 18 9 13
+f 19 14 4
+f 19 4 10
+f 19 10 16
+f 20 12 4
+f 20 4 14
+f 21 17 12
+f 21 5 17
+f 21 12 20
+f 21 20 14
+f 21 14 19
+f 22 19 16
+f 22 16 5
+f 22 21 19
+f 22 5 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f27e2c7a33eb1a205d3c471e90f4066a2c36130
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_15.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.10024424 0.12236453 -0.04045000
+v -0.09647437 0.12525725 -0.03054762
+v -0.11174719 0.12617657 -0.03299543
+v -0.11606515 0.23906306 0.03059596
+v -0.10372070 0.20780013 -0.01893187
+v -0.09528000 0.21880030 0.03251452
+v -0.10091001 0.16600855 -0.03288285
+v -0.11622849 0.20836568 -0.02230317
+v -0.10854213 0.22692218 0.03251452
+v -0.10579631 0.22727521 -0.00017537
+v -0.11880955 0.23243747 -0.00110653
+v -0.11577147 0.16638657 -0.03492438
+v -0.10313252 0.23370619 0.03059596
+v -0.11363635 0.12371456 -0.04237613
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 6 2
+f 7 5 6
+f 8 5 7
+f 9 4 3
+f 9 3 6
+f 10 6 5
+f 11 4 10
+f 11 10 5
+f 11 5 8
+f 12 8 7
+f 12 11 8
+f 13 9 6
+f 13 4 9
+f 13 10 4
+f 13 6 10
+f 14 3 4
+f 14 4 11
+f 14 11 12
+f 14 1 3
+f 14 12 7
+f 14 7 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebb6ea68f2d145c0d4eaad3e77db8778145f14df
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00540376 -0.11781001 0.03074048
+v 0.06568150 -0.02532227 0.00354765
+v 0.06332128 -0.02779859 0.02185605
+v 0.02036303 0.04964044 0.03251452
+v 0.00121204 0.03196767 -0.02295812
+v 0.06332128 0.02779859 0.02185605
+v 0.02113548 -0.08147136 0.03059596
+v -0.00242859 -0.09941423 -0.01186828
+v 0.02914560 0.04680723 0.03059596
+v 0.06566156 0.02537046 0.00362279
+v 0.00820288 -0.11269349 0.03059596
+v 0.00091388 -0.04207506 -0.02240329
+v 0.00209669 -0.11644018 0.01199573
+v 0.00706005 0.04788909 -0.01868916
+v 0.02208336 0.04587748 -0.00089345
+v 0.01338930 0.04672762 -0.01288144
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 7 4 1
+f 8 1 5
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 10 6 2
+f 10 2 5
+f 10 9 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 8 5
+f 12 5 2
+f 12 2 8
+f 13 8 2
+f 13 2 1
+f 13 1 8
+f 14 5 4
+f 14 10 5
+f 15 14 4
+f 15 4 9
+f 15 9 10
+f 16 15 10
+f 16 10 14
+f 16 14 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7120fc411b27401b84563c3c8c873183595327b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.30973489 -0.25297016 0.03106420
+v -0.30537260 -0.24243858 -0.00982259
+v -0.31048522 -0.19417554 -0.03344748
+v -0.35388901 -0.19163718 -0.02821885
+v -0.34799775 -0.23560791 0.01542033
+v -0.30732806 -0.23200799 -0.01899645
+v -0.35683450 -0.22663864 0.03251452
+v -0.31906075 -0.23890567 -0.00707498
+v -0.31803667 -0.24270930 0.03251452
+v -0.31230330 -0.19856476 -0.02357160
+v -0.34931148 -0.23877953 0.03059596
+v -0.36414754 -0.22015789 0.02287376
+v -0.35248748 -0.21614396 -0.01757356
+v -0.35913522 -0.19847420 -0.01397545
+v -0.34996986 -0.22521748 -0.00821320
+v -0.32170023 -0.23012647 -0.01695759
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 2 1
+f 8 1 5
+f 10 3 4
+f 10 7 9
+f 10 9 1
+f 10 1 3
+f 11 5 1
+f 11 9 7
+f 11 1 9
+f 12 11 7
+f 12 5 11
+f 13 4 6
+f 14 10 4
+f 14 13 12
+f 14 4 13
+f 14 12 7
+f 14 7 10
+f 15 8 5
+f 15 5 12
+f 15 12 13
+f 16 13 6
+f 16 6 2
+f 16 15 13
+f 16 2 8
+f 16 8 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10bc08bdbdbfdbd78298fe4f415646cae3d768f5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02583815 0.16678205 0.03059596
+v -0.03152764 0.16241633 -0.00110653
+v -0.04474062 0.19052961 0.03059596
+v -0.10313252 0.23370619 0.03059596
+v -0.09886849 0.16866913 -0.03210015
+v -0.09462969 0.21505345 -0.00631591
+v -0.07110824 0.20025272 0.03251452
+v -0.03315576 0.17631858 0.03059596
+v -0.05063259 0.18285107 -0.00459580
+v -0.09733280 0.22668224 0.01585628
+v -0.10559377 0.21954132 -0.01064992
+v -0.09530300 0.22932750 0.03059596
+v -0.04368285 0.17634160 0.03251452
+v -0.08796238 0.21318532 0.03251452
+v -0.03863953 0.17211069 0.00003981
+v -0.05867972 0.16483416 -0.02166232
+v -0.10454854 0.23028762 0.01423855
+v -0.05876794 0.17684318 -0.01741115
+v -0.09196678 0.20337232 -0.01695759
+v -0.10372070 0.20780013 -0.01893187
+f 5 2 1
+f 8 1 2
+f 10 9 6
+f 10 3 9
+f 12 7 3
+f 12 10 4
+f 12 3 10
+f 13 5 1
+f 13 1 8
+f 13 8 3
+f 13 3 7
+f 14 4 5
+f 14 13 7
+f 14 5 13
+f 14 12 4
+f 14 7 12
+f 15 8 2
+f 15 3 8
+f 15 9 3
+f 15 2 9
+f 16 2 5
+f 17 11 5
+f 17 5 4
+f 17 4 10
+f 17 10 6
+f 17 6 11
+f 18 9 2
+f 18 2 16
+f 18 16 5
+f 19 9 18
+f 19 11 6
+f 19 6 9
+f 20 19 18
+f 20 18 5
+f 20 5 11
+f 20 11 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802eb94a4f77b871e5861d959648e1331ffd47fa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_19.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00773770 -0.08847373 -0.00462328
+v -0.00115267 -0.08479122 -0.01736975
+v 0.01010363 0.07930709 -0.00646331
+v -0.03686916 0.07867822 -0.02434873
+v -0.03835581 -0.08820906 -0.03258804
+v -0.01683863 0.08069913 -0.01645830
+v -0.02992340 -0.09170191 -0.02065631
+v -0.02650863 0.06154220 -0.03241525
+v -0.03369053 -0.07498999 -0.02399410
+v -0.00033809 0.07498198 -0.01899648
+v -0.02641722 -0.05657518 -0.03283917
+v -0.04099207 0.06181893 -0.03551354
+v -0.04117738 -0.07188881 -0.03465410
+v -0.03817050 0.07813918 -0.03344748
+v -0.02669394 -0.07161208 -0.03155580
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 9 7 4
+f 9 5 7
+f 10 3 2
+f 11 10 2
+f 11 8 10
+f 12 8 11
+f 13 9 4
+f 13 5 9
+f 13 4 12
+f 13 12 11
+f 13 11 5
+f 14 6 3
+f 14 3 10
+f 14 4 6
+f 14 12 4
+f 14 10 8
+f 14 8 12
+f 15 11 2
+f 15 2 5
+f 15 5 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..102568de57ab8771f4a3d3a08593ce352a8a8adc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_2.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.09751034 -0.15028270 -0.02653346
+v -0.03705316 -0.08874864 -0.02349219
+v -0.05298688 -0.13389451 -0.01975154
+v -0.34148981 0.18507744 -0.02375155
+v -0.04126879 0.07685582 -0.03423018
+v -0.11289583 0.18528570 -0.02193168
+v -0.35722796 -0.15053405 -0.02789601
+v -0.05652076 -0.13118288 -0.03110112
+v -0.05190311 0.12457947 -0.02231506
+v -0.11614948 0.18104544 -0.03226380
+v -0.04145411 -0.08692570 -0.03337074
+v -0.35433256 -0.14676068 -0.03778943
+v -0.03686916 0.07867822 -0.02434873
+v -0.33859020 0.18129859 -0.03363097
+v -0.05626760 0.12123049 -0.03246828
+v -0.10040713 -0.14650753 -0.03642227
+v -0.35672865 0.17003973 -0.02436852
+v -0.35382967 0.16626170 -0.03425002
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 9 6 3
+f 10 6 9
+f 11 5 2
+f 11 2 8
+f 12 1 7
+f 13 9 3
+f 13 3 2
+f 13 2 5
+f 13 5 9
+f 14 4 6
+f 14 6 10
+f 15 10 9
+f 15 9 5
+f 15 5 10
+f 16 8 1
+f 16 1 12
+f 16 11 8
+f 16 12 5
+f 16 5 11
+f 17 12 7
+f 17 7 4
+f 18 14 10
+f 18 10 5
+f 18 5 12
+f 18 12 17
+f 18 17 4
+f 18 4 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6a4dbe71d6f4137b1acacebe85f8ddbb746aade
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.02914560 0.04680723 0.03059596
+v 0.02208336 0.04587748 -0.00089345
+v 0.02472286 0.07281066 0.03059596
+v 0.01258209 0.08033372 0.03251452
+v -0.00246155 0.04863029 -0.01417738
+v 0.02036303 0.04964044 0.03251452
+v 0.02021806 0.06078342 -0.00046786
+v 0.00706005 0.04788909 -0.01868916
+v 0.00347028 0.07655946 -0.01645593
+v 0.01338930 0.04672762 -0.01288144
+v 0.00527947 0.08358482 0.00758322
+v 0.02139853 0.07143368 0.01468931
+v 0.01009254 0.07302654 -0.00982258
+v -0.00280992 0.08023405 -0.00820062
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 3 1
+f 9 8 5
+f 10 7 2
+f 10 2 5
+f 10 5 8
+f 10 8 9
+f 11 4 3
+f 12 3 7
+f 12 11 3
+f 13 10 9
+f 13 7 10
+f 13 12 7
+f 13 9 11
+f 13 11 12
+f 14 11 9
+f 14 9 5
+f 14 5 4
+f 14 4 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8b6a1235a71ccba2f630b9edeee241e1b29a4c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.41879817 0.04823761 -0.02889507
+v -0.41408428 0.04761701 -0.03879187
+v -0.42208597 0.12787291 -0.01731635
+v -0.44591726 0.13453316 0.00673195
+v -0.44617347 0.04785216 -0.03135940
+v -0.41344732 0.09207803 -0.03502168
+v -0.44805518 0.04809989 -0.02170345
+v -0.44067479 0.12027866 -0.02145857
+v -0.42793076 0.09180130 -0.03192338
+v -0.42846643 0.04751572 -0.03546698
+v -0.45786726 0.11307696 0.00805079
+v -0.41592719 0.12314714 -0.03080674
+v -0.45275919 0.12611267 0.00927113
+v -0.45309823 0.06564705 -0.01694562
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 9 6 2
+f 9 2 5
+f 9 5 8
+f 10 7 5
+f 10 5 2
+f 10 2 1
+f 10 1 7
+f 11 7 1
+f 12 8 4
+f 12 4 3
+f 12 3 6
+f 12 9 8
+f 12 6 9
+f 13 11 1
+f 13 1 4
+f 13 4 8
+f 13 8 11
+f 14 5 7
+f 14 7 11
+f 14 11 8
+f 14 8 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a96866689d0892c6460d419ed05afee71746c9be
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_22.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.45114624 -0.13706596 0.03251452
+v -0.44071172 -0.11611754 -0.02230317
+v -0.44615735 -0.05776714 -0.03103303
+v -0.49017563 -0.05780759 0.03110102
+v -0.45962122 -0.12654972 -0.00017548
+v -0.48382732 -0.05896654 0.03251452
+v -0.44336357 -0.13109411 -0.01638289
+v -0.46605208 -0.12921345 0.03059596
+v -0.47897573 -0.05633310 -0.00990246
+v -0.47898473 -0.09799133 0.03059596
+v -0.46462499 -0.11087129 0.03251452
+v -0.46497494 -0.08331277 -0.01695759
+v -0.47266185 -0.09537233 0.00034136
+v -0.47755771 -0.07964920 0.03251452
+v -0.45204238 -0.11453492 -0.01695759
+v -0.46904852 -0.05702089 -0.01949598
+v -0.47460618 -0.08102618 -0.00579142
+v -0.45188736 -0.12675226 -0.01064992
+v -0.46091800 -0.11193538 -0.00692962
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 4 3
+f 10 5 8
+f 11 8 1
+f 11 1 6
+f 12 3 2
+f 13 5 10
+f 13 10 4
+f 14 6 4
+f 14 4 10
+f 14 11 6
+f 14 10 8
+f 14 8 11
+f 15 12 2
+f 15 2 7
+f 16 12 9
+f 16 9 3
+f 16 3 12
+f 17 5 13
+f 17 12 15
+f 17 9 12
+f 17 13 4
+f 17 4 9
+f 18 15 7
+f 18 7 5
+f 18 17 15
+f 19 18 5
+f 19 5 17
+f 19 17 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f201a2e31bc3e072ff87c968425323130a22a487
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_23.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.15767442 -0.22819004 -0.01144352
+v -0.15648969 -0.21589875 -0.01725319
+v -0.15863511 -0.19556764 -0.02477123
+v -0.31102426 -0.19547688 -0.02434875
+v -0.29388824 -0.20583741 -0.03241524
+v -0.31258008 -0.22953609 -0.00820081
+v -0.16098611 -0.22019483 -0.02566324
+v -0.29416496 -0.19135397 -0.03551354
+v -0.30854440 -0.21979303 -0.02486084
+v -0.16045723 -0.19116865 -0.03465410
+v -0.31048522 -0.19417554 -0.03344748
+v -0.16073396 -0.20565209 -0.03155581
+v -0.31304520 -0.21550736 -0.01645823
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 6
+f 9 7 6
+f 9 5 7
+f 10 3 2
+f 10 5 8
+f 10 8 4
+f 10 4 3
+f 11 4 8
+f 11 8 5
+f 11 5 9
+f 12 10 2
+f 12 2 7
+f 12 7 5
+f 12 5 10
+f 13 11 9
+f 13 9 6
+f 13 6 4
+f 13 4 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..465a56da1a6572746b4f04c478247cf07c9af5dc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12878789 -0.02532227 0.03895736
+v 0.12878789 -0.02532227 0.01296899
+v 0.12878789 0.02658738 0.03697963
+v 0.06638055 0.02532227 0.02856145
+v 0.06568150 -0.02532227 0.00354765
+v 0.06638055 -0.02532227 0.02856145
+v 0.06566156 0.02537046 0.00362279
+v 0.12878789 0.02645119 0.01472930
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 2 5
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..843151eb8999b3d074ac89fe271d9a8495c13fbf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.05360704 0.12327201 -0.03168559
+v -0.04691438 0.12840751 -0.01896419
+v -0.09647437 0.12525725 -0.03054762
+v -0.09353974 0.17561371 -0.01974164
+v -0.05364389 0.16869828 -0.01822190
+v -0.05293482 0.16924236 -0.00458373
+v -0.09886849 0.16866913 -0.03210015
+v -0.07092648 0.12160850 -0.03512885
+v -0.10053200 0.15134968 -0.03554342
+v -0.07168251 0.15133141 -0.03104581
+v -0.06449798 0.12654124 -0.02446725
+v -0.09559968 0.15777762 -0.02488043
+v -0.10024424 0.12236453 -0.04045000
+v -0.05867972 0.16483416 -0.02166232
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 4 5
+f 8 1 2
+f 9 4 7
+f 10 9 7
+f 11 8 2
+f 11 2 3
+f 11 3 8
+f 12 9 3
+f 12 3 4
+f 12 4 9
+f 13 8 3
+f 13 3 9
+f 13 9 10
+f 13 10 1
+f 13 1 8
+f 14 10 7
+f 14 7 5
+f 14 5 1
+f 14 1 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc8238ee6bc1a183c18d82dbe23328bedc38917
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.35466835 -0.23656063 0.03059596
+v -0.35309384 -0.23275943 0.01240790
+v -0.44124443 -0.14109421 0.00803186
+v -0.46605208 -0.12921345 0.03059596
+v -0.37495633 -0.22505557 0.03059596
+v -0.44553125 -0.14438358 0.03251452
+v -0.36220637 -0.21762811 0.00842602
+v -0.37289920 -0.22237459 0.01565755
+v -0.36544286 -0.22184598 0.03251452
+v -0.46167342 -0.13704295 0.03059596
+v -0.46263356 -0.12779747 0.01423849
+v -0.45902819 -0.13501320 0.01585620
+f 6 3 4
+f 7 1 2
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 8 7 2
+f 8 3 7
+f 9 6 5
+f 9 5 1
+f 9 7 6
+f 9 1 7
+f 10 6 4
+f 10 5 6
+f 10 8 5
+f 11 4 3
+f 12 11 3
+f 12 3 8
+f 12 8 10
+f 12 10 4
+f 12 4 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1432b8f93de2e416295774f15ba31a5d83cd5f56
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_27.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.45364125 0.14751069 0.03059596
+v -0.38647385 0.19961578 0.01061421
+v -0.38941633 0.20345049 0.03251452
+v -0.39671090 0.20836265 0.03059596
+v -0.40414214 0.19830135 0.01530817
+v -0.43018149 0.16438785 0.03251452
+v -0.45064945 0.14521499 0.01392509
+v -0.40624738 0.20104503 0.03059596
+v -0.39433228 0.20526275 0.01332326
+v -0.44632363 0.15704720 0.03059596
+v -0.42590385 0.16110553 0.00808448
+v -0.39673395 0.19783548 0.03251452
+v -0.44368804 0.15502482 0.01590998
+v -0.39345157 0.19355782 0.00808444
+f 3 2 4
+f 6 2 3
+f 7 6 1
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 9 7 5
+f 10 7 1
+f 10 8 5
+f 10 1 6
+f 10 6 8
+f 11 2 6
+f 11 6 7
+f 11 7 9
+f 12 8 6
+f 12 6 3
+f 12 3 4
+f 12 4 8
+f 13 10 5
+f 13 5 7
+f 13 7 10
+f 14 11 9
+f 14 9 2
+f 14 2 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488f4121415557bd544673fa60172f37bd7b401e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00480474 -0.09353486 0.02284811
+v 0.00773770 -0.08847373 -0.00462328
+v 0.01273241 -0.07539109 0.02457378
+v 0.01582528 -0.04403818 0.00881774
+v -0.00231831 -0.04364427 -0.01444852
+v 0.00762436 -0.08842678 0.02579408
+v -0.00517716 -0.08940016 -0.00636122
+v 0.00885219 -0.04312015 -0.00542162
+v 0.01064517 -0.04535095 -0.00253996
+f 3 2 4
+f 5 3 4
+f 6 1 2
+f 6 2 3
+f 6 5 1
+f 6 3 5
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 2 5
+f 9 8 4
+f 9 4 2
+f 9 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b269a273c57e1a2ea8fb40558be8a40ddade92d6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.03765251 -0.14918634 -0.00470209
+v -0.03495559 -0.13610426 -0.01141182
+v -0.09672571 -0.13521101 -0.02918506
+v -0.10026482 -0.13208122 -0.03907327
+v -0.07155765 -0.14642235 -0.03172017
+v -0.04182161 -0.13083576 -0.02563113
+v -0.09751034 -0.15028270 -0.02653346
+v -0.07117963 -0.13156089 -0.03376170
+v -0.04348322 -0.14471228 -0.02176700
+v -0.06265881 -0.15325070 -0.01756140
+v -0.10040713 -0.14650753 -0.03642227
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 6 5
+f 8 5 4
+f 8 4 6
+f 9 6 2
+f 9 2 1
+f 9 5 6
+f 10 1 7
+f 10 9 1
+f 10 5 9
+f 11 7 4
+f 11 4 5
+f 11 10 7
+f 11 5 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c112aa00d32f3d3496c8ef8a9a0b1dc0d1696aef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.48382732 -0.05896654 0.03251452
+v -0.44615735 -0.05776714 -0.03103303
+v -0.45348960 -0.06080421 -0.01774053
+v -0.47578821 0.08392112 0.03251452
+v -0.48896550 0.03035538 -0.00025119
+v -0.49196219 0.06105293 0.03059596
+v -0.44395901 0.07701295 -0.02878807
+v -0.47897573 -0.05633310 -0.00990246
+v -0.49260987 -0.05613332 0.03059596
+v -0.48114511 0.07098852 0.03251452
+v -0.47697210 0.07185957 -0.00763144
+v -0.46904852 -0.05702089 -0.01949598
+v -0.48958164 -0.02543162 -0.00039180
+v -0.48792899 0.07639802 0.03059596
+v -0.46838889 0.07458023 -0.01705933
+v -0.48846756 0.06059285 0.01501391
+v -0.48908370 -0.05566910 0.01487333
+v -0.45191340 0.08030773 -0.01453922
+f 1 3 4
+f 3 2 4
+f 7 4 2
+f 8 3 1
+f 9 1 6
+f 9 8 1
+f 10 6 1
+f 10 1 4
+f 12 2 3
+f 12 3 8
+f 13 9 6
+f 13 6 5
+f 13 12 8
+f 13 5 12
+f 14 10 4
+f 14 6 10
+f 15 7 2
+f 15 2 12
+f 15 12 5
+f 15 5 11
+f 15 14 4
+f 15 11 14
+f 16 11 5
+f 16 5 6
+f 16 14 11
+f 16 6 14
+f 17 13 8
+f 17 8 9
+f 17 9 13
+f 18 15 4
+f 18 4 7
+f 18 7 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5fd4e4921f8012ae97f86fc7e729787f5bf9677
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35606060 -0.08840665 -0.03381547
+v -0.35606060 -0.08840665 -0.04237613
+v -0.35479630 0.12245026 -0.04222493
+v -0.41709716 0.12404489 -0.02066717
+v -0.41793649 -0.08893264 -0.02556007
+v -0.35839864 0.12550859 -0.03232334
+v -0.41353873 -0.08711101 -0.03544560
+v -0.41326662 0.12110562 -0.03158944
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f6a2713923118ae8919e12810464c7d943ef064
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151517 -0.02532227 0.03895736
+v 0.40151517 -0.02532227 0.01296899
+v 0.40151517 0.02658738 0.03697963
+v 0.12878789 0.02658738 0.03697963
+v 0.12878789 -0.02532227 0.01296899
+v 0.40151517 0.02645119 0.01472930
+v 0.12878789 -0.02532227 0.03895736
+v 0.12878789 0.02645119 0.01472930
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59b953c4538bf186107c9179753e1115bb7bd690
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_4.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.49189443 -0.02961864 0.04116264
+v 0.49189443 -0.02961864 0.01076474
+v 0.49189443 0.02700275 0.04225861
+v 0.40151517 0.02658738 0.03697963
+v 0.40151517 -0.02532227 0.01296899
+v 0.49189443 0.02690262 0.00962989
+v 0.40151517 -0.02532227 0.03895736
+v 0.41666668 -0.02713508 0.01579569
+v 0.40151517 0.02645119 0.01472930
+v 0.44773157 -0.02417555 0.01111798
+v 0.44772075 -0.02417492 0.04081116
+v 0.44792778 0.02606905 0.04003002
+v 0.41666668 -0.02713508 0.03612341
+v 0.44794274 0.02597198 0.01185605
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 4 5
+f 8 5 2
+f 8 2 1
+f 8 7 5
+f 9 5 4
+f 9 4 6
+f 10 6 2
+f 10 2 5
+f 10 5 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 7 3
+f 12 3 4
+f 12 4 7
+f 13 8 1
+f 13 1 7
+f 13 7 8
+f 14 9 6
+f 14 6 5
+f 14 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dd36308947b67e9692fecb2c9b2353476d8bc7e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.35309384 -0.23275943 0.01240790
+v -0.34996986 -0.22521748 -0.00821320
+v -0.35606060 -0.08840665 -0.03381547
+v -0.41793649 -0.08893264 -0.02556007
+v -0.45991037 -0.13216476 0.01128455
+v -0.35395454 -0.16141955 -0.03512886
+v -0.41519718 -0.18171347 -0.00459568
+v -0.45294896 -0.14197460 0.01326944
+v -0.35606060 -0.08840665 -0.04237613
+v -0.36104199 -0.22290806 -0.00528560
+v -0.36143844 -0.21203302 -0.01695759
+v -0.44014618 -0.12862532 -0.01893186
+v -0.38967045 -0.20933396 0.01505565
+v -0.43036014 -0.16657077 0.00023855
+v -0.41353873 -0.08711101 -0.03544560
+v -0.35248748 -0.21614396 -0.01757356
+v -0.43571834 -0.14037922 -0.01695759
+v -0.36424707 -0.22845934 0.01371373
+v -0.43294692 -0.16855568 0.01465249
+v -0.38367745 -0.16066352 -0.03104581
+v -0.45188736 -0.12675226 -0.01064992
+v -0.38768550 -0.20674711 0.00064175
+v -0.41339149 -0.11619656 -0.03226380
+v -0.44739950 -0.13771633 -0.00631590
+f 1 2 3
+f 5 3 4
+f 8 1 3
+f 8 3 5
+f 9 3 2
+f 9 2 6
+f 10 2 1
+f 11 10 7
+f 13 1 8
+f 14 8 5
+f 15 4 3
+f 15 3 9
+f 15 9 6
+f 16 6 2
+f 16 2 10
+f 16 10 11
+f 17 11 7
+f 18 10 1
+f 18 1 13
+f 19 13 8
+f 19 8 14
+f 19 14 7
+f 19 7 13
+f 20 17 12
+f 20 11 17
+f 20 16 11
+f 20 6 16
+f 21 15 12
+f 21 5 4
+f 21 4 15
+f 21 12 17
+f 21 17 7
+f 22 18 13
+f 22 13 7
+f 22 7 10
+f 22 10 18
+f 23 15 6
+f 23 6 20
+f 23 20 12
+f 23 12 15
+f 24 14 5
+f 24 5 21
+f 24 21 7
+f 24 7 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae26d3cdd355caefe55e5a442f270147e9e2cdf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_6.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02062409 0.07738884 0.03106417
+v 0.01009254 0.07302654 -0.00982258
+v -0.00997148 0.14055315 0.01565741
+v -0.04368285 0.17634160 0.03251452
+v -0.05575223 0.07713255 -0.03732848
+v -0.00729056 0.14261029 0.03059596
+v 0.00326182 0.11565171 0.01542025
+v 0.01036317 0.08569062 0.03251452
+v -0.05867972 0.16483416 -0.02166232
+v -0.02022316 0.15946443 0.03059596
+v 0.00655962 0.08671467 -0.00707496
+v 0.00643339 0.11696543 0.03059596
+v -0.05135735 0.07895298 -0.02743660
+v -0.03636525 0.16680504 0.03251452
+v -0.04182224 0.10692960 -0.03166346
+v -0.04617831 0.16280068 -0.01695759
+v -0.00943791 0.12869615 -0.00528543
+v -0.00033809 0.07498198 -0.01899648
+v -0.05588959 0.10636903 -0.03450981
+v -0.02559887 0.15533945 0.00064169
+v -0.02031314 0.12909237 -0.01695759
+v -0.04126879 0.07685582 -0.03423018
+v -0.00221961 0.08935415 -0.01695759
+f 5 2 1
+f 9 5 4
+f 10 6 3
+f 10 4 6
+f 11 7 1
+f 11 1 2
+f 12 1 7
+f 12 8 1
+f 12 6 8
+f 12 7 3
+f 12 3 6
+f 13 5 1
+f 13 1 8
+f 13 8 4
+f 13 4 5
+f 14 8 6
+f 14 6 4
+f 14 4 8
+f 16 9 4
+f 17 3 7
+f 17 7 11
+f 17 11 2
+f 19 15 5
+f 19 5 9
+f 19 9 15
+f 20 16 4
+f 20 4 10
+f 20 10 3
+f 20 17 16
+f 20 3 17
+f 21 15 9
+f 21 9 16
+f 21 16 17
+f 22 18 2
+f 22 2 5
+f 22 5 15
+f 22 15 18
+f 23 18 15
+f 23 15 21
+f 23 2 18
+f 23 21 17
+f 23 17 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..472b7ca9a3c40593e6ce941a5f9120bb0fcfb8b9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.33987072 0.19696531 -0.02979422
+v -0.28019820 0.21382743 -0.03135940
+v -0.40026313 0.19784048 0.03201925
+v -0.29515423 0.25779707 0.03095827
+v -0.30420557 0.24462608 -0.00763138
+v -0.30333452 0.24879909 0.03251452
+v -0.30692625 0.23604277 -0.01705935
+v -0.27864648 0.24749571 -0.01053007
+v -0.36271126 0.22579935 0.00025198
+v -0.28126673 0.22194367 -0.01835251
+v -0.33460936 0.24486936 0.03059596
+v -0.27989826 0.25700375 0.01135566
+v -0.27925953 0.23700068 -0.02005079
+v -0.35115291 0.21792684 -0.01695759
+v -0.28255984 0.24691772 0.00683806
+v -0.37987982 0.21076811 0.03251452
+v -0.38939327 0.21397768 0.03059596
+v -0.33327375 0.24164491 0.01516761
+v -0.34880289 0.22740488 -0.00602205
+v -0.39494450 0.19090914 -0.01189361
+v -0.36721667 0.19426518 -0.02269127
+v -0.37384396 0.21345919 -0.00487218
+v -0.36555508 0.20725128 -0.01765546
+v -0.39011839 0.19977109 -0.00619753
+v -0.38737087 0.21134205 0.01591016
+f 1 2 3
+f 7 2 1
+f 8 7 5
+f 10 6 3
+f 10 3 2
+f 11 6 4
+f 12 8 5
+f 12 5 4
+f 12 10 2
+f 12 2 8
+f 13 8 2
+f 13 2 7
+f 13 7 8
+f 14 5 7
+f 14 7 1
+f 15 4 6
+f 15 6 10
+f 15 12 4
+f 15 10 12
+f 16 3 6
+f 16 6 11
+f 17 11 9
+f 17 16 11
+f 17 3 16
+f 18 11 4
+f 18 4 5
+f 18 5 9
+f 18 9 11
+f 19 14 9
+f 19 9 5
+f 19 5 14
+f 20 1 3
+f 20 3 17
+f 21 1 20
+f 22 9 14
+f 23 21 20
+f 23 14 1
+f 23 1 21
+f 23 22 14
+f 23 20 22
+f 24 22 20
+f 24 20 17
+f 24 9 22
+f 25 24 17
+f 25 17 9
+f 25 9 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9abf3c10bc8dd3cf316c7432d87013bf219eac1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_8.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.15863511 -0.19556764 -0.02477123
+v -0.16045723 -0.19116865 -0.03465410
+v -0.15909090 -0.14901272 -0.03381547
+v -0.35433256 -0.14676068 -0.03778943
+v -0.34355141 -0.20084651 -0.01745512
+v -0.15909090 -0.14901272 -0.04237613
+v -0.33927564 -0.19052380 -0.03166346
+v -0.35913522 -0.19847420 -0.01397545
+v -0.35722796 -0.15053405 -0.02789601
+v -0.35388901 -0.19163718 -0.02821885
+v -0.36075355 -0.18543174 -0.01896426
+v -0.35357653 -0.17607843 -0.03246829
+f 5 2 1
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 5
+f 7 6 2
+f 7 4 6
+f 8 5 1
+f 8 1 3
+f 9 8 3
+f 9 3 4
+f 10 7 5
+f 10 5 8
+f 11 9 4
+f 11 8 9
+f 11 10 8
+f 12 4 7
+f 12 7 10
+f 12 11 4
+f 12 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ce611d502a5db53540dca29d9e901b27de5612a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/collision/model_normalized_collision_9.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.44124443 -0.14109421 0.00803186
+v -0.41417397 -0.13194850 -0.02900352
+v -0.41879817 0.04823761 -0.02889507
+v -0.44805518 0.04809989 -0.02170345
+v -0.44305906 -0.05648378 -0.03181573
+v -0.44730238 -0.13411648 0.01056162
+v -0.42100218 -0.13718799 -0.01475272
+v -0.41408428 0.04761701 -0.03879187
+v -0.45444649 -0.12180667 0.00886806
+v -0.44014618 -0.12862532 -0.01893186
+v -0.41353873 -0.08711101 -0.03544560
+v -0.44284858 0.04741443 -0.03214210
+v -0.42802216 -0.08683429 -0.03234731
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 8 3 2
+f 8 4 3
+f 9 6 4
+f 9 4 5
+f 10 7 1
+f 10 2 7
+f 10 1 6
+f 10 6 9
+f 10 9 5
+f 11 8 2
+f 11 5 8
+f 12 8 5
+f 12 5 4
+f 12 4 8
+f 13 10 5
+f 13 2 10
+f 13 11 2
+f 13 5 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_10/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..744baa1db3ca3791a50211e3f66c99de8e0dc05c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.036" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0.0 -0.06 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_0_vis" conaffinity="0" contype="0" group="1" material="material.036"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        </body>
+        <geom class="region" name="reg_bbox" type="box" pos="0.00041533700000000016 -0.06 -1.527759999999951e-05" size="0.06766862960000002 0.12807856620000002 0.011002516200000003"/>
+        <geom rgba="0 0 0 0" size="0.067 0.0015" pos="0 0 0.002" type="cylinder" name="liquid" class="region"/>
+        <geom rgba="0 0 0 0 " size="0.055 0.007" pos="0 0.001 0.001" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/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.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_10/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_10/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4c2d1e1faa1a417c69b79d11501d9c891effd21
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_10/visual/model_normalized_0.obj
@@ -0,0 +1,4336 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.02773217 0.01542685 0.00558680
+v 0.02768593 0.01526468 0.00599808
+v 0.02769766 0.01724622 0.00719294
+v 0.02768593 0.01526468 0.00599808
+v 0.02773217 0.01542685 0.00558680
+v 0.02773217 0.01420094 0.00558680
+v 0.02771353 -0.01463068 0.00575294
+v 0.02773217 -0.01420111 0.00558680
+v 0.02773217 -0.01469624 0.00558680
+v 0.06195340 -0.01462602 0.01604584
+v 0.06264278 -0.01756296 0.01897467
+v 0.06195340 -0.02029650 0.01604584
+v 0.06264278 0.01829374 0.01897467
+v 0.06195340 0.01535681 0.01604584
+v 0.06195340 0.02102728 0.01604584
+v 0.47116890 0.01539804 0.04164190
+v 0.47355637 0.01670261 0.04172643
+v 0.46974718 0.01822128 0.04159152
+v 0.42467495 -0.02284596 0.03999470
+v 0.43065734 -0.01211641 0.04020672
+v 0.42772747 -0.00845870 0.04010287
+v 0.42467495 0.02284596 0.03999470
+v 0.42467495 0.00000000 0.03999470
+v 0.42773058 0.00844334 0.04010304
+v 0.47355637 0.01670261 0.04172643
+v 0.47910452 0.00977173 0.04192293
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_11/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_11/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7d9c9343c9150ba1d1f3fbc6e5c8dde1708c9bbf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_11/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_44">
+  <asset>
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+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material__2" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
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+  </default>
+  <worldbody>
+    <body>
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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_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>
+        <geom class="region" name="reg_bbox" type="box" pos="-0.0006100799999999974 -0.048242714400000004 7.463999999995224e-07" size="0.07016308320000002 0.11799177120000001 0.007934253600000002"/>
+        <geom rgba="0 0 0 0" size="0.067 0.0015" pos="0 0 0" type="cylinder" name="liquid" class="region"/>
+        <geom rgba="0 0 0 0 " size="0.063 0.004" pos="0 0 -0.001" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a074dc8a9e3d57e9000e13fd0efe97d232f2fb92
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_0.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.46816804 -0.21280110 0.11627528
+v 0.49573825 -0.20115172 0.10985264
+v 0.46826730 -0.15108427 0.11608874
+v 0.26684308 -0.09607075 0.07011403
+v 0.26544673 -0.15765276 0.03229795
+v 0.42066052 -0.21025774 0.11041258
+v 0.49819052 -0.18541575 0.11369637
+v 0.46832364 -0.21081137 0.07871818
+v 0.43786104 -0.21453958 0.11377382
+v 0.42013017 -0.15505776 0.10980507
+v 0.27120876 -0.16718476 0.07534612
+v 0.49587200 -0.20127683 0.11313452
+v 0.47994023 -0.16140801 0.11659189
+v 0.41992964 -0.21018378 0.08784762
+v 0.48066530 -0.16489214 0.07856171
+v 0.42866657 -0.13811763 0.10805790
+v 0.26087244 -0.10225896 0.02804842
+v 0.29846022 -0.12457585 0.08156695
+v 0.42992007 -0.20458131 0.07030221
+v 0.26864437 -0.16341519 0.04544480
+v 0.31808026 -0.18077081 0.08642104
+v 0.47780685 -0.20387336 0.08151284
+v 0.49491148 -0.17623449 0.11074846
+v 0.47007860 -0.15212510 0.09010177
+v 0.32250996 -0.14879706 0.03976710
+v 0.44799502 -0.14372868 0.11206840
+v 0.36956944 -0.18747782 0.05640902
+v 0.43498037 -0.20777572 0.07604266
+v 0.31411065 -0.17850514 0.06062221
+v 0.43952493 -0.14928794 0.06917054
+v 0.30363874 -0.10988028 0.04616381
+v 0.42470098 -0.14059437 0.07664748
+v 0.44257284 -0.19463960 0.06972939
+v 0.32077806 -0.12400438 0.04087573
+v 0.38349922 -0.17699638 0.05590815
+v 0.30784365 -0.16201122 0.04011066
+f 9 1 3
+f 9 8 1
+f 10 9 3
+f 10 6 9
+f 12 7 1
+f 12 2 7
+f 12 8 2
+f 12 1 8
+f 13 3 1
+f 13 1 7
+f 14 9 6
+f 14 8 9
+f 15 7 2
+f 17 11 4
+f 17 5 11
+f 18 4 11
+f 18 16 4
+f 18 10 16
+f 18 6 10
+f 20 11 5
+f 21 14 6
+f 21 11 14
+f 21 18 11
+f 21 6 18
+f 22 15 2
+f 22 2 8
+f 22 8 15
+f 23 13 7
+f 23 7 15
+f 24 3 13
+f 24 23 15
+f 24 13 23
+f 25 5 17
+f 26 16 10
+f 26 10 3
+f 26 24 16
+f 26 3 24
+f 27 19 14
+f 27 14 5
+f 27 5 19
+f 28 19 8
+f 28 8 14
+f 28 14 19
+f 29 14 11
+f 29 11 20
+f 29 20 5
+f 29 5 14
+f 30 24 15
+f 30 15 25
+f 31 17 4
+f 32 4 16
+f 32 16 24
+f 32 31 4
+f 32 24 30
+f 32 30 17
+f 32 17 31
+f 33 25 15
+f 33 15 8
+f 33 8 19
+f 33 19 5
+f 34 30 25
+f 34 25 17
+f 34 17 30
+f 35 25 33
+f 36 5 25
+f 36 25 35
+f 36 35 33
+f 36 33 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f74f359d3850c0a95a0bb13208ee9fc65edca617
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_1.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.26743648 -0.16574961 0.07448487
+v 0.26544673 -0.15765276 0.03229795
+v 0.26684308 -0.09607075 0.07011403
+v 0.07603423 -0.04403204 0.03853556
+v 0.08243504 -0.09879953 -0.00543033
+v 0.22314059 -0.10915570 0.06486475
+v 0.11563204 -0.12205879 0.02462856
+v 0.26087244 -0.10225896 0.02804842
+v 0.12098037 -0.11693247 0.00057419
+v 0.20935745 -0.14920387 0.03863854
+v 0.11358039 -0.12149502 0.03810128
+v 0.08000321 -0.06373219 -0.00800953
+v 0.24314392 -0.09462834 0.03071293
+v 0.18624193 -0.11823486 0.00938531
+v 0.08860290 -0.10578802 0.03121210
+v 0.24077066 -0.15836205 0.06815413
+v 0.07879339 -0.05911915 -0.00315232
+v 0.09696321 -0.10013230 -0.00386052
+v 0.24699382 -0.14646184 0.02650428
+v 0.17157609 -0.13076431 0.01056088
+v 0.16654494 -0.07743185 0.00633487
+v 0.09435941 -0.06485350 -0.00503496
+v 0.18266642 -0.07955668 0.01505723
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 8 3 2
+f 9 7 5
+f 10 2 1
+f 10 7 9
+f 13 4 3
+f 13 3 8
+f 15 11 4
+f 15 4 5
+f 15 5 7
+f 15 7 11
+f 16 10 1
+f 16 1 4
+f 16 4 11
+f 16 11 7
+f 16 7 10
+f 17 12 5
+f 17 5 4
+f 18 9 5
+f 18 5 12
+f 18 14 9
+f 18 12 14
+f 19 14 8
+f 19 8 2
+f 19 2 14
+f 20 14 2
+f 20 9 14
+f 20 10 9
+f 20 2 10
+f 21 14 12
+f 21 8 14
+f 21 13 8
+f 21 17 4
+f 22 21 12
+f 22 12 17
+f 22 17 21
+f 23 21 4
+f 23 4 13
+f 23 13 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d6771dfe33e5977ccc4cc272da4a02c68a60827
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_10.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.40197577 0.16731251 -0.06906045
+v -0.28228843 0.24849778 -0.05930118
+v -0.28263587 0.27457587 -0.01873807
+v -0.27794054 0.28444327 -0.01843597
+v -0.37513065 0.22518328 -0.05833386
+v -0.29616736 0.22979383 -0.07138544
+v -0.29159752 0.26246554 -0.06188364
+v -0.40608705 0.20259247 -0.03452531
+v -0.38995742 0.17066792 -0.07415465
+v -0.34840859 0.25750265 -0.02803965
+v -0.27778277 0.27326449 -0.04681901
+v -0.39005327 0.21473708 -0.05974134
+v -0.40752965 0.17314724 -0.06076923
+v -0.36149749 0.18799523 -0.07921166
+v -0.31915833 0.25506465 -0.05732251
+v -0.30397169 0.27761949 -0.02211451
+v -0.38930029 0.22399997 -0.04428049
+v -0.31246335 0.21845272 -0.07634161
+v -0.34928299 0.25589450 -0.03117350
+v -0.30304290 0.26852351 -0.04365268
+v -0.39027484 0.22864569 -0.03320760
+v -0.31805625 0.26873169 -0.03024367
+f 3 2 4
+f 6 2 3
+f 7 2 6
+f 9 6 3
+f 9 3 1
+f 11 4 2
+f 11 2 7
+f 12 9 1
+f 12 5 7
+f 13 1 3
+f 13 3 8
+f 13 12 1
+f 13 8 12
+f 14 12 7
+f 14 9 12
+f 15 7 5
+f 16 10 4
+f 16 4 11
+f 17 5 12
+f 18 14 7
+f 18 7 6
+f 18 6 9
+f 18 9 14
+f 19 15 5
+f 19 5 17
+f 20 16 11
+f 20 11 7
+f 20 7 15
+f 20 15 19
+f 21 17 12
+f 21 12 8
+f 21 19 17
+f 21 10 19
+f 21 4 10
+f 21 8 3
+f 21 3 4
+f 22 20 19
+f 22 16 20
+f 22 19 10
+f 22 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f2b006c33cb97f7265f6b2401eb63015e5ffd32
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.15886601 -0.21223193 -0.05428296
+v -0.16103186 -0.20931653 -0.07415889
+v -0.15867805 0.04548965 -0.07101241
+v -0.23272151 0.04501864 -0.08226821
+v -0.23649451 -0.16606562 -0.08958017
+v -0.15680369 -0.01563142 -0.06816934
+v -0.18840128 -0.21341327 -0.05936323
+v -0.16088730 0.04609673 -0.08680785
+v -0.19012374 -0.21064740 -0.07888208
+v -0.23404032 -0.16673999 -0.07360786
+v -0.17692060 -0.15063050 -0.08101728
+v -0.23493075 0.04562572 -0.09806365
+v -0.16173511 -0.09003383 -0.08124049
+v -0.19182349 -0.16585032 -0.08264985
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 1 4
+f 8 6 2
+f 8 3 6
+f 8 4 3
+f 9 7 5
+f 9 2 1
+f 9 1 7
+f 10 7 4
+f 10 4 5
+f 10 5 7
+f 12 8 5
+f 12 5 4
+f 12 4 8
+f 13 8 2
+f 13 2 11
+f 13 11 5
+f 13 5 8
+f 14 9 5
+f 14 5 11
+f 14 11 2
+f 14 2 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bac059e5ffb5d6fa00aa86bb5f660bd9e00f5be
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_12.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.43906711 -0.07785618 -0.07850092
+v -0.43213656 -0.07570753 -0.08389886
+v -0.44855570 0.13757143 -0.06954257
+v -0.45562697 0.13223098 -0.06425991
+v -0.46055298 0.04293891 -0.09917502
+v -0.45239628 -0.07210053 -0.09576950
+v -0.44015610 0.10338316 -0.10024162
+v -0.44057474 -0.07330182 -0.10192760
+v -0.47888305 -0.07208258 -0.06125196
+v -0.43711936 0.12986623 -0.08962638
+v -0.47543196 0.07310661 -0.07206246
+v -0.43431135 -0.00020338 -0.09067119
+v -0.46420123 -0.02908180 -0.09671684
+v -0.44564161 0.12539353 -0.08358560
+v -0.44427853 0.09914729 -0.09904878
+v -0.48093842 0.07401579 -0.06215991
+v -0.47329408 -0.07043010 -0.07088596
+v -0.45983911 0.11449310 -0.07106269
+v -0.46491357 0.11652124 -0.06129884
+f 1 2 3
+f 1 3 4
+f 8 2 1
+f 8 1 6
+f 8 5 7
+f 9 6 1
+f 9 1 4
+f 10 3 2
+f 12 8 7
+f 12 2 8
+f 12 10 2
+f 12 7 10
+f 13 8 6
+f 13 5 8
+f 13 11 5
+f 14 4 3
+f 14 3 10
+f 15 7 5
+f 15 5 11
+f 15 14 10
+f 15 10 7
+f 16 13 9
+f 16 11 13
+f 17 13 6
+f 17 6 9
+f 17 9 13
+f 18 4 14
+f 18 15 11
+f 18 14 15
+f 19 16 9
+f 19 9 4
+f 19 4 18
+f 19 18 11
+f 19 11 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f9a265b10045cb987bea19bb063c4f69be3b364
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_13.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.17406143 -0.29218457 0.02151231
+v -0.09321413 -0.20417435 -0.03639214
+v -0.09653247 -0.26003558 0.03197331
+v -0.09729100 -0.19848684 -0.04106559
+v -0.19138838 -0.23865361 -0.07096216
+v -0.18850313 -0.28404469 0.01897249
+v -0.10059135 -0.20973882 -0.06008701
+v -0.19119976 -0.27011218 -0.04466981
+v -0.19012374 -0.21064740 -0.07888208
+v -0.10763712 -0.25481474 -0.02967005
+v -0.19054699 -0.28717996 -0.00315713
+v -0.18631972 -0.22212025 -0.05575731
+v -0.14843838 -0.23465877 -0.06428538
+v -0.13190346 -0.20770904 -0.06853479
+v -0.10432689 -0.27293055 0.03132595
+v -0.19199189 -0.26007145 -0.05356815
+v -0.18918876 -0.29263542 0.01922756
+v -0.16419174 -0.28399200 -0.00263859
+v -0.11085625 -0.20069977 -0.04514246
+v -0.10659406 -0.22912332 -0.05213866
+v -0.11970841 -0.25739766 -0.03525083
+v -0.13270721 -0.22176060 -0.06468643
+v -0.10700580 -0.27023814 0.01197311
+v -0.17634620 -0.26947911 -0.04282204
+v -0.14616980 -0.28571732 0.02548909
+v -0.14941653 -0.26936095 -0.02945647
+v -0.17710931 -0.25877664 -0.05204308
+v -0.14904890 -0.28395993 0.01252150
+f 3 2 4
+f 6 3 4
+f 7 4 2
+f 10 7 2
+f 10 2 3
+f 11 6 9
+f 12 9 6
+f 12 6 4
+f 13 5 9
+f 14 9 4
+f 14 4 7
+f 14 13 9
+f 15 3 6
+f 16 8 11
+f 16 11 9
+f 16 9 5
+f 17 11 1
+f 17 6 11
+f 18 1 11
+f 19 12 4
+f 19 4 9
+f 19 9 12
+f 20 13 7
+f 20 7 10
+f 21 20 10
+f 21 13 20
+f 22 14 7
+f 22 7 13
+f 22 13 14
+f 23 10 3
+f 23 3 15
+f 23 21 10
+f 23 18 21
+f 24 8 16
+f 24 13 21
+f 24 18 11
+f 24 11 8
+f 25 23 15
+f 25 17 1
+f 25 15 6
+f 25 6 17
+f 26 24 21
+f 26 21 18
+f 26 18 24
+f 27 24 16
+f 27 16 5
+f 27 5 13
+f 27 13 24
+f 28 25 1
+f 28 1 18
+f 28 18 23
+f 28 23 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b202040eeb693e7392ea36560c03a3ad87377094
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_14.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.04687118 0.15564114 -0.04956096
+v -0.05631386 0.15026235 -0.07336672
+v -0.06344028 0.22854665 -0.04478620
+v -0.09699373 0.27109355 0.00967765
+v -0.09544347 0.15306271 -0.06503961
+v -0.04784523 0.23447850 0.01869428
+v -0.06416847 0.20009933 -0.06442539
+v -0.06296309 0.15339244 -0.05615693
+v -0.05671201 0.25026362 0.01668349
+v -0.09013889 0.25926602 0.01121645
+v -0.10333442 0.21969893 -0.07231172
+v -0.07761744 0.25444128 -0.01612654
+v -0.09874197 0.15173425 -0.08176470
+v -0.08990222 0.21696100 -0.06836235
+v -0.06606674 0.23969843 -0.02915823
+v -0.07397009 0.26123152 0.01359643
+v -0.10486091 0.24757105 -0.05365376
+v -0.10465559 0.25961239 -0.03167722
+v -0.09195852 0.24271371 -0.05140431
+v -0.09177596 0.25472899 -0.02935059
+f 6 1 3
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 10 4 5
+f 10 5 6
+f 10 9 4
+f 10 6 9
+f 11 7 2
+f 13 11 2
+f 13 2 5
+f 14 3 7
+f 14 7 11
+f 15 12 9
+f 15 9 3
+f 16 12 4
+f 16 4 9
+f 16 9 12
+f 17 11 13
+f 17 14 11
+f 18 13 5
+f 18 5 4
+f 18 17 13
+f 18 4 12
+f 19 3 14
+f 19 14 17
+f 19 15 3
+f 19 12 15
+f 19 17 18
+f 20 19 18
+f 20 18 12
+f 20 12 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755e83602f238ae0f777dbf0ad5c929fa50ed19f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_15.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.29544344 -0.21179509 -0.06795730
+v -0.27970181 -0.16887860 -0.08018884
+v -0.42791370 -0.16336281 -0.06539836
+v -0.42545292 -0.14505135 -0.08596334
+v -0.29601714 -0.20961809 -0.08987926
+v -0.27837220 -0.15189698 -0.08097993
+v -0.38278743 -0.20751201 -0.06466774
+v -0.43346621 -0.15269799 -0.06952379
+v -0.28283259 -0.15067131 -0.09714410
+v -0.41844529 -0.15509148 -0.08447606
+v -0.39518732 -0.14483480 -0.09947682
+v -0.28292679 -0.16579693 -0.09652550
+v -0.37849770 -0.20216186 -0.07546316
+v -0.29580522 -0.17774573 -0.09785427
+v -0.37928588 -0.17032136 -0.09400987
+v -0.36491239 -0.20187177 -0.08102869
+v -0.39300182 -0.15773048 -0.09454589
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 8 6 4
+f 8 3 6
+f 10 8 4
+f 10 3 8
+f 11 4 6
+f 11 6 9
+f 11 10 4
+f 12 9 6
+f 12 6 2
+f 12 2 5
+f 13 7 3
+f 13 3 10
+f 14 11 9
+f 14 9 12
+f 14 12 5
+f 14 5 11
+f 15 13 10
+f 15 11 5
+f 16 5 7
+f 16 7 13
+f 16 15 5
+f 16 13 15
+f 17 15 10
+f 17 10 11
+f 17 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7688d8e3fd2bc4bdcce9dfed7bff1d9259918919
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_16.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.09871712 -0.27039097 0.03207395
+v -0.03070991 -0.21983221 0.04031459
+v -0.09093127 -0.25736954 0.03235616
+v -0.04910428 -0.20134100 -0.01245064
+v -0.06630618 -0.24033971 -0.01434493
+v -0.06026149 -0.20593929 -0.01729015
+v -0.05764698 -0.23912139 0.03701971
+v -0.04004131 -0.23698392 0.03961130
+v -0.05899491 -0.20519637 -0.04405629
+v -0.10059135 -0.20973882 -0.06008701
+v -0.06667186 -0.25588386 0.03634682
+v -0.04428651 -0.20724558 -0.00132475
+v -0.06272536 -0.21610968 -0.03836978
+v -0.07468522 -0.20528513 -0.05428324
+v -0.10517341 -0.25959673 -0.01676000
+v -0.04125508 -0.23769583 0.03855064
+v -0.10317440 -0.21979499 -0.05801446
+v -0.07828095 -0.25250765 -0.00009654
+v -0.07746137 -0.23957507 -0.02901498
+v -0.05706076 -0.24917125 0.03752952
+v -0.09272991 -0.25434058 -0.01429629
+v -0.07898817 -0.21376645 -0.05078488
+f 6 3 2
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 9 2 8
+f 10 1 3
+f 10 3 6
+f 10 6 4
+f 11 2 1
+f 12 9 4
+f 12 4 2
+f 12 2 9
+f 13 9 8
+f 13 8 5
+f 14 10 4
+f 14 4 9
+f 16 5 8
+f 17 15 1
+f 17 1 10
+f 17 10 14
+f 18 11 1
+f 18 1 15
+f 18 5 11
+f 19 13 5
+f 19 15 17
+f 20 11 5
+f 20 5 16
+f 20 16 8
+f 20 8 2
+f 20 2 11
+f 21 18 15
+f 21 5 18
+f 21 19 5
+f 21 15 19
+f 22 19 17
+f 22 17 14
+f 22 13 19
+f 22 14 9
+f 22 9 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3b9173fd9f7329dfc0f00f5613a7d619cf7c6a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_17.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.34475178 -0.24915816 -0.01066547
+v -0.33549366 -0.24726437 -0.04731939
+v -0.34225908 -0.18436755 -0.07506943
+v -0.45174819 -0.15855500 -0.03311655
+v -0.39031733 -0.23184671 -0.01394449
+v -0.40654661 -0.17213924 -0.08195073
+v -0.43049918 -0.17833649 -0.02230265
+v -0.33836452 -0.25265192 -0.03525805
+v -0.34062103 -0.21119616 -0.08230431
+v -0.38474487 -0.16484690 -0.09494990
+v -0.41674698 -0.19427572 -0.04332490
+v -0.45314839 -0.16079449 -0.02648578
+v -0.38808392 -0.22650384 -0.02924136
+v -0.33718726 -0.23231500 -0.06887044
+v -0.41081315 -0.16047590 -0.08539551
+v -0.37256152 -0.16921492 -0.07506661
+v -0.39466729 -0.18585514 -0.07956777
+v -0.43619337 -0.15781026 -0.06029314
+v -0.44435301 -0.16723691 -0.02487681
+v -0.43320402 -0.18936965 -0.02225286
+v -0.35025321 -0.24697931 -0.03334572
+v -0.37322906 -0.21074233 -0.07011302
+v -0.38086912 -0.18801129 -0.08327490
+v -0.34773926 -0.22560894 -0.07075794
+v -0.43064075 -0.16847510 -0.05616786
+v -0.34797749 -0.24225841 -0.04444832
+v -0.38748887 -0.21008247 -0.05631239
+v -0.44532431 -0.16877522 -0.03009452
+f 1 2 3
+f 7 1 3
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 10 3 9
+f 13 5 11
+f 14 9 3
+f 14 3 2
+f 15 10 6
+f 16 3 10
+f 16 12 3
+f 16 4 12
+f 16 10 15
+f 17 6 10
+f 17 11 6
+f 18 15 6
+f 18 16 15
+f 18 4 16
+f 19 7 3
+f 19 3 12
+f 19 12 5
+f 19 5 7
+f 20 11 5
+f 20 5 12
+f 20 12 4
+f 21 8 5
+f 21 5 13
+f 23 17 10
+f 23 10 9
+f 24 9 14
+f 24 22 17
+f 24 14 2
+f 24 23 9
+f 24 17 23
+f 25 4 18
+f 25 11 20
+f 25 18 6
+f 25 6 11
+f 26 2 8
+f 26 8 21
+f 26 24 2
+f 26 22 24
+f 26 21 13
+f 26 13 22
+f 27 22 13
+f 27 13 11
+f 27 11 17
+f 27 17 22
+f 28 25 20
+f 28 20 4
+f 28 4 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4df6fd69896fa35080f5eee9e73acb33aa49ba
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.05230691 -0.15179280 -0.04040999
+v -0.03885746 -0.10564303 -0.06187524
+v -0.03780033 0.09106582 -0.05338357
+v -0.09544347 0.15306271 -0.06503961
+v -0.10062599 -0.15077809 -0.06939279
+v -0.05631386 0.15026235 -0.07336672
+v -0.05294666 0.15169152 -0.05344026
+v -0.03631828 -0.10662101 -0.04281204
+v -0.05528074 -0.14992473 -0.06166398
+v -0.09469460 -0.15418363 -0.05203860
+v -0.03988401 0.09160859 -0.07028568
+v -0.09874197 0.15173425 -0.08176470
+v -0.08581729 -0.15068388 -0.06714163
+v -0.09588298 -0.10662691 -0.05508441
+v -0.03561201 0.06013168 -0.05288432
+f 7 4 1
+f 7 6 4
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 2 1
+f 10 1 4
+f 10 9 1
+f 11 7 3
+f 11 6 7
+f 12 5 4
+f 12 4 6
+f 12 6 11
+f 12 11 2
+f 13 2 9
+f 13 12 2
+f 13 5 12
+f 13 10 5
+f 13 9 10
+f 14 10 4
+f 14 4 5
+f 14 5 10
+f 15 8 2
+f 15 2 11
+f 15 11 3
+f 15 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..565f1682d4bb403fa1cfd30cd4f1d79acab0e44c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.27837220 -0.15189698 -0.08097993
+v -0.28283259 -0.15067131 -0.09714410
+v -0.28104277 0.13671541 -0.10889740
+v -0.31004748 0.13804410 -0.09741846
+v -0.31057111 -0.15165930 -0.08512459
+v -0.31066015 0.13652701 -0.11339973
+v -0.27883353 0.13610834 -0.09310194
+v -0.31244997 -0.15085971 -0.10164641
+v -0.27799539 -0.09139452 -0.08345432
+v -0.29318089 -0.15199118 -0.08323109
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 8 2 1
+f 8 6 2
+f 8 5 4
+f 8 4 6
+f 9 3 7
+f 9 1 2
+f 9 2 3
+f 9 7 5
+f 9 5 1
+f 10 8 1
+f 10 1 5
+f 10 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5c58b3dcfab7e481cbe3bf8cc4a8381eb69ba4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_2.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.48582549 -0.01549849 -0.04459790
+v -0.40380982 0.10805193 -0.09189022
+v -0.40204369 0.13688210 -0.08433801
+v -0.44280108 0.14385081 -0.04818280
+v -0.44279172 0.13372175 -0.08017585
+v -0.43440235 0.01564048 -0.09109708
+v -0.49088067 0.07295758 -0.04201322
+v -0.40794771 0.14101487 -0.07909779
+v -0.46920603 0.13163235 -0.04116784
+v -0.49003475 -0.01418665 -0.05918011
+v -0.49919445 -0.01488330 -0.03960351
+v -0.47381156 0.09892107 -0.05775670
+v -0.46337941 -0.01508674 -0.06975816
+v -0.44440056 0.01725035 -0.08601460
+v -0.47144666 -0.01555652 -0.06166323
+v -0.48834765 0.04243853 -0.05802148
+v -0.46177508 0.12787856 -0.05898845
+v -0.47568034 0.11501627 -0.04145846
+v -0.48952205 0.07291049 -0.04506541
+v -0.47444146 0.11434641 -0.04462296
+f 1 2 3
+f 1 3 4
+f 5 3 2
+f 6 5 2
+f 6 2 1
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 4 5
+f 11 9 7
+f 11 1 4
+f 11 4 9
+f 13 10 6
+f 13 6 1
+f 14 5 6
+f 14 6 10
+f 15 11 10
+f 15 1 11
+f 15 13 1
+f 15 10 13
+f 16 11 7
+f 16 10 11
+f 16 12 5
+f 16 14 10
+f 16 5 14
+f 17 9 5
+f 17 5 12
+f 18 7 9
+f 19 16 7
+f 19 12 16
+f 19 7 18
+f 20 17 12
+f 20 19 18
+f 20 12 19
+f 20 18 9
+f 20 9 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..502afebc68488f9183d67c9470f5f7344b85ddd2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_20.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.42760498 -0.17524709 -0.03023529
+v -0.35592100 -0.14933482 -0.10435948
+v -0.35609210 -0.10727794 -0.09276206
+v -0.47858884 -0.09904135 -0.04571180
+v -0.43153626 -0.13859631 -0.08511402
+v -0.48235373 -0.10264112 -0.03336670
+v -0.35891707 -0.15707582 -0.08262510
+v -0.42286097 -0.15910639 -0.07562252
+v -0.42567667 -0.10189786 -0.10157321
+v -0.46458136 -0.11495590 -0.03505838
+v -0.35612742 -0.13911850 -0.08809045
+v -0.40822145 -0.14264931 -0.09469962
+v -0.45314839 -0.16079449 -0.02648578
+v -0.39351740 -0.17308495 -0.06524490
+v -0.35659344 -0.10576546 -0.11025568
+v -0.44976346 -0.09942420 -0.08872842
+v -0.42198213 -0.12978620 -0.09424577
+v -0.46338998 -0.14591482 -0.02866804
+v -0.45820119 -0.12674397 -0.05804861
+v -0.47328122 -0.11167204 -0.04391701
+v -0.44793398 -0.15540395 -0.04496811
+v -0.44560765 -0.11239397 -0.08540790
+v -0.45860469 -0.14209585 -0.04311398
+v -0.43182427 -0.15398612 -0.07021424
+f 6 3 4
+f 7 3 1
+f 10 1 3
+f 10 3 6
+f 11 7 2
+f 11 2 3
+f 11 3 7
+f 12 8 5
+f 12 2 8
+f 12 9 2
+f 13 8 1
+f 13 10 6
+f 13 1 10
+f 14 7 1
+f 14 1 8
+f 14 8 2
+f 14 2 7
+f 15 3 2
+f 15 2 9
+f 15 4 3
+f 16 15 9
+f 16 4 15
+f 17 12 5
+f 17 9 12
+f 17 16 9
+f 17 5 16
+f 18 13 6
+f 19 4 16
+f 20 18 6
+f 20 6 4
+f 21 8 13
+f 21 13 18
+f 22 19 16
+f 22 16 5
+f 22 5 19
+f 23 18 20
+f 23 21 18
+f 23 19 5
+f 23 20 4
+f 23 4 19
+f 24 5 8
+f 24 8 21
+f 24 23 5
+f 24 21 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb5045e981e0da01613960a7f351c4c38a275e92
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.07601698 -0.22039547 -0.01655833
+v -0.04290542 -0.18994477 -0.01771566
+v -0.05398731 -0.21083599 -0.00674867
+v -0.11097428 -0.15209796 -0.05547978
+v -0.06400018 -0.19950986 -0.05157801
+v -0.04600725 -0.15660008 -0.03500407
+v -0.15774571 -0.16688758 -0.06198336
+v -0.05528074 -0.14992473 -0.06166398
+v -0.15564926 -0.21890060 -0.05019821
+v -0.11543468 -0.15087229 -0.07164395
+v -0.11827784 -0.20705052 -0.06535408
+v -0.16103186 -0.20931653 -0.07415889
+v -0.08873033 -0.17720052 -0.06549277
+v -0.15995495 -0.16628051 -0.07777883
+v -0.08581729 -0.15068388 -0.06714163
+f 5 2 3
+f 5 3 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 1 3
+f 9 3 7
+f 10 7 4
+f 10 4 8
+f 11 5 1
+f 11 1 9
+f 12 11 9
+f 12 9 7
+f 13 8 5
+f 13 5 11
+f 13 11 12
+f 14 12 7
+f 14 7 10
+f 14 13 12
+f 15 10 8
+f 15 8 13
+f 15 14 10
+f 15 13 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48963e1d381f53cb083228fe2e839839201b9f8b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.09677671 0.19867907 -0.05702411
+v -0.09185335 0.20317708 -0.05304286
+v -0.09509722 0.26117522 0.01038150
+v -0.16017115 0.28920827 -0.00070117
+v -0.16291372 0.27257682 -0.04568984
+v -0.15673466 0.27992461 0.00021063
+v -0.10713660 0.25490347 -0.04286729
+v -0.11087624 0.20070348 -0.06125272
+v -0.12370580 0.29158972 0.00477265
+v -0.15843958 0.24446515 -0.05525537
+v -0.10195206 0.27300274 0.00884270
+v -0.12664679 0.27157533 -0.04081060
+v -0.12714624 0.28685430 -0.01504325
+v -0.16219169 0.28881869 -0.00359426
+v -0.10745768 0.26782311 -0.01575600
+v -0.13415131 0.28670551 -0.01488869
+f 1 2 3
+f 7 2 1
+f 7 3 2
+f 8 1 3
+f 8 3 6
+f 8 7 1
+f 9 6 3
+f 9 4 6
+f 10 8 6
+f 10 7 8
+f 11 9 3
+f 11 3 7
+f 12 10 5
+f 12 7 10
+f 13 12 5
+f 13 7 12
+f 13 9 11
+f 14 10 6
+f 14 6 4
+f 14 5 10
+f 14 4 9
+f 14 9 13
+f 15 13 11
+f 15 11 7
+f 15 7 13
+f 16 14 13
+f 16 13 5
+f 16 5 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecc0f26662098acd2088472f979c7baabe4f054f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_23.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.29364222 0.13601413 -0.09535310
+v -0.29810263 0.13723980 -0.11151727
+v -0.29343602 0.21892317 -0.10004143
+v -0.29526426 0.25719123 -0.06791826
+v -0.40794771 0.14101487 -0.07909779
+v -0.29305605 0.24762667 -0.08230894
+v -0.29771830 0.16721032 -0.11271287
+v -0.39450088 0.13127936 -0.11315818
+v -0.36403933 0.23115337 -0.06008962
+v -0.34056700 0.16494443 -0.11358654
+v -0.36591278 0.20145332 -0.09375726
+v -0.33663921 0.24619972 -0.06119727
+v -0.32204797 0.21761266 -0.09664144
+v -0.37913199 0.15802147 -0.10909972
+v -0.39587645 0.20645558 -0.06316445
+v -0.33481486 0.24067041 -0.07125641
+v -0.34510394 0.22474270 -0.08379733
+v -0.39507715 0.17413806 -0.09612182
+v -0.30549761 0.24210836 -0.08389720
+v -0.36045966 0.22545431 -0.07114446
+v -0.39278736 0.14515256 -0.10931135
+v -0.39110619 0.20153700 -0.07397195
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 10 7 2
+f 10 2 8
+f 10 3 7
+f 12 9 1
+f 12 1 4
+f 13 6 3
+f 13 3 10
+f 14 10 8
+f 14 13 10
+f 14 11 13
+f 15 5 9
+f 16 12 4
+f 16 9 12
+f 17 13 11
+f 18 11 14
+f 18 8 5
+f 18 5 15
+f 19 16 4
+f 19 4 6
+f 19 17 16
+f 19 6 13
+f 19 13 17
+f 20 9 16
+f 20 16 17
+f 20 15 9
+f 20 17 11
+f 21 18 14
+f 21 14 8
+f 21 8 18
+f 22 18 15
+f 22 11 18
+f 22 20 11
+f 22 15 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef70c5cde0f6ac63cb3cbe73971f33433461ea70
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_24.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01147516 -0.06184616 -0.02840234
+v 0.00268772 -0.05879226 -0.05587395
+v 0.01193157 0.09220020 -0.02930553
+v -0.03324641 0.09153568 -0.05184380
+v -0.03636562 -0.06087325 -0.04793556
+v 0.00370121 0.09045119 -0.05824916
+v -0.03857486 -0.06026618 -0.06373103
+v 0.00141593 0.09341606 -0.03618091
+v -0.00270977 -0.06207477 -0.03708802
+v -0.03988401 0.09160859 -0.07028568
+v -0.04016661 0.04623174 -0.06842989
+v -0.02507531 0.09170279 -0.06803452
+v -0.02535792 0.04632594 -0.06617874
+f 5 1 3
+f 5 3 4
+f 6 1 2
+f 6 3 1
+f 8 4 3
+f 8 3 6
+f 9 7 2
+f 9 2 1
+f 9 1 5
+f 9 5 7
+f 10 5 4
+f 10 4 8
+f 11 7 5
+f 11 5 10
+f 12 6 2
+f 12 11 10
+f 12 10 8
+f 12 8 6
+f 13 12 2
+f 13 2 7
+f 13 7 11
+f 13 11 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb88b97223602bacb4777d7addc7d6bf772c47fe
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_25.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.11334019 -0.16679239 -0.05440618
+v -0.10062599 -0.15077809 -0.06939279
+v -0.10245804 0.24947110 -0.04842688
+v -0.16012408 0.26893039 -0.05088599
+v -0.15995495 -0.16628051 -0.07777883
+v -0.12120301 0.26336479 -0.04633118
+v -0.09836898 -0.15145272 -0.05357837
+v -0.11552888 -0.16599790 -0.07102535
+v -0.15774571 -0.16688758 -0.06198336
+v -0.10297397 0.19361455 -0.07995747
+v -0.16175167 0.26271343 -0.06247326
+v -0.10108732 0.13722723 -0.08151480
+v -0.16301906 0.23257614 -0.08464867
+v -0.16135830 -0.02953136 -0.08371487
+v -0.10607234 0.23049035 -0.06602243
+v -0.14862148 0.23065742 -0.08197045
+v -0.12422938 0.25784868 -0.05698328
+v -0.10486091 0.24757105 -0.05365376
+v -0.12312787 0.24549492 -0.06408968
+f 6 4 1
+f 7 6 1
+f 7 3 6
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 5 1
+f 9 1 4
+f 11 9 4
+f 11 5 9
+f 11 4 6
+f 12 8 5
+f 12 2 8
+f 12 7 2
+f 12 10 3
+f 12 3 7
+f 13 10 12
+f 14 5 11
+f 14 11 13
+f 14 13 12
+f 14 12 5
+f 15 3 10
+f 16 15 10
+f 16 10 13
+f 17 11 6
+f 17 16 13
+f 17 13 11
+f 18 17 6
+f 18 6 3
+f 18 3 15
+f 18 15 17
+f 19 17 15
+f 19 15 16
+f 19 16 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c3976bc30a4bc64685260bd6148c4fa2fa08b31
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.46976439 -0.11016142 -0.03113487
+v -0.43445925 -0.10735733 -0.07150835
+v -0.49068717 -0.01600975 -0.03826087
+v -0.49917872 -0.01556852 -0.03957244
+v -0.47328530 -0.09640767 -0.05801282
+v -0.45424846 -0.03063973 -0.07673878
+v -0.44114175 -0.11103769 -0.06433337
+v -0.48235373 -0.10264112 -0.03336670
+v -0.46337941 -0.01508674 -0.06975816
+v -0.43662116 -0.09353434 -0.07551040
+v -0.48861081 -0.04036730 -0.05842954
+v -0.49003475 -0.01418665 -0.05918011
+v -0.49085137 -0.07289731 -0.03590538
+v -0.48770314 -0.07056529 -0.04454467
+f 1 2 3
+f 1 3 4
+f 7 5 2
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 9 3 2
+f 9 2 6
+f 10 6 2
+f 10 2 5
+f 10 5 6
+f 11 6 5
+f 12 4 3
+f 12 3 9
+f 12 11 4
+f 12 9 6
+f 12 6 11
+f 13 4 11
+f 13 8 1
+f 13 1 4
+f 13 5 8
+f 14 13 11
+f 14 11 5
+f 14 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c82e2eb677c4e0ae97779d169203bc6899a2b14e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_27.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.46682967 0.13001553 -0.04778710
+v -0.39965737 0.13512619 -0.10958298
+v -0.41490138 0.14569179 -0.07192652
+v -0.39737666 0.22356022 -0.03407628
+v -0.41760603 0.16709134 -0.08347207
+v -0.44637228 0.15212948 -0.03854838
+v -0.46920603 0.13163235 -0.04116784
+v -0.42536661 0.13169917 -0.09926999
+v -0.39177658 0.18692514 -0.08823462
+v -0.41351904 0.19451661 -0.03548562
+v -0.44280108 0.14385081 -0.04818280
+v -0.43340234 0.18591018 -0.03798686
+v -0.45058999 0.12881063 -0.07441188
+v -0.39480769 0.21857430 -0.04768638
+v -0.40908497 0.16115907 -0.09673283
+v -0.44323808 0.16962281 -0.04335353
+v -0.40223557 0.18201366 -0.08323899
+v -0.40424051 0.21696701 -0.03484563
+v -0.42068949 0.14381902 -0.09732590
+v -0.39692340 0.16123157 -0.10117817
+v -0.44454854 0.17102383 -0.03906130
+v -0.44567892 0.14068213 -0.07056211
+v -0.40231404 0.21308323 -0.04463500
+f 3 2 4
+f 7 1 2
+f 7 2 3
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 7 3
+f 11 3 6
+f 11 6 7
+f 12 6 4
+f 13 8 2
+f 13 2 1
+f 14 4 2
+f 14 2 9
+f 14 5 12
+f 15 5 9
+f 16 12 5
+f 17 14 9
+f 17 9 5
+f 17 5 14
+f 18 12 4
+f 18 4 14
+f 19 13 5
+f 19 5 15
+f 19 8 13
+f 19 15 2
+f 19 2 8
+f 20 15 9
+f 20 9 2
+f 20 2 15
+f 21 12 16
+f 21 7 6
+f 21 6 12
+f 21 16 1
+f 21 1 7
+f 22 13 1
+f 22 1 16
+f 22 16 5
+f 22 5 13
+f 23 18 14
+f 23 14 12
+f 23 12 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e17971b31e4bb7008f1d7bbe1f97834b864bec89
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_28.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01193157 0.09220020 -0.02930553
+v 0.00370121 0.09045119 -0.05824916
+v 0.00809469 0.15193538 -0.03860943
+v -0.02902936 0.15737839 -0.03946061
+v -0.05023230 0.09028872 -0.05637267
+v -0.05631386 0.15026235 -0.07336672
+v 0.00872881 0.15231464 -0.00856744
+v 0.01735642 0.12459378 -0.01587852
+v -0.02886531 0.14904400 -0.06459938
+v -0.04687118 0.15564114 -0.04956096
+v -0.05469270 0.09151439 -0.07253683
+v 0.00158261 0.15683228 -0.01463361
+v -0.00531733 0.14491946 -0.05308082
+v -0.02507531 0.09170279 -0.06803452
+f 5 2 1
+f 7 5 1
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 6 4
+f 9 4 3
+f 10 6 5
+f 10 4 6
+f 10 5 7
+f 11 2 5
+f 11 5 6
+f 12 7 3
+f 12 3 4
+f 12 10 7
+f 12 4 10
+f 13 9 3
+f 13 3 2
+f 13 2 9
+f 14 9 2
+f 14 6 9
+f 14 11 6
+f 14 2 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2302b8b60829f87aa4ee207ef5f272392b9ec206
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.23404032 -0.16673999 -0.07360786
+v -0.23649451 -0.16606562 -0.08958017
+v -0.23272151 0.04501864 -0.08226821
+v -0.27939874 0.04535463 -0.08939038
+v -0.27970181 -0.16887860 -0.08018884
+v -0.23718191 0.04624431 -0.09843234
+v -0.28264419 -0.12042008 -0.09838128
+v -0.28067564 -0.16641552 -0.09615680
+v -0.28160798 0.04596171 -0.10518583
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 8 7 2
+f 8 2 5
+f 8 5 7
+f 9 6 2
+f 9 2 7
+f 9 7 4
+f 9 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bff5a91aa5f66ed1ecdc91a33e5ea836cff8100
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_3.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.18918876 -0.29263542 0.01922756
+v -0.19059816 -0.27598241 -0.03234318
+v -0.18852929 -0.24513016 -0.04299286
+v -0.38206869 -0.23475700 -0.02014434
+v -0.28638942 -0.28852773 -0.01435109
+v -0.32951209 -0.23499492 -0.04542525
+v -0.18850313 -0.28404469 0.01897249
+v -0.18705639 -0.25514091 -0.03500600
+v -0.20620109 -0.28449644 -0.01551112
+v -0.29541764 -0.29122613 0.00299181
+v -0.34303627 -0.23158324 -0.04220522
+v -0.30440655 -0.26761470 -0.02882064
+v -0.38236267 -0.23733356 -0.01250354
+v -0.19054699 -0.28717996 -0.00315713
+v -0.28417533 -0.29431536 0.00483309
+v -0.36229784 -0.24139097 -0.03085887
+v -0.34595903 -0.26046896 -0.00599179
+v -0.36788660 -0.23629266 -0.03533321
+f 6 3 2
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 5 2
+f 11 4 3
+f 11 3 6
+f 12 6 2
+f 12 2 5
+f 13 7 3
+f 13 3 4
+f 14 9 2
+f 14 2 1
+f 15 10 5
+f 15 1 7
+f 15 14 1
+f 15 5 9
+f 15 9 14
+f 16 5 10
+f 17 13 4
+f 17 10 15
+f 17 15 7
+f 17 7 13
+f 17 16 10
+f 17 4 16
+f 18 12 5
+f 18 5 16
+f 18 6 12
+f 18 11 6
+f 18 16 4
+f 18 4 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a05d88cab6b56669b7340eaa5b5588e92b0d499b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_30.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.37124344 -0.10727060 -0.09271208
+v -0.37112076 -0.10554719 -0.11172322
+v -0.37148790 -0.07706907 -0.09617981
+v -0.47482588 -0.07494647 -0.06669229
+v -0.46837579 -0.10135208 -0.06221327
+v -0.41536202 -0.07411303 -0.11291743
+v -0.40653330 -0.10974263 -0.08466042
+v -0.37346489 -0.07498984 -0.11411273
+v -0.45920975 -0.08572518 -0.08481185
+v -0.43800177 -0.10005059 -0.09596756
+v -0.37355909 -0.09011545 -0.11349413
+v -0.46175316 -0.07128267 -0.08675367
+v -0.46238679 -0.09828267 -0.07326789
+v -0.41546572 -0.08830249 -0.11111631
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 10 7 5
+f 10 2 7
+f 11 8 2
+f 11 2 6
+f 11 6 8
+f 12 8 6
+f 12 4 3
+f 12 3 8
+f 12 9 4
+f 12 10 9
+f 13 5 4
+f 13 4 9
+f 13 10 5
+f 13 9 10
+f 14 6 2
+f 14 2 10
+f 14 12 6
+f 14 10 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ec7c39bbab60def841495795b8d2ccd0c9b64e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_31.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.19059816 -0.27598241 -0.03234318
+v -0.19119976 -0.27011218 -0.04466981
+v -0.18736309 -0.16707599 -0.06648568
+v -0.29481610 -0.16902464 -0.08092437
+v -0.33836452 -0.25265192 -0.03525805
+v -0.20710748 -0.20731976 -0.08255903
+v -0.18742451 -0.23362520 -0.04937508
+v -0.28716926 -0.27795178 -0.03046000
+v -0.32213996 -0.26062227 -0.03214302
+v -0.34643151 -0.22352782 -0.04899791
+v -0.29548433 -0.16650972 -0.09840796
+v -0.19201189 -0.19610155 -0.08141266
+v -0.26265124 -0.23159090 -0.08190479
+v -0.20217178 -0.16717019 -0.06873684
+v -0.34107269 -0.19744140 -0.06963263
+v -0.19182349 -0.16585032 -0.08264985
+v -0.19222215 -0.24381125 -0.06741380
+v -0.28404992 -0.27211438 -0.04146315
+v -0.33811789 -0.20445455 -0.08749742
+v -0.22173938 -0.22188509 -0.08019174
+v -0.33289158 -0.24188157 -0.05789119
+v -0.33642332 -0.21504214 -0.08075581
+v -0.34258096 -0.20316701 -0.06678281
+v -0.30848249 -0.24442803 -0.06633943
+v -0.27818881 -0.22933348 -0.08156589
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 1 3
+f 9 3 5
+f 9 8 1
+f 9 5 8
+f 10 5 3
+f 10 3 4
+f 12 3 7
+f 12 6 11
+f 13 11 6
+f 14 11 4
+f 14 4 3
+f 14 3 11
+f 15 10 4
+f 15 4 11
+f 16 12 11
+f 16 11 3
+f 16 3 12
+f 17 12 7
+f 17 7 2
+f 17 6 12
+f 17 2 13
+f 18 13 2
+f 18 2 8
+f 19 15 11
+f 19 11 13
+f 20 17 13
+f 20 13 6
+f 20 6 17
+f 21 18 8
+f 21 8 5
+f 22 5 10
+f 22 10 19
+f 22 21 5
+f 23 19 10
+f 23 10 15
+f 23 15 19
+f 24 13 18
+f 24 18 21
+f 24 21 22
+f 24 22 19
+f 25 24 19
+f 25 19 13
+f 25 13 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37212cf761c7b30050882d5c64cf9a31cf2d7a34
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_4.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.05706076 -0.24917125 0.03752952
+v 0.08243504 -0.09879953 -0.00543033
+v 0.07459841 -0.05899843 0.04962099
+v -0.03636562 -0.06087325 -0.04793556
+v -0.05783408 -0.19284328 -0.05231538
+v 0.08000321 -0.06373219 -0.00800953
+v 0.06526023 -0.06264658 0.04808858
+v 0.08482597 -0.10475017 0.03059351
+v -0.03550347 -0.21170900 -0.02379162
+v -0.05366615 -0.10573723 -0.06412640
+v 0.01555268 -0.05894326 -0.05065506
+v 0.01968584 -0.17060661 0.01353638
+v 0.03566140 -0.15536848 0.04772424
+v -0.04774814 -0.18599596 -0.05098836
+v -0.05994682 -0.23337347 -0.01841665
+v -0.05005702 -0.10726286 -0.04717066
+v -0.03857486 -0.06026618 -0.06373103
+v 0.00555736 -0.18139344 -0.00082635
+v 0.05136650 -0.12972331 0.04904271
+v -0.04714314 -0.24206942 0.03874262
+v -0.00720143 -0.18470415 -0.02061175
+v -0.01432356 -0.14704326 -0.04840145
+v -0.06132030 -0.24634698 0.01036476
+v 0.06845565 -0.08502153 0.04977451
+v -0.03685521 -0.22379833 -0.00036219
+v -0.00505868 -0.15626461 -0.03723163
+v 0.00017598 -0.11749962 -0.04832900
+v -0.05137640 -0.23938624 0.01219039
+v -0.04973609 -0.22701411 -0.01525321
+v 0.01515902 -0.07303069 -0.04906026
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 2 6
+f 11 3 6
+f 11 6 2
+f 12 2 8
+f 14 9 5
+f 14 5 10
+f 15 5 9
+f 16 10 1
+f 16 1 4
+f 16 4 10
+f 17 4 3
+f 17 3 11
+f 17 11 10
+f 17 10 4
+f 18 2 12
+f 19 13 8
+f 19 3 1
+f 19 1 13
+f 20 12 8
+f 20 8 13
+f 20 13 1
+f 21 9 14
+f 21 18 9
+f 21 2 18
+f 22 14 10
+f 23 10 5
+f 23 5 15
+f 23 1 10
+f 24 19 8
+f 24 8 3
+f 24 3 19
+f 25 18 12
+f 25 12 20
+f 25 9 18
+f 25 23 15
+f 26 21 14
+f 26 2 21
+f 26 22 2
+f 26 14 22
+f 27 2 22
+f 27 22 10
+f 27 10 11
+f 28 25 20
+f 28 23 25
+f 28 20 1
+f 28 1 23
+f 29 25 15
+f 29 15 9
+f 29 9 25
+f 30 27 11
+f 30 11 2
+f 30 2 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56c998af9ed6214c0ce821940a7418e5fd56bab6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.16083422 0.21047515 -0.08958664
+v -0.15585467 0.21859772 -0.06683543
+v -0.29898077 0.23794505 -0.06407710
+v -0.26056338 0.28847249 -0.01595834
+v -0.16320244 0.28517933 -0.01629647
+v -0.15673466 0.27992461 0.00021063
+v -0.23464368 0.24811478 -0.08441312
+v -0.18998538 0.21145105 -0.09452665
+v -0.16417827 0.25992895 -0.06537917
+v -0.27936503 0.27533428 -0.01827172
+v -0.16017115 0.28920827 -0.00070117
+v -0.29305605 0.24762667 -0.08230894
+v -0.16301906 0.23257614 -0.08464867
+v -0.26230739 0.26949888 -0.05811959
+v -0.21683416 0.29299392 -0.00948835
+v -0.29387809 0.26862054 -0.05052543
+v -0.29502277 0.22560283 -0.09566824
+v -0.17899889 0.26985985 -0.05788389
+v -0.18992598 0.28483545 -0.03085641
+v -0.27794054 0.28444327 -0.01843597
+v -0.28959849 0.25648827 -0.07173290
+v -0.24698961 0.28554555 -0.03043630
+v -0.26232321 0.28764244 -0.01741720
+f 8 1 2
+f 8 2 3
+f 9 6 2
+f 10 3 2
+f 10 2 6
+f 10 6 4
+f 11 9 5
+f 11 6 9
+f 13 9 2
+f 13 2 1
+f 13 1 8
+f 13 8 7
+f 13 7 9
+f 14 7 12
+f 15 4 6
+f 15 6 11
+f 16 12 3
+f 16 3 10
+f 17 8 3
+f 17 3 12
+f 17 12 7
+f 17 7 8
+f 18 9 7
+f 18 7 14
+f 18 5 9
+f 19 15 11
+f 19 11 5
+f 19 5 18
+f 20 16 10
+f 20 10 4
+f 21 16 14
+f 21 14 12
+f 21 12 16
+f 22 14 16
+f 22 4 15
+f 22 15 19
+f 22 19 18
+f 22 18 14
+f 22 16 20
+f 23 22 20
+f 23 20 4
+f 23 4 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc559d39fbad2a90a01ab370c0d424af46833c6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_6.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.15867805 0.04548965 -0.07101241
+v -0.16088730 0.04609673 -0.08680785
+v -0.15867646 0.21308059 -0.07005334
+v -0.23428374 0.26885198 -0.06571831
+v -0.27939874 0.04535463 -0.08939038
+v -0.18975788 0.26683801 -0.06470009
+v -0.16083422 0.21047515 -0.08958664
+v -0.24753020 0.04492444 -0.08451937
+v -0.27987137 0.24113494 -0.06642928
+v -0.29585146 0.13662121 -0.11114857
+v -0.20732306 0.22357520 -0.09460621
+v -0.28160798 0.04596171 -0.10518583
+v -0.19200223 0.16753185 -0.09662764
+v -0.29616736 0.22979383 -0.07138544
+v -0.23464368 0.24811478 -0.08441312
+v -0.19161419 0.24558084 -0.08150777
+v -0.19205599 0.20858372 -0.09540292
+v -0.29364222 0.13601413 -0.09535310
+v -0.27912150 0.23759811 -0.09057534
+v -0.23406223 0.26362258 -0.07391913
+v -0.19123962 0.26278126 -0.06924060
+v -0.29642026 0.20361147 -0.08417730
+v -0.29343602 0.21892317 -0.10004143
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 9 6 4
+f 9 1 6
+f 9 8 1
+f 9 5 8
+f 12 8 5
+f 12 2 8
+f 13 7 2
+f 13 12 10
+f 13 2 12
+f 14 5 9
+f 16 7 11
+f 16 11 15
+f 17 11 7
+f 17 7 13
+f 17 13 10
+f 17 10 11
+f 18 5 14
+f 18 12 5
+f 18 10 12
+f 19 14 9
+f 19 9 4
+f 20 4 6
+f 20 16 15
+f 20 19 4
+f 20 15 19
+f 21 6 7
+f 21 7 16
+f 21 20 6
+f 21 16 20
+f 22 18 14
+f 22 10 18
+f 23 19 15
+f 23 15 11
+f 23 11 10
+f 23 10 22
+f 23 22 14
+f 23 14 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a882ddf8c3cc6783ac6d6b39a0b935601227e8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_7.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.04948732 0.13495106 0.03768108
+v 0.04111783 0.13173118 -0.00364738
+v 0.00891096 0.19608484 0.02894384
+v -0.05671201 0.25026362 0.01668349
+v -0.05631386 0.15026235 -0.07336672
+v -0.03605083 0.21016140 -0.04152839
+v 0.03385272 0.15421884 0.01278185
+v 0.01383089 0.13185867 -0.04264708
+v -0.04687118 0.15564114 -0.04956096
+v -0.02918341 0.23259599 0.02161493
+v -0.05992351 0.23328520 -0.03245958
+v 0.03724435 0.14158397 -0.00136075
+v 0.03789036 0.15584544 0.03504073
+v -0.04496502 0.17811648 -0.06580105
+v 0.03488158 0.14417812 0.03315531
+v 0.00630905 0.18164439 -0.01459448
+v -0.06061104 0.24686986 -0.00387805
+v 0.00436051 0.13483050 -0.04935309
+v -0.05910547 0.20563172 -0.05792245
+v 0.00735772 0.19704219 0.02663507
+v -0.03549138 0.22492380 -0.01419259
+v 0.00788723 0.15905252 -0.03563117
+v -0.03756643 0.23809616 0.02010818
+v -0.04258959 0.14965317 -0.06898305
+v -0.04691790 0.20239299 -0.05285946
+v -0.05703069 0.17961686 -0.06943766
+v -0.05004616 0.24030254 -0.00157067
+v -0.04915008 0.22738612 -0.02894281
+v -0.02366675 0.19829202 -0.03914583
+v -0.02012312 0.17234930 -0.05099451
+v 0.03000728 0.13239480 -0.02870536
+v 0.02343682 0.14282021 -0.02965154
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 4 5
+f 12 7 1
+f 12 1 2
+f 13 7 3
+f 13 1 7
+f 13 10 1
+f 13 3 10
+f 15 9 1
+f 15 1 4
+f 15 4 9
+f 16 3 7
+f 16 7 12
+f 17 5 4
+f 18 8 5
+f 19 11 6
+f 19 17 11
+f 19 5 17
+f 20 10 3
+f 20 3 16
+f 21 16 6
+f 21 20 16
+f 21 10 20
+f 21 11 17
+f 22 8 18
+f 23 4 1
+f 23 1 10
+f 24 18 5
+f 24 5 14
+f 24 14 18
+f 25 19 6
+f 25 6 14
+f 25 14 19
+f 26 19 14
+f 26 14 5
+f 26 5 19
+f 27 21 17
+f 27 10 21
+f 27 23 10
+f 27 17 4
+f 27 4 23
+f 28 21 6
+f 28 6 11
+f 28 11 21
+f 29 6 16
+f 29 16 22
+f 29 14 6
+f 30 22 18
+f 30 18 14
+f 30 29 22
+f 30 14 29
+f 31 2 8
+f 31 12 2
+f 32 22 16
+f 32 16 12
+f 32 12 31
+f 32 31 8
+f 32 8 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a30865b03358cf51d2fd3b0aa9b91f55639cd836
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.06526023 -0.06264658 0.04808858
+v 0.08000321 -0.06373219 -0.00800953
+v 0.06900468 0.08711507 0.04265495
+v 0.03488158 0.14417812 0.03315531
+v 0.00268772 -0.05879226 -0.05587395
+v 0.02330127 0.12888684 -0.03594106
+v 0.04041374 0.13581548 0.03626316
+v 0.07459841 -0.05899843 0.04962099
+v 0.01831317 -0.06428133 -0.02299537
+v 0.05163324 0.08543886 -0.02295657
+v 0.00436051 0.13483050 -0.04935309
+v 0.05304058 -0.06304020 0.03011169
+v 0.06395357 0.08714926 0.01244352
+v 0.00964041 0.11549383 -0.05344933
+v 0.01932942 0.14320640 -0.00134428
+v 0.06500752 0.03033180 -0.01621026
+v 0.05020873 0.12897506 0.02573161
+v 0.03746203 -0.05753261 -0.03811004
+v 0.00324963 0.12012429 -0.05626439
+v 0.03697112 0.13021060 -0.01606835
+v 0.03722238 0.08594717 -0.03641593
+v 0.05250328 0.12806891 0.03842835
+v 0.01555268 -0.05894326 -0.05065506
+v 0.04916349 0.11372768 -0.00123384
+f 7 4 1
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 9 5 2
+f 9 2 1
+f 9 4 5
+f 12 9 1
+f 12 1 4
+f 12 4 9
+f 13 3 2
+f 14 11 6
+f 14 6 10
+f 15 11 5
+f 15 5 4
+f 16 13 2
+f 16 10 13
+f 17 3 13
+f 19 5 11
+f 19 11 14
+f 20 15 4
+f 20 6 11
+f 20 11 15
+f 20 4 17
+f 20 10 6
+f 21 14 10
+f 21 10 16
+f 21 16 2
+f 21 18 14
+f 21 2 18
+f 22 3 17
+f 22 8 3
+f 22 7 8
+f 22 17 4
+f 22 4 7
+f 23 18 2
+f 23 2 5
+f 23 14 18
+f 23 19 14
+f 23 5 19
+f 24 20 17
+f 24 17 13
+f 24 13 10
+f 24 10 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb0a272ab9abae4b5fbce85c30583a1a4afe5272
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/collision/model_normalized_collision_9.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.31057111 -0.15165930 -0.08512459
+v -0.31244997 -0.15085971 -0.10164641
+v -0.31004748 0.13804410 -0.09741846
+v -0.44279172 0.13372175 -0.08017585
+v -0.44236346 -0.07418078 -0.07696832
+v -0.43707141 0.05932775 -0.11058609
+v -0.35639663 -0.15203777 -0.08513554
+v -0.31291132 0.13714560 -0.11376843
+v -0.44057474 -0.07330182 -0.10192760
+v -0.35865620 -0.07489564 -0.11186157
+v -0.39450088 0.13127936 -0.11315818
+v -0.35592100 -0.14933482 -0.10435948
+v -0.42259510 -0.07228157 -0.11184904
+v -0.43174646 0.12615501 -0.09827052
+v -0.43681923 -0.04164401 -0.11013404
+v -0.42208661 0.10217290 -0.10960640
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 8 4 3
+f 9 5 4
+f 9 4 6
+f 9 7 5
+f 10 8 2
+f 11 4 8
+f 12 2 7
+f 12 7 9
+f 12 10 2
+f 13 6 11
+f 13 11 8
+f 13 8 10
+f 13 12 9
+f 13 10 12
+f 14 6 4
+f 14 4 11
+f 15 13 9
+f 15 9 6
+f 15 6 13
+f 16 14 11
+f 16 11 6
+f 16 6 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_13/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d71f28e01d761a0013d06015ee5593a39113fea3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/model.xml
@@ -0,0 +1,92 @@
+<mujoco model="pan_20">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7987246148649234 -0.0725770252515885 -0.061654693382375766 0.5941130059159079"/>
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+    <material name="wood.001" texture="image3" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_13/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e14e92b1010ba613f9af4e67d34c1dde2d111aa6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/visual/model_normalized_0.obj
@@ -0,0 +1,1029 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_13/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_13/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b5650cbc36e8f6d2a9a96b579219541a3285451
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_13/visual/model_normalized_1.obj
@@ -0,0 +1,5609 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_14/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_14/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e48be72db4b68966b8643f963a688ae48b71f5bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_14/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_46">
+  <asset>
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+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.22500000000000003 0.22500000000000003 0.22500000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.041" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0.0 -0.04 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_0_vis" conaffinity="0" contype="0" group="1" material="material.041"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        </body>
+        <geom class="region" name="reg_bbox" type="box" pos="6.935512499999659e-05 -0.04020695725 0.0001073834999999997" size="0.07736490000000001 0.11098804500000004 0.013470178500000003"/>
+        <geom rgba="0 0 0 0" size="0.067 0.002" pos="0 0 0.003" type="cylinder" name="liquid" class="region"/>
+        <geom rgba="0 0 0 0 " size="0.06 0.01" pos="0 0 0.0015" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99a18dab5e5eacf4e5c8cca4113fff7758bc5494
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_0.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.35466379 -0.22470813 0.05489695
+v -0.34810564 -0.19974164 -0.02484586
+v -0.41642433 -0.01462921 -0.01939106
+v -0.49015920 -0.01422687 0.01114432
+v -0.42885877 -0.16924271 0.02803848
+v -0.44481508 -0.01424884 -0.04481867
+v -0.47621821 -0.06293601 0.05667345
+v -0.35384418 -0.13257241 -0.05564240
+v -0.34928733 -0.21666169 0.00038228
+v -0.48150938 -0.01250630 -0.01194995
+v -0.45128967 -0.08357330 -0.03190639
+v -0.46420284 -0.01509148 0.02423355
+v -0.43003423 -0.17002815 0.05658625
+v -0.47549421 -0.09427418 0.01630721
+v -0.39023208 -0.06271677 -0.02788038
+v -0.37121213 -0.09043499 -0.05769797
+v -0.41618885 -0.16666318 -0.01024926
+v -0.41986048 -0.17859957 0.02800995
+v -0.45462032 -0.01318540 -0.03930642
+v -0.48661722 -0.05897687 0.05679680
+v -0.41017276 -0.18677674 0.05658625
+v -0.47905963 -0.09665654 0.05658625
+v -0.47294062 -0.08655944 0.00143680
+v -0.41127463 -0.08683219 -0.04961786
+v -0.37478959 -0.19432538 -0.01024926
+v -0.38175254 -0.14413996 -0.04523610
+v -0.37443726 -0.20894952 0.02800366
+v -0.36000487 -0.21002579 0.00143680
+v -0.37584242 -0.21105245 0.05390254
+v -0.42064765 -0.17977766 0.05658625
+v -0.45920880 -0.12381957 0.02803224
+v -0.45940537 -0.08688096 -0.02208911
+v -0.44458185 -0.12417009 -0.01024926
+v -0.35281923 -0.14618993 -0.05118827
+v -0.37925702 -0.17070825 -0.03203217
+v -0.39458215 -0.13125711 -0.04514365
+v -0.47399144 -0.05646543 -0.01024926
+v -0.41506985 -0.15500169 -0.02072752
+v -0.40557269 -0.16474082 -0.02085087
+v -0.41024963 -0.10129883 -0.04664175
+v -0.42110991 -0.12873449 -0.03190875
+f 8 1 2
+f 9 2 1
+f 12 7 1
+f 12 1 3
+f 12 10 4
+f 12 3 10
+f 15 3 1
+f 15 1 8
+f 16 6 3
+f 16 15 8
+f 16 3 15
+f 17 5 14
+f 18 5 17
+f 18 13 5
+f 19 10 3
+f 19 3 6
+f 19 11 10
+f 19 6 11
+f 20 12 4
+f 20 7 12
+f 20 4 14
+f 21 1 7
+f 21 7 20
+f 22 5 13
+f 22 20 14
+f 22 13 20
+f 23 14 4
+f 23 4 10
+f 24 11 6
+f 24 6 16
+f 24 16 8
+f 25 2 9
+f 27 9 1
+f 28 18 17
+f 28 27 18
+f 28 9 27
+f 28 25 9
+f 28 17 25
+f 29 1 21
+f 29 27 1
+f 29 18 27
+f 30 13 18
+f 30 29 21
+f 30 18 29
+f 30 21 20
+f 30 20 13
+f 31 22 14
+f 31 14 5
+f 31 5 22
+f 32 10 11
+f 33 17 14
+f 33 14 23
+f 33 23 32
+f 34 26 8
+f 34 8 2
+f 34 2 26
+f 35 26 2
+f 36 24 8
+f 36 8 26
+f 37 32 23
+f 37 23 10
+f 37 10 32
+f 38 33 32
+f 38 17 33
+f 39 35 2
+f 39 17 38
+f 39 26 35
+f 39 25 17
+f 39 2 25
+f 40 36 11
+f 40 11 24
+f 40 24 36
+f 41 38 32
+f 41 32 11
+f 41 11 36
+f 41 39 38
+f 41 36 26
+f 41 26 39
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b0f0344c71d7f9cabd53e1ade07c9c7e6142d1a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_1.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.07382454 -0.08163703 -0.00015629
+v -0.05923432 -0.07404942 -0.04117634
+v -0.05476050 0.06073600 0.01212516
+v -0.18939394 0.06108016 -0.04622296
+v -0.15909091 -0.06013196 -0.05769797
+v -0.05832843 0.06002629 -0.04248257
+v -0.05621721 -0.07464956 0.01350703
+v -0.10122183 -0.07345467 -0.05732687
+v -0.15669137 -0.06173528 -0.04354180
+v -0.04431796 0.06281315 -0.03238179
+v -0.18939394 0.06108016 -0.05769797
+v -0.06072989 -0.02829737 -0.04632138
+v -0.18939394 0.03077713 -0.04622296
+v -0.09336467 -0.07870467 -0.01533734
+v -0.06943903 0.06384391 -0.00269664
+v -0.07462266 0.05979900 -0.04941976
+v -0.07448005 -0.07250637 -0.04833494
+v -0.06075643 0.02924029 -0.04625595
+v -0.18939394 0.03077713 -0.05769797
+f 7 3 4
+f 7 1 2
+f 8 2 1
+f 9 1 7
+f 10 7 2
+f 10 3 7
+f 11 8 5
+f 12 10 2
+f 13 5 9
+f 13 4 11
+f 13 9 7
+f 13 7 4
+f 14 8 1
+f 14 1 9
+f 14 9 5
+f 14 5 8
+f 15 4 3
+f 15 3 10
+f 15 11 4
+f 15 10 11
+f 16 11 10
+f 16 10 6
+f 16 8 11
+f 17 12 2
+f 17 2 8
+f 17 8 12
+f 18 6 10
+f 18 10 12
+f 18 16 6
+f 18 12 8
+f 18 8 16
+f 19 13 11
+f 19 11 5
+f 19 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a2f8098df71d8a3aa81ef4447129b8356c35b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_10.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.40917504 -0.06165563 -0.01819954
+v -0.37121213 -0.01467741 -0.05769797
+v -0.37409075 0.09330663 -0.02581776
+v -0.41230074 0.09858990 -0.00158507
+v -0.41352706 -0.01405290 -0.05754558
+v -0.42183766 0.09483834 0.00469759
+v -0.37717739 -0.01586397 -0.03788305
+v -0.40274141 -0.06037588 -0.02198547
+v -0.37121213 0.09138319 -0.05769797
+v -0.42068472 -0.06093121 -0.01176592
+v -0.41121059 0.08773756 -0.04943164
+v -0.42558922 0.08219353 0.00049965
+f 6 3 4
+f 7 2 3
+f 8 5 2
+f 8 1 5
+f 8 2 7
+f 8 7 3
+f 8 6 1
+f 8 3 6
+f 9 3 2
+f 9 2 5
+f 9 4 3
+f 10 5 1
+f 10 1 6
+f 11 6 4
+f 11 4 9
+f 11 9 5
+f 12 10 6
+f 12 5 10
+f 12 11 5
+f 12 6 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb2a30cbb6a7c5d39061b1a2548ec3869aa512ec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.01359553 -0.01649385 0.05667345
+v 0.00763394 -0.01467741 -0.01420414
+v -0.00867781 0.04269560 0.05658625
+v -0.02305105 0.06402961 0.05667345
+v -0.04507559 -0.01324587 -0.03974490
+v 0.00758529 0.03134409 -0.00234732
+v -0.01327578 0.05994635 0.05706021
+v -0.00269813 -0.01263381 0.05658625
+v -0.02149432 -0.01793648 0.04490457
+v -0.04102990 0.06045337 -0.03042700
+v -0.04259050 -0.01675402 0.01573189
+v -0.02527776 0.05755903 -0.01024926
+v 0.00765147 0.02712807 -0.01100925
+v -0.06209977 0.06228996 0.00471426
+v -0.05000140 -0.01527990 0.00761055
+v -0.04513606 0.01418206 -0.03965771
+v -0.05468887 0.06376408 0.01283561
+v -0.05899187 0.03260512 0.00176601
+f 7 4 1
+f 7 3 6
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 8 2 6
+f 9 2 1
+f 11 5 2
+f 11 2 9
+f 12 7 6
+f 12 10 4
+f 12 4 7
+f 13 6 2
+f 13 12 6
+f 13 10 12
+f 14 1 4
+f 15 11 9
+f 15 9 1
+f 15 1 14
+f 15 5 11
+f 16 13 2
+f 16 2 5
+f 16 10 13
+f 16 14 10
+f 16 5 14
+f 17 14 4
+f 17 4 10
+f 17 10 14
+f 18 15 14
+f 18 14 5
+f 18 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2aa668717b4dbc45ab8fe4e2408bdea1efd17e3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_12.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.10150049 -0.19198239 0.05769797
+v -0.03321732 -0.11372880 0.02708170
+v -0.03196068 -0.11456845 0.05658625
+v -0.02894973 -0.07705958 0.05180217
+v -0.10122183 -0.07345467 -0.05732687
+v -0.03089976 -0.09509823 0.05667345
+v -0.07047465 -0.16966058 0.02795197
+v -0.08336148 -0.08538860 -0.00643900
+v -0.03648336 -0.07556104 -0.02082523
+v -0.04012562 -0.12426434 0.02803419
+v -0.06931034 -0.17046609 0.05658625
+v -0.10626586 -0.16969892 -0.02506739
+v -0.07448005 -0.07250637 -0.04833494
+v -0.08286272 -0.16666318 -0.01024926
+v -0.07905983 -0.18021558 0.05658625
+v -0.10327183 -0.10238799 -0.05137452
+v -0.09318730 -0.15633860 -0.03002805
+v -0.05476248 -0.12460821 -0.01024926
+v -0.10503539 -0.18669205 0.00021636
+v -0.05923432 -0.07404942 -0.04117634
+v -0.08965433 -0.10136300 -0.04692043
+v -0.10471971 -0.15686138 -0.03425111
+v -0.09423211 -0.16503285 -0.02109926
+v -0.06467863 -0.11295486 -0.03030992
+v -0.08449302 -0.15529377 -0.02109926
+v -0.07985034 -0.17903239 0.02795228
+v -0.07501185 -0.08587137 -0.04544243
+v -0.09427967 -0.18011329 0.00143680
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 4 2
+f 10 7 2
+f 10 2 3
+f 11 3 1
+f 11 10 3
+f 11 7 10
+f 13 5 4
+f 13 4 9
+f 14 2 7
+f 15 11 1
+f 15 7 11
+f 16 12 1
+f 16 1 5
+f 18 9 2
+f 18 2 14
+f 19 1 12
+f 19 12 14
+f 20 13 9
+f 21 16 5
+f 21 5 13
+f 22 17 12
+f 22 12 16
+f 22 21 17
+f 22 16 21
+f 23 17 14
+f 23 14 12
+f 23 12 17
+f 24 9 18
+f 24 20 9
+f 25 18 14
+f 25 14 17
+f 25 24 18
+f 25 17 24
+f 26 14 7
+f 26 7 15
+f 26 15 1
+f 26 1 19
+f 27 17 21
+f 27 24 17
+f 27 20 24
+f 27 21 13
+f 27 13 20
+f 28 26 19
+f 28 19 14
+f 28 14 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..753fe69e45a102587c16a3efab49e30c4b96f97e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_13.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.10591440 0.17870599 0.04676815
+v -0.11845836 0.15992411 -0.03784751
+v -0.15525171 0.22596833 0.01630704
+v -0.19054898 0.23709158 0.05679668
+v -0.16812365 0.17629819 0.00023689
+v -0.12492058 0.21085888 0.05658625
+v -0.18658984 0.22669237 0.05667345
+v -0.18770939 0.20591252 -0.03203053
+v -0.15286938 0.22953374 0.05658625
+v -0.12535573 0.19505598 -0.01024926
+v -0.10944288 0.18856829 0.05667345
+v -0.15971762 0.16620284 -0.04739891
+v -0.19213847 0.22910055 0.00115974
+v -0.18680675 0.21045048 0.03204239
+v -0.12570627 0.20968292 0.02803216
+v -0.12079134 0.17158406 -0.03190876
+v -0.16296637 0.22341492 0.00143680
+v -0.19078566 0.22075023 -0.01477494
+v -0.13995753 0.19587868 -0.02075449
+v -0.16390236 0.19024294 -0.03787443
+v -0.15030970 0.18790995 -0.03390630
+f 5 2 1
+f 7 5 1
+f 9 3 4
+f 9 4 6
+f 11 6 4
+f 11 4 7
+f 11 7 1
+f 12 2 5
+f 12 5 8
+f 13 4 3
+f 14 7 4
+f 14 4 13
+f 14 8 5
+f 14 5 7
+f 15 9 6
+f 15 3 9
+f 15 10 3
+f 15 6 11
+f 15 11 1
+f 15 1 10
+f 16 10 1
+f 16 1 2
+f 17 3 10
+f 17 13 3
+f 18 14 13
+f 18 8 14
+f 18 17 8
+f 18 13 17
+f 19 10 16
+f 19 17 10
+f 19 8 17
+f 20 12 8
+f 20 8 19
+f 20 16 2
+f 20 2 12
+f 21 20 19
+f 21 19 16
+f 21 16 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bafe2b3152de81a7b0cceac93de0234a76d398d0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_14.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.28057708 -0.19787330 0.00917693
+v -0.27981129 -0.19402341 -0.04403698
+v -0.28030304 -0.09043499 -0.04622296
+v -0.37420020 -0.09243156 -0.02604584
+v -0.36429236 -0.20881528 0.00624642
+v -0.37121213 -0.09043499 -0.05769797
+v -0.27919078 -0.17575239 -0.05150992
+v -0.36099540 -0.15842647 0.00221966
+v -0.37790549 -0.11005888 -0.01861554
+v -0.34973878 -0.18703425 -0.03402964
+v -0.28030304 -0.09043499 -0.05769797
+v -0.36831087 -0.13154744 -0.05266627
+v -0.37319382 -0.13885534 -0.00798636
+v -0.33630261 -0.17444991 -0.04525618
+v -0.35179425 -0.15980742 -0.04673418
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 9 4 6
+f 9 8 4
+f 10 2 5
+f 11 7 6
+f 11 6 3
+f 11 3 7
+f 12 9 6
+f 12 5 9
+f 12 10 5
+f 12 6 7
+f 13 9 5
+f 13 5 8
+f 13 8 9
+f 14 7 2
+f 14 2 10
+f 14 12 7
+f 15 14 10
+f 15 10 12
+f 15 12 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9df9d223d793a28d1fbdb6c5ca2b7f3ec5b839e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.11899756 -0.18847197 -0.01299570
+v -0.10229773 -0.17563768 -0.01496633
+v -0.09563479 -0.15294540 0.02337518
+v -0.15669137 -0.06173528 -0.04354180
+v -0.19066982 -0.17492981 -0.04948516
+v -0.09848485 -0.06013196 -0.05769797
+v -0.13657102 -0.18484727 -0.03030983
+v -0.18764893 -0.20526828 -0.03246895
+v -0.09208503 -0.14016575 0.01847410
+v -0.18939394 -0.09043499 -0.05769797
+v -0.10626586 -0.16969892 -0.02506739
+v -0.11820466 -0.14420416 -0.04542237
+v -0.10936017 -0.15744085 0.01847409
+v -0.16365459 -0.17451397 -0.04544251
+v -0.09059706 -0.06170096 -0.01860225
+v -0.15909091 -0.06013196 -0.05769797
+v -0.18782497 -0.15892884 -0.01860224
+v -0.12296570 -0.18253321 -0.02309677
+v -0.10471971 -0.15686138 -0.03425111
+v -0.19043579 -0.19125788 -0.04256977
+v -0.18779064 -0.09283452 -0.04354176
+v -0.10532180 -0.13132129 -0.04542235
+f 1 2 3
+f 8 7 1
+f 9 3 2
+f 10 6 5
+f 11 2 1
+f 12 5 6
+f 13 8 1
+f 13 1 3
+f 14 7 8
+f 14 5 12
+f 15 9 2
+f 15 2 6
+f 15 4 3
+f 15 3 9
+f 16 6 10
+f 16 15 6
+f 16 4 15
+f 17 10 5
+f 17 8 13
+f 17 13 3
+f 18 11 1
+f 18 1 7
+f 18 7 11
+f 19 6 2
+f 19 2 11
+f 19 11 7
+f 19 14 12
+f 19 7 14
+f 20 14 8
+f 20 5 14
+f 20 17 5
+f 20 8 17
+f 21 10 17
+f 21 16 10
+f 21 4 16
+f 21 17 3
+f 21 3 4
+f 22 19 12
+f 22 12 6
+f 22 6 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bde220d91594aaa5e3a702cb95b4f00001b038d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.47621821 -0.06293601 0.05667345
+v -0.45218714 -0.05815594 0.01990763
+v -0.45825301 0.09892816 0.04697389
+v -0.46800669 0.09531576 0.05667345
+v -0.48899015 0.02708021 0.01590328
+v -0.48211946 -0.05808220 0.01348872
+v -0.49041002 0.04251413 0.05658625
+v -0.44091149 0.08733522 0.01726290
+v -0.47659188 0.08823395 0.01510056
+v -0.48661722 -0.05897687 0.05679680
+v -0.44950969 -0.01518266 0.00807435
+v -0.48113589 0.08913777 0.05658625
+v -0.49059153 -0.04160207 0.05658625
+v -0.48900894 0.04223549 0.02780561
+v -0.48915790 -0.02616540 0.01585437
+v -0.48918802 -0.04132291 0.02778471
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 3 2
+f 9 4 3
+f 9 3 8
+f 10 1 4
+f 10 6 1
+f 11 8 2
+f 11 2 6
+f 11 9 8
+f 11 6 5
+f 11 5 9
+f 12 4 9
+f 12 10 4
+f 12 7 10
+f 13 10 7
+f 14 12 9
+f 14 9 5
+f 14 5 7
+f 14 7 12
+f 15 13 7
+f 15 7 5
+f 15 5 6
+f 16 6 10
+f 16 10 13
+f 16 15 6
+f 16 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f20a96915c9974acf45c1a193e281da8a18e6438
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.15843999 -0.09140917 -0.03845044
+v -0.15909091 -0.09043499 -0.05769797
+v -0.18939394 0.12168622 -0.05769797
+v -0.23455584 0.12315746 -0.03942588
+v -0.28030304 -0.09043499 -0.04622296
+v -0.18926058 0.12188581 -0.03568362
+v -0.15909091 0.03077713 -0.05769797
+v -0.28030304 -0.09043499 -0.05769797
+v -0.28082849 0.10917634 -0.04297004
+v -0.15909091 0.03077713 -0.04622296
+v -0.23484849 0.12168622 -0.05769797
+v -0.28030304 0.10653471 -0.05769797
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 8 3 2
+f 9 6 4
+f 9 5 6
+f 9 8 5
+f 10 7 6
+f 10 6 1
+f 10 1 7
+f 11 9 4
+f 11 4 3
+f 11 3 8
+f 12 11 8
+f 12 8 9
+f 12 9 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde74c51b21dd15bec488650ab60d134e686c109
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_18.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.20774240 -0.24102954 0.05658625
+v -0.19127597 -0.23248850 0.01324277
+v -0.18816480 -0.18752339 0.00462201
+v -0.31181586 -0.18742612 0.00471427
+v -0.30869067 -0.23232079 0.01329167
+v -0.18869976 -0.23028849 0.05769797
+v -0.23855831 -0.23845097 0.00143680
+v -0.31126416 -0.23010706 0.05769797
+v -0.19052246 -0.23627670 0.05712562
+v -0.18669068 -0.19493428 0.01274336
+v -0.20802753 -0.23959601 0.02760451
+v -0.29222150 -0.24084809 0.05658625
+v -0.28310327 -0.22572495 -0.01481731
+v -0.31328998 -0.19483702 0.01283561
+v -0.29193681 -0.23941674 0.02762463
+v -0.30947227 -0.23625012 0.05706018
+v -0.26140560 -0.23826953 0.00143680
+v -0.27866696 -0.23372501 -0.00119402
+f 8 6 3
+f 8 3 4
+f 9 2 6
+f 9 6 8
+f 10 6 2
+f 10 2 3
+f 10 3 6
+f 11 7 2
+f 11 1 7
+f 11 9 1
+f 11 2 9
+f 12 7 1
+f 12 1 9
+f 13 3 2
+f 13 2 7
+f 13 4 3
+f 13 5 4
+f 14 8 4
+f 14 4 5
+f 14 5 8
+f 15 7 12
+f 16 8 5
+f 16 15 12
+f 16 5 15
+f 16 12 9
+f 16 9 8
+f 17 13 7
+f 17 15 5
+f 17 7 15
+f 18 17 5
+f 18 5 13
+f 18 13 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e1cf2c9b1ad43a2c9903e9ad95c749fff7102c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.49723717 -0.02454012 0.02641861
+v 0.49796430 -0.02598736 0.00110272
+v 0.49764821 0.02630345 0.00078666
+v 0.04804719 0.02706530 0.01995411
+v 0.04804719 -0.02706552 0.01995411
+v 0.49723717 0.02537518 0.02611124
+v 0.14582654 0.01614185 0.02566467
+v 0.05034114 -0.02734448 -0.00363859
+v 0.13092852 -0.01621027 0.02373930
+v 0.13078148 0.01225038 0.02519427
+v 0.04990313 0.02788801 -0.00347096
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 9 5 1
+f 9 1 7
+f 10 7 4
+f 10 4 5
+f 10 9 7
+f 10 5 9
+f 11 8 5
+f 11 5 4
+f 11 4 3
+f 11 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687bf8c5770f676f9eff2686279117ddbf2e7925
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_2.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.15884321 0.13720846 -0.02059170
+v -0.15519886 0.14266260 -0.01680581
+v -0.36076061 0.15902329 0.00261290
+v -0.33775989 0.22706612 0.01510050
+v -0.15539084 0.20298137 -0.02452846
+v -0.16298199 0.19162038 0.01700014
+v -0.35681550 0.12281599 -0.02217343
+v -0.19144368 0.23259357 0.01348861
+v -0.15172728 0.16300970 -0.00184788
+v -0.34283254 0.12456486 -0.02581779
+v -0.34640277 0.21329290 -0.01024926
+v -0.36045986 0.12827016 -0.01838750
+v -0.35094767 0.22009480 0.01311588
+v -0.30690351 0.22428423 -0.01024926
+v -0.33699753 0.22323346 0.00143680
+v -0.19306048 0.22446553 -0.01024926
+f 5 2 1
+f 6 4 3
+f 8 6 5
+f 8 4 6
+f 9 2 5
+f 9 5 6
+f 9 6 3
+f 9 3 7
+f 9 7 1
+f 9 1 2
+f 10 5 1
+f 10 1 7
+f 11 10 7
+f 11 5 10
+f 12 11 7
+f 12 7 3
+f 12 3 11
+f 13 11 3
+f 13 3 4
+f 14 5 11
+f 14 4 8
+f 15 13 4
+f 15 11 13
+f 15 14 11
+f 15 4 14
+f 16 14 8
+f 16 8 5
+f 16 5 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8a41b755fcc50b3e15b9c3aaf35f978bbcf6db
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.03886869 -0.12007659 0.05769797
+v 0.00765388 -0.02780398 -0.01072931
+v -0.02028493 -0.09709449 0.05658625
+v -0.00269813 -0.01263381 0.05658625
+v -0.03807036 -0.01463931 -0.03469446
+v -0.00849638 -0.04178349 0.05658625
+v -0.04467504 -0.11619690 -0.00128205
+v -0.02149432 -0.01793648 0.04490457
+v 0.00763394 -0.01467741 -0.01420414
+v -0.02389977 -0.09467912 0.01609865
+v -0.04482615 -0.08579291 -0.02906250
+v -0.01359553 -0.01649385 0.05667345
+v -0.03032270 -0.01316660 -0.02949476
+v -0.03906201 -0.10982347 0.00143680
+v -0.03196068 -0.11456845 0.05658625
+v -0.03993614 -0.08681483 -0.02250950
+f 6 3 2
+f 6 2 4
+f 6 1 3
+f 6 4 1
+f 8 5 1
+f 9 4 2
+f 10 2 3
+f 11 9 2
+f 11 5 9
+f 11 7 1
+f 11 1 5
+f 12 8 1
+f 12 1 4
+f 12 4 5
+f 12 5 8
+f 13 9 5
+f 13 5 4
+f 13 4 9
+f 14 10 7
+f 14 7 2
+f 14 2 10
+f 15 10 3
+f 15 3 1
+f 15 1 7
+f 15 7 10
+f 16 11 2
+f 16 2 7
+f 16 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f06bdc83a6369722f7e4775609152686f2fcacc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.15243136 -0.22924107 0.05658625
+v -0.08984513 -0.15681391 0.03393532
+v -0.20423940 -0.22833730 0.05457214
+v -0.10157940 -0.14794649 0.01463540
+v -0.10942156 -0.19527915 0.01611371
+v -0.09153090 -0.17659989 0.05667345
+v -0.19127597 -0.23248850 0.01324277
+v -0.20364610 -0.23131997 0.05707174
+v -0.10700862 -0.19889044 0.05658625
+v -0.15484678 -0.22562607 0.01609861
+v -0.18816480 -0.18752339 0.00462201
+v -0.19052246 -0.23627670 0.05712562
+v -0.12527355 -0.20938233 0.02794605
+v -0.20209206 -0.22398129 0.04764604
+v -0.13884770 -0.15866130 0.00195695
+f 3 2 4
+f 5 4 2
+f 6 2 3
+f 6 5 2
+f 8 6 3
+f 8 3 7
+f 9 5 6
+f 10 1 7
+f 12 8 7
+f 12 7 1
+f 12 1 9
+f 12 9 6
+f 12 6 8
+f 13 9 1
+f 13 5 9
+f 13 10 5
+f 13 1 10
+f 14 11 7
+f 14 7 3
+f 14 3 11
+f 15 11 3
+f 15 3 4
+f 15 4 5
+f 15 5 10
+f 15 10 7
+f 15 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d7d518406949aca30b4868bb375474d5dd213d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_22.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.48113589 0.08913777 0.05658625
+v -0.41566464 0.09071364 -0.04721277
+v -0.42812032 0.09903628 0.01281890
+v -0.40973475 0.18706941 0.05658625
+v -0.41618885 0.16666318 -0.01024926
+v -0.46221051 0.10156681 0.05512733
+v -0.46628966 0.08919851 -0.01190086
+v -0.42844494 0.16991448 0.02818963
+v -0.40805970 0.15853402 -0.02619529
+v -0.43188067 0.14700343 0.05515599
+v -0.43962282 0.08647411 -0.03762624
+v -0.42959619 0.17068370 0.05658625
+v -0.40890485 0.18582743 0.02723708
+v -0.47508929 0.09495188 0.01644648
+v -0.40930398 0.13191814 -0.03759914
+v -0.46281866 0.09687680 -0.01024926
+v -0.47659188 0.08823395 0.01510056
+v -0.43728976 0.10006671 -0.03365805
+v -0.47862146 0.09731200 0.05658625
+v -0.42020964 0.18007033 0.05658625
+v -0.41944038 0.17891914 0.02818962
+v -0.40924886 0.17119078 -0.01037810
+v -0.44511257 0.11032141 -0.02050611
+v -0.42096393 0.12958515 -0.03166040
+v -0.45879493 0.12449123 0.02818291
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 4 1
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 2 1
+f 12 1 4
+f 13 4 9
+f 14 8 5
+f 15 9 4
+f 15 4 2
+f 15 2 11
+f 16 5 9
+f 16 14 5
+f 16 7 14
+f 17 11 1
+f 17 7 11
+f 17 14 7
+f 17 1 14
+f 18 11 7
+f 19 12 8
+f 19 1 12
+f 19 14 1
+f 20 12 4
+f 21 13 5
+f 21 5 8
+f 21 8 12
+f 21 12 20
+f 21 20 4
+f 21 4 13
+f 22 13 9
+f 22 9 5
+f 22 5 13
+f 23 16 9
+f 23 7 16
+f 23 18 7
+f 24 9 15
+f 24 15 11
+f 24 11 18
+f 24 23 9
+f 24 18 23
+f 25 19 8
+f 25 8 14
+f 25 14 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693848ef1465194273890ed1535e1872b0322519
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_23.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.16203906 -0.22712868 0.01480563
+v -0.11378013 -0.19628045 0.01055785
+v -0.35135253 -0.21975249 0.01290741
+v -0.35325501 -0.19229671 -0.02955430
+v -0.16375635 -0.18951325 -0.03824609
+v -0.36429236 -0.20881528 0.00624642
+v -0.26168384 -0.22451712 -0.02240232
+v -0.12025002 -0.20174906 0.01388834
+v -0.16271104 -0.20958960 -0.02250940
+v -0.11899756 -0.18847197 -0.01299570
+v -0.34684078 -0.21300023 -0.01024926
+v -0.33792756 -0.22696094 0.01485455
+v -0.26274162 -0.21468322 -0.03265239
+v -0.19287905 -0.22442944 -0.01024926
+v -0.33614611 -0.18936724 -0.03799776
+v -0.13499945 -0.18719929 -0.02706490
+v -0.13970243 -0.21046389 0.00143680
+v -0.23829210 -0.22463808 -0.02248953
+v -0.30708494 -0.22424814 -0.01024926
+v -0.33717896 -0.22319737 0.00143680
+v -0.13754840 -0.21368757 0.01499348
+v -0.16278494 -0.22337884 0.00143680
+v -0.23724639 -0.21474368 -0.03273958
+v -0.33638827 -0.20970441 -0.02233717
+v -0.16608934 -0.20117318 -0.03230734
+v -0.12491772 -0.19476331 -0.01024926
+v -0.33381312 -0.20102716 -0.03205901
+f 6 2 4
+f 8 6 3
+f 8 2 6
+f 10 4 2
+f 11 6 4
+f 11 3 6
+f 12 8 3
+f 15 4 10
+f 16 15 10
+f 16 5 15
+f 17 2 8
+f 18 12 7
+f 18 1 12
+f 18 14 1
+f 18 9 14
+f 18 7 13
+f 19 7 12
+f 20 12 3
+f 20 3 11
+f 20 19 12
+f 21 12 1
+f 21 8 12
+f 21 17 8
+f 22 14 9
+f 22 1 14
+f 22 9 17
+f 22 21 1
+f 22 17 21
+f 23 15 5
+f 23 13 15
+f 23 18 13
+f 24 11 4
+f 24 13 7
+f 24 7 19
+f 24 20 11
+f 24 19 20
+f 25 16 9
+f 25 5 16
+f 25 23 5
+f 25 9 18
+f 25 18 23
+f 26 10 2
+f 26 2 17
+f 26 17 9
+f 26 16 10
+f 26 9 16
+f 27 24 4
+f 27 4 15
+f 27 15 13
+f 27 13 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..861d96c16594c9fd1ddbc5ec36f24d802ea7e4ed
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_24.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.23489669 0.16689844 -0.01939109
+v -0.23361697 0.17333207 -0.01560517
+v -0.28203378 0.19099332 0.00222981
+v -0.26198773 0.24214421 0.01512182
+v -0.23527707 0.19528918 -0.04481867
+v -0.23278930 0.19264452 0.00066344
+v -0.28010172 0.16612870 -0.01803125
+v -0.23797893 0.24231192 0.01507292
+v -0.27978471 0.19483803 -0.04370818
+v -0.26156294 0.22485726 -0.02196394
+v -0.28138145 0.17256231 -0.01424535
+v -0.27928608 0.23778571 0.01197466
+v -0.23841307 0.22497820 -0.02205113
+v -0.23873974 0.23848705 0.00143680
+v -0.26268114 0.21532739 -0.03221400
+v -0.27772343 0.22992974 -0.01046944
+v -0.23730683 0.21538786 -0.03230120
+v -0.27860678 0.20406767 -0.03782578
+v -0.26122417 0.23830562 0.00143680
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 9 5 7
+f 11 9 7
+f 11 7 3
+f 11 3 9
+f 12 9 3
+f 12 3 4
+f 14 4 8
+f 14 13 10
+f 15 5 9
+f 15 10 13
+f 16 9 12
+f 16 10 15
+f 17 8 5
+f 17 15 13
+f 17 5 15
+f 17 14 8
+f 17 13 14
+f 18 16 15
+f 18 15 9
+f 18 9 16
+f 19 16 12
+f 19 12 4
+f 19 4 14
+f 19 14 10
+f 19 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86cdaf120b6533ed6b631838de98f70681fb7ab3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.29635043 -0.23130253 0.05712673
+v -0.29574008 -0.22823408 0.05466372
+v -0.42049248 -0.16874890 0.05709793
+v -0.41792943 -0.16703632 0.05461588
+v -0.37584242 -0.21105245 0.05390254
+v -0.29788088 -0.22386693 0.04772299
+v -0.37522481 -0.21012815 0.05658625
+v -0.41079036 -0.18770105 0.05390254
+v -0.39418897 -0.17790401 0.04663525
+v -0.41017276 -0.18677674 0.05658625
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 6 4 2
+f 7 5 1
+f 7 1 3
+f 8 3 4
+f 8 5 7
+f 9 6 5
+f 9 5 8
+f 9 8 4
+f 9 4 6
+f 10 8 7
+f 10 7 3
+f 10 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1355cba4ce379a6bac9ff2d97405e53bea58751f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.05638779 -0.11849462 -0.01696389
+v -0.04821956 -0.11382854 -0.01102514
+v -0.04887793 -0.07309561 0.02091794
+v -0.04071056 0.11476652 0.00624628
+v -0.04849861 0.08428725 -0.03205903
+v -0.03524191 0.10829661 0.00957687
+v -0.04835263 -0.08343664 -0.03230735
+v -0.06015859 0.08662022 -0.03799775
+v -0.04978424 0.09857974 -0.02484602
+v -0.06232654 -0.11452647 -0.02706495
+v -0.05621721 -0.07464956 0.01350703
+v -0.05722904 0.10372920 -0.02955430
+v -0.05415831 -0.10986039 -0.02112620
+v -0.06001260 -0.08576960 -0.03824609
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 6 2
+f 7 5 6
+f 8 5 7
+f 9 6 5
+f 9 4 6
+f 10 2 1
+f 11 3 4
+f 11 8 10
+f 11 10 1
+f 11 1 3
+f 12 4 9
+f 12 11 4
+f 12 8 11
+f 12 9 5
+f 12 5 8
+f 13 10 7
+f 13 7 2
+f 13 2 10
+f 14 10 8
+f 14 8 7
+f 14 7 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd8367811b9f8d8a48151fbf11c0d89d69f3c744
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.30947227 -0.23625012 0.05706018
+v -0.30869067 -0.23232079 0.01329167
+v -0.31181586 -0.18742612 0.00471427
+v -0.35724384 -0.16796339 0.00850232
+v -0.34789355 -0.22972723 0.05390254
+v -0.33195423 -0.17546652 0.00010645
+v -0.31126416 -0.23010706 0.05769797
+v -0.34488261 -0.22522109 0.01623791
+v -0.35295012 -0.22214343 0.05757412
+v -0.34727595 -0.22880294 0.05658625
+v -0.36098022 -0.20385832 0.05191517
+v -0.36144178 -0.17424605 0.01662365
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 5
+f 8 6 2
+f 8 4 6
+f 9 1 7
+f 9 8 5
+f 10 9 5
+f 10 5 1
+f 10 1 9
+f 11 9 7
+f 11 7 4
+f 11 8 9
+f 12 11 4
+f 12 4 8
+f 12 8 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df4bf25ca6da71beb24f77d70012706bbb3fdf23
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.10295167 -0.18981055 0.01278328
+v -0.09296558 -0.15930126 -0.02684385
+v -0.10157940 -0.14794649 0.01463540
+v -0.28087146 -0.15389871 -0.02486752
+v -0.28057708 -0.19787330 0.00917693
+v -0.10744374 -0.18308762 -0.01024926
+v -0.27762884 -0.18305150 -0.00706575
+v -0.28213103 -0.19053402 0.00176603
+v -0.28215119 -0.16033235 -0.02108160
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 5 3 4
+f 6 2 1
+f 6 1 5
+f 7 6 5
+f 7 2 6
+f 8 7 5
+f 9 4 2
+f 9 2 7
+f 9 7 8
+f 9 8 5
+f 9 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc528c8fc6823fb28d5b0bd98bdda633bbbe68e5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.18764893 -0.20526828 -0.03246895
+v -0.19043579 -0.19125788 -0.04256977
+v -0.18779064 -0.09283452 -0.04354176
+v -0.28030304 -0.09043499 -0.04622296
+v -0.27876621 -0.18876942 -0.04625592
+v -0.27762884 -0.18305150 -0.00706575
+v -0.18939394 -0.09043499 -0.05769797
+v -0.22122852 -0.18879599 -0.04632133
+v -0.18667032 -0.12481422 -0.03437926
+v -0.28144569 -0.12648248 -0.03721446
+v -0.19066982 -0.17492981 -0.04948516
+v -0.28030304 -0.09043499 -0.05769797
+f 6 3 4
+f 6 5 1
+f 7 4 3
+f 8 2 1
+f 8 1 5
+f 9 6 1
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 10 6 4
+f 10 5 6
+f 11 7 1
+f 11 1 2
+f 11 2 8
+f 11 8 5
+f 12 4 7
+f 12 10 4
+f 12 5 10
+f 12 11 5
+f 12 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13bff3713a984040896db8e961084afe65cff483
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_3.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.28030304 -0.09043499 -0.04622296
+v -0.28030304 -0.09043499 -0.05769797
+v -0.28030304 0.03077713 -0.05769797
+v -0.37207449 0.04610018 -0.03758208
+v -0.45250725 -0.09413506 -0.02452845
+v -0.28030304 0.03077713 -0.04622296
+v -0.34562637 -0.09358697 -0.03666922
+v -0.42654407 -0.01362833 -0.05229161
+v -0.35799487 0.04722107 -0.04187982
+v -0.43468790 -0.01223438 -0.00816832
+v -0.37121213 0.04592865 -0.05769797
+v -0.42489210 -0.08580719 -0.04516374
+v -0.44481508 -0.01424884 -0.04481867
+v -0.35606061 0.04592865 -0.05769797
+v -0.43976884 -0.08562353 -0.03787443
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 10 6 4
+f 10 5 7
+f 10 7 1
+f 10 1 6
+f 11 3 2
+f 11 2 8
+f 11 4 9
+f 12 8 2
+f 12 2 5
+f 13 5 10
+f 13 8 12
+f 13 11 8
+f 13 10 4
+f 13 4 11
+f 14 11 9
+f 14 9 3
+f 14 3 11
+f 15 13 12
+f 15 12 5
+f 15 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..602546769f336c62128121f3ffecae935d66e776
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04801532 -0.02768813 0.01847319
+v 0.04745549 -0.02718686 -0.01042838
+v 0.04804719 0.03037910 -0.00230673
+v -0.01009061 0.04241459 0.02770028
+v 0.00764547 -0.02856134 0.01856958
+v 0.00765147 0.02712807 -0.01100925
+v 0.04779565 0.02788139 0.01816002
+v 0.04804719 0.02687044 -0.01038775
+v 0.00758529 0.03134409 -0.00234732
+v 0.00765388 -0.02780398 -0.01072931
+f 5 2 1
+f 5 1 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a13997281481d06aea307601fbc374d5ee147c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.03640234 -0.07557716 0.03979259
+v -0.03034674 -0.03132715 0.03571456
+v -0.05889462 -0.03167626 0.00167378
+v -0.04266212 -0.01372595 0.01502145
+v -0.04887793 -0.07309561 0.02091794
+v -0.05000140 -0.01527990 0.00761055
+v -0.03516210 -0.01521780 0.02380586
+v -0.06428767 -0.07788546 0.00612637
+v -0.04140602 -0.07759569 0.03295870
+v -0.04259050 -0.01675402 0.01573189
+v -0.05800500 -0.08208338 0.01424772
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 2 1
+f 7 4 2
+f 8 1 3
+f 8 3 5
+f 9 7 1
+f 9 5 7
+f 10 7 5
+f 10 4 7
+f 10 5 3
+f 10 3 4
+f 11 8 5
+f 11 5 9
+f 11 9 1
+f 11 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb5fac391adf38533a8d3cba4c29d496d44f5312
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.17341964 0.18642873 0.00655991
+v -0.17194553 0.19383963 0.01468126
+v -0.36231555 0.20680498 0.05667345
+v -0.29204007 0.24088418 0.05658625
+v -0.22336048 0.23963201 0.01585436
+v -0.18658984 0.22669237 0.05667345
+v -0.19144368 0.23259357 0.01348861
+v -0.33171946 0.17606334 0.00049967
+v -0.19054898 0.23709158 0.05679668
+v -0.35700903 0.16856019 0.00889554
+v -0.34447778 0.22556345 0.01644645
+v -0.27660619 0.23946432 0.01590326
+v -0.34683794 0.22909560 0.05658625
+v -0.20792383 0.24106563 0.05658625
+v -0.17341561 0.20160050 0.02284078
+v -0.36120696 0.17484285 0.01701685
+v -0.29176143 0.23948307 0.02780550
+v -0.20820299 0.23966211 0.02778468
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 8 7 1
+f 9 3 6
+f 10 8 1
+f 10 1 3
+f 11 8 10
+f 12 5 7
+f 12 7 8
+f 12 8 11
+f 12 4 5
+f 13 9 4
+f 13 3 9
+f 13 11 3
+f 14 5 4
+f 14 4 9
+f 15 9 6
+f 15 6 2
+f 15 2 7
+f 15 7 9
+f 16 11 10
+f 16 10 3
+f 16 3 11
+f 17 12 11
+f 17 4 12
+f 17 13 4
+f 17 11 13
+f 18 14 9
+f 18 9 7
+f 18 7 5
+f 18 5 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a353962b9bbddebc803427fb2641ad39c1b7814f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01327578 0.05994635 0.05706021
+v -0.02074982 0.05845967 0.00089627
+v -0.07090790 0.17034686 0.02810013
+v -0.11792148 0.20618221 0.05658625
+v -0.11363637 0.06108016 -0.05769797
+v -0.06974836 0.17112162 0.05658625
+v -0.02430468 0.09535680 0.01623792
+v -0.10425942 0.06734561 -0.02420778
+v -0.11845836 0.15992411 -0.03784751
+v -0.07949784 0.18050825 0.05658625
+v -0.02072295 0.09775002 0.05658625
+v -0.02305105 0.06402961 0.05667345
+v -0.12065498 0.20209124 0.01409679
+v -0.08286272 0.16666318 -0.01024926
+v -0.07507607 0.08677662 -0.04525624
+v -0.04055798 0.12492365 0.02809367
+v -0.11767728 0.13184840 -0.04955631
+v -0.08025477 0.17933104 0.02813011
+v -0.11928957 0.18898315 -0.01262405
+v -0.03624189 0.05839195 -0.02522727
+v -0.07881748 0.12973122 -0.03203209
+v -0.07462266 0.05979900 -0.04941976
+v -0.10982646 0.19562137 0.01632230
+v -0.09452412 0.16554403 -0.02072760
+v -0.10788175 0.18338029 -0.01024926
+v -0.03982149 0.08686232 -0.02233736
+v -0.10538603 0.13222652 -0.04523606
+v -0.10486569 0.15759113 -0.03387938
+v -0.08478503 0.15604686 -0.02085093
+v -0.02632848 0.08765303 0.00143680
+v -0.05520049 0.12526374 -0.01024926
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 8 4 5
+f 10 6 3
+f 10 4 1
+f 10 1 6
+f 11 6 1
+f 11 1 7
+f 11 3 6
+f 12 8 1
+f 12 1 4
+f 12 4 8
+f 13 5 4
+f 14 3 7
+f 16 11 7
+f 16 7 3
+f 16 3 11
+f 17 13 9
+f 17 5 13
+f 18 10 3
+f 18 3 14
+f 18 13 4
+f 18 4 10
+f 19 9 13
+f 20 2 5
+f 22 17 15
+f 22 5 17
+f 22 20 5
+f 22 15 20
+f 23 18 14
+f 23 14 13
+f 23 13 18
+f 25 19 13
+f 25 13 14
+f 25 24 19
+f 25 14 24
+f 26 2 20
+f 26 20 15
+f 26 15 21
+f 27 17 9
+f 27 21 15
+f 27 15 17
+f 28 9 19
+f 28 19 24
+f 28 27 9
+f 28 21 27
+f 29 24 14
+f 29 28 24
+f 29 21 28
+f 29 26 21
+f 29 14 26
+f 30 7 2
+f 30 2 26
+f 31 30 26
+f 31 26 14
+f 31 14 7
+f 31 7 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b05316c774b2a5decea7005d07543a8215a62a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_6.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.10971358 0.06370128 -0.02799367
+v -0.11363637 0.06108016 -0.05769797
+v -0.10491010 0.16504908 0.03041274
+v -0.12167866 0.17778051 0.03233515
+v -0.18939394 0.06108016 -0.04622296
+v -0.11845836 0.15992411 -0.03784751
+v -0.10978330 0.17290731 0.03620620
+v -0.11826887 0.14505621 -0.04514354
+v -0.19027181 0.16272741 -0.05441036
+v -0.18987443 0.16472525 -0.01555191
+v -0.14822713 0.16072371 -0.04664170
+v -0.18939394 0.06108016 -0.05769797
+v -0.13863612 0.17507772 0.01675409
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 7 1 3
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 3
+f 8 3 2
+f 9 8 2
+f 10 9 5
+f 10 5 4
+f 11 9 4
+f 11 4 6
+f 11 6 8
+f 11 8 9
+f 12 9 2
+f 12 2 5
+f 12 5 9
+f 13 10 4
+f 13 4 9
+f 13 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a98fd11a76aa0b11efca923ba10217e7fd83be5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_7.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.35799487 0.04722107 -0.04187982
+v -0.35606061 0.04592865 -0.05769797
+v -0.35288595 0.22299562 0.05729536
+v -0.34891343 0.21705032 0.00066088
+v -0.42699975 0.12859057 0.03259242
+v -0.34781360 0.20025283 -0.02447425
+v -0.42183766 0.09483834 0.00469759
+v -0.36231555 0.20680498 0.05667345
+v -0.40973475 0.18706941 0.05658625
+v -0.37207449 0.04610018 -0.03758208
+v -0.41121059 0.08773756 -0.04943164
+v -0.42044974 0.16966854 0.05725426
+v -0.37401720 0.20926912 0.02818315
+v -0.35275502 0.14704209 -0.05090954
+v -0.37121213 0.04592865 -0.05769797
+v -0.40528070 0.16525198 -0.02047922
+v -0.37478680 0.21042082 0.05658625
+v -0.39451801 0.13216232 -0.04495727
+v -0.40498966 0.17996792 0.00143680
+v -0.37435157 0.19461805 -0.01024926
+v -0.40697099 0.14551080 -0.03363100
+v -0.38168826 0.14499203 -0.04495726
+v -0.35956686 0.21031846 0.00143680
+v -0.41018554 0.10220408 -0.04645553
+v -0.37911110 0.17143809 -0.03166037
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 1 3
+f 10 2 1
+f 10 5 7
+f 11 7 5
+f 12 1 8
+f 12 10 1
+f 12 5 10
+f 12 8 3
+f 12 3 9
+f 13 3 4
+f 14 6 2
+f 15 10 7
+f 15 7 11
+f 15 2 10
+f 15 14 2
+f 15 11 14
+f 16 5 12
+f 17 13 9
+f 17 9 3
+f 17 3 13
+f 18 14 11
+f 19 9 13
+f 19 16 12
+f 19 12 9
+f 20 4 6
+f 20 6 16
+f 20 19 4
+f 20 16 19
+f 21 5 16
+f 22 6 14
+f 22 14 18
+f 22 18 21
+f 23 19 13
+f 23 13 4
+f 23 4 19
+f 24 11 5
+f 24 5 21
+f 24 21 18
+f 24 18 11
+f 25 21 16
+f 25 16 6
+f 25 22 21
+f 25 6 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e60698b32c6ef061b94d516584e901d28cbc61
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.44217040 -0.01673662 0.00066346
+v -0.41352706 -0.01405290 -0.05754558
+v -0.42285796 -0.01590896 -0.01560515
+v -0.44459967 0.09992997 0.03063209
+v -0.48783151 0.01169822 0.00143680
+v -0.41121059 0.08773756 -0.04943164
+v -0.45246104 0.09505517 0.03642405
+v -0.47450411 -0.01111286 -0.02205092
+v -0.42812032 0.09903628 0.01281890
+v -0.49183781 -0.01154695 0.01507292
+v -0.47275919 0.08747155 0.00143680
+v -0.46491361 -0.01221904 -0.03230119
+v -0.45783257 0.07839244 0.03347153
+v -0.48801294 -0.01078611 0.00143680
+v -0.47659188 0.08823395 0.01510056
+v -0.47438317 0.01203703 -0.02196372
+v -0.45950697 0.08697701 -0.02192168
+v -0.43956109 -0.01320375 -0.04703762
+v -0.49167009 0.01246177 0.01512183
+v -0.46485314 0.01315526 -0.03221401
+v -0.47381001 0.05737754 -0.01024926
+v -0.43953451 0.01414664 -0.04697220
+v -0.45128270 0.08414105 -0.03168748
+v -0.42482805 0.08671245 -0.04497762
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 9 4 3
+f 9 3 6
+f 12 1 10
+f 13 10 1
+f 13 1 7
+f 13 7 10
+f 14 12 10
+f 14 8 12
+f 15 7 4
+f 15 4 11
+f 15 11 5
+f 16 14 5
+f 16 8 14
+f 17 9 6
+f 17 11 4
+f 17 4 9
+f 18 2 1
+f 18 1 12
+f 19 10 7
+f 19 7 15
+f 19 15 5
+f 19 14 10
+f 19 5 14
+f 20 12 8
+f 20 8 16
+f 21 17 16
+f 21 16 5
+f 21 5 11
+f 21 11 17
+f 22 6 2
+f 22 2 18
+f 22 18 12
+f 22 12 20
+f 23 20 16
+f 23 16 17
+f 23 22 20
+f 24 23 17
+f 24 17 6
+f 24 6 22
+f 24 22 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc05c4c284eca3bb86e06018dafc4b08fac1ad74
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.28030304 0.03077713 -0.04622296
+v -0.16269378 0.16174871 -0.04961786
+v -0.16328186 0.16086858 -0.01066090
+v -0.33872445 0.21676389 -0.01190095
+v -0.35173000 0.16065953 -0.04645543
+v -0.16125154 0.21688470 -0.01198807
+v -0.35870224 0.03130259 -0.04297003
+v -0.18939394 0.12168622 -0.05769797
+v -0.26367257 0.19000861 -0.04697221
+v -0.36037937 0.07911738 -0.03524572
+v -0.18671492 0.12569567 -0.03414083
+v -0.35606061 0.03077713 -0.05769797
+v -0.33366714 0.20175696 -0.03168731
+v -0.23632215 0.19003518 -0.04703761
+v -0.35178177 0.20619159 -0.01437325
+v -0.28030304 0.03077713 -0.05769797
+v -0.33623836 0.17530201 -0.04497745
+v -0.23648029 0.21954331 -0.02905635
+v -0.34959278 0.18776401 -0.03365790
+v -0.33650276 0.20998125 -0.02192173
+v -0.16595260 0.20176377 -0.03190640
+v -0.34781360 0.20025283 -0.02447425
+v -0.16264498 0.20987946 -0.02208912
+v -0.16371877 0.17536619 -0.04516373
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 9 8 5
+f 10 7 3
+f 10 3 4
+f 11 3 1
+f 11 1 8
+f 11 8 2
+f 11 2 3
+f 12 5 8
+f 12 10 5
+f 12 7 10
+f 12 1 7
+f 14 2 8
+f 14 8 9
+f 15 10 4
+f 15 5 10
+f 16 12 8
+f 16 8 1
+f 16 1 12
+f 17 13 9
+f 17 9 5
+f 18 4 6
+f 18 14 9
+f 18 9 13
+f 19 5 15
+f 19 17 5
+f 19 13 17
+f 20 15 4
+f 20 18 13
+f 20 4 18
+f 21 14 18
+f 22 19 15
+f 22 15 20
+f 22 20 13
+f 22 13 19
+f 23 21 18
+f 23 18 6
+f 23 6 2
+f 24 2 14
+f 24 14 21
+f 24 23 2
+f 24 21 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_15/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6490e18e97457d60f815b707458ab7eec5db0618
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_9">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_15/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_15/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_15/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b49ac007d466f60b7cfd33a320d448b9aebcd4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_15/visual/model_normalized_0.obj
@@ -0,0 +1,4785 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 1152/1152/1152 1153/1153/1153 1080/1080/1080
+f 1152/1152/1152 1080/1080/1080 1082/1082/1082
+f 1109/1109/1109 1136/1136/1136 1137/1137/1137
+f 1109/1109/1109 1137/1137/1137 1110/1110/1110
+f 1110/1110/1110 1137/1137/1137 1138/1138/1138
+f 1110/1110/1110 1138/1138/1138 1111/1111/1111
+f 1113/1113/1113 1139/1139/1139 1056/1056/1056
+f 1113/1113/1113 1056/1056/1056 1075/1075/1075
+f 1058/1058/1058 1074/1074/1074 1134/1134/1134
+f 1058/1058/1058 1134/1134/1134 1147/1147/1147
+f 1147/1147/1147 1134/1134/1134 1154/1154/1154
+f 1147/1147/1147 1154/1154/1154 1155/1155/1155
+f 1144/1144/1144 1129/1129/1129 1128/1128/1128
+f 1144/1144/1144 1128/1128/1128 1141/1141/1141
+f 1065/1065/1065 1061/1061/1061 1121/1121/1121
+f 1065/1065/1065 1121/1121/1121 1107/1107/1107
+f 1107/1107/1107 1121/1121/1121 1156/1156/1156
+f 1107/1107/1107 1156/1156/1156 1157/1157/1157
+f 1104/1104/1104 1116/1116/1116 1115/1115/1115
+f 1104/1104/1104 1115/1115/1115 1101/1101/1101
+f 1072/1072/1072 1080/1080/1080 1153/1153/1153
+f 1072/1072/1072 1153/1153/1153 1125/1125/1125
+f 1125/1125/1125 1153/1153/1153 1158/1158/1158
+f 1125/1125/1125 1158/1158/1158 1159/1159/1159
+f 1123/1123/1123 1150/1150/1150 1149/1149/1149
+f 1123/1123/1123 1149/1149/1149 1122/1122/1122
+f 1074/1074/1074 1073/1073/1073 1160/1160/1160
+f 1074/1074/1074 1160/1160/1160 1135/1135/1135
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09785a2e5560f01b556ec75519631d4166799eb4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_0.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.03330622 0.20532939 0.04365294
+v -0.03781889 0.20081673 -0.00957686
+v -0.14842959 0.27491185 0.04446938
+v -0.27632061 0.27680652 0.04446938
+v -0.28381627 0.25931998 0.03817429
+v -0.27742970 0.26579316 0.00557489
+v -0.04980368 0.22918156 0.04446938
+v -0.13318431 0.26010999 0.00557489
+v -0.28379300 0.25923315 0.00553777
+v -0.05878769 0.22283698 -0.00957662
+v -0.04726434 0.20899256 -0.00960446
+v -0.04862048 0.21571823 -0.00957662
+v -0.10576389 0.26090320 0.04446938
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 8 6 3
+f 9 5 4
+f 9 4 6
+f 9 2 5
+f 10 6 8
+f 10 9 6
+f 11 2 9
+f 11 9 10
+f 12 10 7
+f 12 7 2
+f 12 11 10
+f 12 2 11
+f 13 10 8
+f 13 8 3
+f 13 3 7
+f 13 7 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d422222f60edd17a149a0f79749d68aa84c2bc3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_1.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.16086931 -0.27745397 0.04540426
+v 0.00443548 -0.16068081 -0.13078874
+v -0.06353041 -0.23879351 0.04446938
+v 0.00979431 -0.16443309 0.04793983
+v -0.09854693 -0.20820094 -0.15679623
+v -0.00064096 -0.18496584 0.04446938
+v -0.11874639 -0.26695997 0.04446938
+v -0.15651804 -0.26338922 0.03968771
+v -0.08007484 -0.23527262 -0.15669706
+v -0.15956276 -0.26717949 -0.13078874
+v -0.01121091 -0.17439589 0.03817429
+v -0.04507756 -0.20113530 -0.16809681
+v -0.04790854 -0.20916297 -0.16225222
+v -0.15708542 -0.26127266 -0.13081000
+v -0.10444467 -0.24100783 -0.16495586
+v -0.11968281 -0.25597305 -0.13078874
+v -0.16082205 -0.27763057 0.04398909
+v -0.09848485 -0.20833407 -0.16866753
+v -0.00268326 -0.17084802 -0.13078874
+v -0.06436093 -0.22245681 -0.16043755
+v -0.09094221 -0.23747102 -0.16183152
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 8 1 4
+f 9 3 7
+f 10 1 8
+f 11 8 4
+f 11 4 5
+f 11 5 8
+f 13 6 3
+f 14 10 8
+f 14 8 5
+f 16 9 7
+f 16 7 10
+f 16 10 15
+f 17 10 7
+f 17 7 1
+f 17 1 10
+f 18 5 2
+f 18 2 12
+f 18 12 15
+f 18 14 5
+f 18 15 10
+f 18 10 14
+f 19 2 6
+f 19 6 13
+f 19 13 12
+f 19 12 2
+f 20 12 13
+f 20 13 3
+f 20 3 9
+f 21 16 15
+f 21 9 16
+f 21 20 9
+f 21 15 12
+f 21 12 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcd771fa60f49be9b3b788ff63317a58199a22dd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.48661414 0.07798804 0.04611127
+v -0.29535441 0.26098929 0.00557489
+v -0.29818912 0.25641463 0.03897568
+v -0.29389766 0.27070529 0.04611196
+v -0.46075552 0.14373635 0.04446938
+v -0.47135471 0.08201938 0.00554867
+v -0.35964618 0.24484569 0.04446938
+v -0.29792913 0.25544456 0.00554857
+v -0.47232623 0.08227977 0.03897755
+v -0.44729118 0.14491880 0.00557489
+v -0.31983170 0.26380531 0.04446938
+v -0.47689912 0.07944458 0.00557489
+v -0.36082863 0.23138135 0.00557489
+v -0.29387338 0.27061469 0.04328445
+v -0.47971514 0.10392187 0.04446938
+v -0.33370608 0.24591549 0.00557489
+v -0.48652447 0.07796353 0.04328439
+v -0.46182532 0.11779625 0.00557489
+f 3 2 4
+f 5 1 4
+f 7 5 4
+f 8 2 3
+f 8 3 6
+f 9 6 3
+f 9 3 4
+f 9 4 1
+f 10 8 6
+f 10 5 7
+f 11 7 4
+f 12 9 1
+f 12 6 9
+f 13 8 10
+f 13 10 7
+f 14 11 4
+f 14 4 2
+f 14 2 11
+f 15 1 5
+f 16 11 2
+f 16 2 8
+f 16 8 13
+f 16 13 7
+f 16 7 11
+f 17 15 12
+f 17 12 1
+f 17 1 15
+f 18 15 5
+f 18 5 10
+f 18 12 15
+f 18 10 6
+f 18 6 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb335c4d6e86d253ca2fe3e3cdc13adb871871ae
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_11.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01443234 0.14495213 0.04147722
+v 0.01526502 0.12858428 -0.15226271
+v -0.00442810 0.18875297 0.04446938
+v -0.04268469 0.22419659 0.04446938
+v -0.03787879 0.12499925 -0.15654262
+v -0.03685332 0.20178229 -0.16025759
+v 0.00757576 0.12499925 -0.16866753
+v -0.03001416 0.19346994 0.03834216
+v -0.00874696 0.17383083 -0.16012071
+v -0.03330072 0.21762559 0.04446938
+v -0.04573735 0.20468474 -0.16528003
+v 0.00636206 0.14990885 0.03817429
+v -0.03787879 0.12499925 -0.16866753
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 7 1 5
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 2 7
+f 10 6 4
+f 10 4 3
+f 10 9 6
+f 10 3 9
+f 11 5 4
+f 11 4 6
+f 11 9 7
+f 11 6 9
+f 12 8 5
+f 12 5 1
+f 12 1 8
+f 13 11 7
+f 13 7 5
+f 13 5 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1bb69621ff279a5a4f35c935b44671f6dde9328
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_12.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.03030256 0.19318153 -0.03990934
+v -0.03787879 0.17045380 -0.16866753
+v -0.07864151 0.23127479 -0.16164700
+v -0.11678062 0.25461978 0.00557489
+v -0.05313384 0.17035026 -0.15675916
+v -0.05878769 0.22283698 0.00557489
+v -0.04981098 0.21402053 -0.15694319
+v -0.03798371 0.17034887 -0.15690413
+v -0.04724027 0.20902693 0.00554693
+v -0.11363636 0.21590834 -0.16866753
+v -0.07607364 0.23494003 0.00557489
+v -0.04573735 0.20468474 -0.16528003
+v -0.04862048 0.21571823 -0.00957662
+v -0.03781889 0.20081673 -0.00957686
+v -0.10715578 0.24495719 0.00553274
+v -0.05303030 0.17045380 -0.16866753
+v -0.11971486 0.24832727 -0.16473085
+v -0.10433511 0.24881654 0.00557489
+v -0.09856840 0.20063748 -0.15670642
+v -0.11369848 0.21577512 -0.15680248
+v -0.10621273 0.24479009 -0.16160698
+v -0.09848485 0.20075683 -0.16866753
+f 8 2 1
+f 8 1 5
+f 9 6 4
+f 11 4 6
+f 11 7 3
+f 12 7 1
+f 12 1 2
+f 12 3 7
+f 12 2 10
+f 13 1 7
+f 13 6 9
+f 13 11 6
+f 13 7 11
+f 14 9 5
+f 14 5 1
+f 14 13 9
+f 14 1 13
+f 15 9 4
+f 15 5 9
+f 16 10 2
+f 16 8 5
+f 16 2 8
+f 17 12 10
+f 17 3 12
+f 18 11 3
+f 18 4 11
+f 19 5 15
+f 19 16 5
+f 20 17 10
+f 20 4 17
+f 20 10 19
+f 20 19 15
+f 20 15 4
+f 21 17 4
+f 21 3 17
+f 21 18 3
+f 21 4 18
+f 22 19 10
+f 22 10 16
+f 22 16 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52cb9206eb4cce7975b778e0d668e7e16b07e5c9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_13.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.11295919 0.24766354 0.00557049
+v -0.11311736 0.24732431 -0.13079211
+v -0.13318431 0.26010999 -0.13078874
+v -0.23446042 0.27207740 0.00557489
+v -0.23536720 0.26729149 0.00555841
+v -0.13318431 0.26010999 0.00557489
+v -0.11678062 0.25461978 -0.13078874
+v -0.23533404 0.26691635 -0.13080409
+v -0.11678062 0.25461978 0.00557489
+v -0.15519098 0.26076504 -0.13083023
+v -0.23446042 0.27207740 -0.13078874
+f 5 1 4
+f 6 3 4
+f 7 1 2
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 7 6
+f 9 1 7
+f 9 6 4
+f 9 4 1
+f 10 7 2
+f 10 2 8
+f 10 3 7
+f 11 8 5
+f 11 5 4
+f 11 4 3
+f 11 10 8
+f 11 3 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd7a0d95edab572f886d27d598d82f32c33c44e2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_14.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.05101611 -0.21121050 -0.13079846
+v 0.01452384 -0.13744140 -0.13081204
+v -0.09848485 -0.01136438 -0.15654262
+v -0.00268326 -0.17084802 -0.13078874
+v -0.00674769 -0.16800203 -0.16225209
+v 0.00757576 -0.01136438 -0.16866753
+v -0.03068629 -0.20037505 -0.13078874
+v -0.09848485 -0.20833407 -0.16866753
+v 0.00743210 -0.01135181 -0.15659577
+v -0.03454454 -0.19651681 -0.16287032
+v -0.09854693 -0.20820094 -0.15679623
+v -0.09848485 -0.01136438 -0.16866753
+f 1 2 3
+f 4 2 1
+f 5 2 4
+f 6 2 5
+f 7 5 4
+f 7 4 1
+f 8 6 5
+f 9 3 2
+f 9 2 6
+f 10 7 1
+f 10 5 7
+f 10 8 5
+f 10 1 8
+f 11 8 1
+f 11 1 3
+f 12 6 8
+f 12 9 6
+f 12 3 9
+f 12 11 3
+f 12 8 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf6d8c66c0b0b969064ca39e011f9a7c4501370a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_15.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.04937576 0.06341377 -0.00957662
+v 0.04937576 0.06341377 -0.13078874
+v 0.04654284 0.10682283 0.04446938
+v 0.00484127 0.16853920 0.03992510
+v 0.00757576 0.10984774 -0.16866753
+v 0.00422088 0.15749425 -0.15659213
+v 0.03910769 0.08393483 0.03583122
+v 0.04999108 0.07873019 0.03969331
+v 0.04346916 0.06589124 -0.13080462
+v 0.03716217 0.10244855 -0.13078874
+v 0.01433992 0.16458067 0.04446938
+v -0.00023600 0.14983263 -0.16860979
+v 0.04379087 0.06597769 -0.00959348
+v 0.02486882 0.11791181 0.03582556
+v -0.00115231 0.16434176 -0.15896963
+v 0.02089702 0.13223230 -0.15735995
+v 0.02686697 0.10471281 -0.16651813
+v 0.00871892 0.14549389 -0.16255460
+v 0.02333005 0.11821519 -0.16339378
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 3 2
+f 11 8 3
+f 11 4 7
+f 11 7 8
+f 12 5 4
+f 13 7 5
+f 13 8 7
+f 13 1 8
+f 13 9 1
+f 13 5 9
+f 14 7 4
+f 14 4 5
+f 14 5 7
+f 15 11 6
+f 15 4 11
+f 15 12 4
+f 16 6 11
+f 16 10 2
+f 16 15 6
+f 16 11 3
+f 16 3 10
+f 17 16 2
+f 17 2 5
+f 17 5 12
+f 18 12 15
+f 18 15 16
+f 19 17 12
+f 19 12 18
+f 19 18 16
+f 19 16 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d22efd77489f62aef8a11f54f220a368f55d5bd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_16.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.43703976 -0.15138373 0.00555738
+v -0.43181817 -0.14772801 -0.16866753
+v -0.43168601 -0.08706033 -0.15671583
+v -0.47500447 -0.08651406 0.00557489
+v -0.44718410 -0.13726933 -0.16164705
+v -0.46946000 -0.08908852 0.00555405
+v -0.45084986 -0.13983619 0.00557489
+v -0.46637724 -0.08420315 -0.16721432
+v -0.46472637 -0.11157472 0.00557489
+v -0.43181817 -0.08712195 -0.16866753
+v -0.46070023 -0.10969725 -0.16160640
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 8 4 3
+f 9 7 4
+f 9 5 7
+f 10 8 3
+f 10 3 2
+f 10 2 8
+f 11 8 5
+f 11 4 8
+f 11 9 4
+f 11 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c47392ca6f71a0714d46638b75fe095537fdd0ca
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.04748115 -0.05939246 0.03968929
+v 0.07411381 -0.03401417 -0.14102427
+v 0.08339671 0.03392650 0.05096999
+v 0.04012319 0.08014623 0.03587153
+v 0.04157483 -0.07296086 -0.13079928
+v 0.04693673 0.06276078 -0.15920778
+v 0.06154399 -0.05503994 0.04540406
+v 0.04161513 -0.07297166 -0.11564788
+v 0.07379803 0.03719333 -0.13820112
+v 0.04346916 0.06589124 -0.13080462
+v 0.04671071 -0.01081169 -0.16866753
+v 0.04999108 0.07873019 0.03969331
+v 0.08592351 -0.03478565 0.04855594
+v 0.04000231 0.08011374 -0.00958265
+v 0.04882994 -0.05569369 -0.15920778
+v 0.04605332 0.01832847 -0.16866753
+v 0.08332619 0.03820717 0.03586511
+v 0.04748112 -0.07048324 -0.13078874
+v 0.04558723 0.07754994 -0.00957662
+v 0.04748112 -0.07048324 -0.11563722
+f 7 4 1
+f 8 1 4
+f 8 7 1
+f 12 7 3
+f 12 4 7
+f 12 9 6
+f 13 3 7
+f 13 2 9
+f 14 10 5
+f 14 4 12
+f 14 6 10
+f 14 8 4
+f 14 5 8
+f 15 11 2
+f 15 5 11
+f 16 10 6
+f 16 6 9
+f 16 9 2
+f 16 2 11
+f 16 11 5
+f 16 5 10
+f 17 12 3
+f 17 9 12
+f 17 13 9
+f 17 3 13
+f 18 2 13
+f 18 15 2
+f 18 5 15
+f 18 8 5
+f 19 14 12
+f 19 12 6
+f 19 6 14
+f 20 18 13
+f 20 13 7
+f 20 7 8
+f 20 8 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a46c145ecd8b7ac69143a0914249bd10eb6b158
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.40113337 0.20037505 0.00557489
+v -0.34090908 0.20075683 -0.16866753
+v -0.34082506 0.20063684 -0.15676520
+v -0.33950932 0.24320948 0.00557489
+v -0.35962462 0.22966428 -0.15706851
+v -0.33589366 0.23545585 -0.16674448
+v -0.37949493 0.21258748 0.00553522
+v -0.38636363 0.20075683 -0.16866753
+v -0.36082863 0.23138135 0.00557489
+v -0.35204096 0.23180839 0.00552157
+v -0.40113337 0.20037505 -0.05503116
+v -0.34939608 0.23191901 -0.16362021
+v -0.37568416 0.21580944 -0.16134590
+v -0.39355761 0.20795081 -0.05503116
+v -0.39355761 0.20795081 0.00557489
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 8 2 3
+f 8 6 2
+f 9 1 4
+f 9 4 5
+f 10 7 3
+f 10 3 4
+f 10 4 7
+f 11 8 3
+f 11 3 1
+f 12 5 6
+f 12 6 8
+f 13 8 11
+f 13 12 8
+f 13 5 12
+f 14 9 5
+f 14 13 11
+f 14 5 13
+f 14 11 1
+f 15 14 1
+f 15 1 9
+f 15 9 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a43eb195de530ae26db018ffd677350f71135c0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.14600142 -0.03383109 0.09171879
+v 0.13641049 -0.02882289 0.06419330
+v 0.14720421 0.03683898 0.08894275
+v 0.06198837 0.03354834 0.04843460
+v 0.06133051 -0.04106803 0.04843460
+v 0.07554024 0.03820850 0.00644412
+v 0.12143205 0.03336239 0.08191867
+v 0.07627807 -0.03625027 0.00636182
+v 0.13496322 0.03308014 0.06671817
+v 0.12145041 -0.03236196 0.08192858
+v 0.06281266 -0.04119769 0.04661721
+v 0.08446101 -0.02872480 0.01228577
+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 5 6
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 7 5
+f 10 5 1
+f 10 1 7
+f 11 8 1
+f 11 1 5
+f 11 5 8
+f 12 8 6
+f 12 6 2
+f 12 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c75297c0c4f9242fa2593bda3d85cefc96f9ded1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_2.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00387538 -0.17543983 0.04733366
+v 0.04748112 -0.07048324 -0.13078874
+v 0.05104673 -0.09716344 0.04446938
+v 0.06154399 -0.05503994 0.04540406
+v 0.00757576 -0.10227347 -0.16866753
+v 0.06172062 -0.05508728 0.04398921
+v 0.01936279 -0.13583499 -0.15669706
+v 0.04748115 -0.05939246 0.03968929
+v 0.05126966 -0.05634707 -0.11563722
+v 0.04006322 -0.09622702 -0.13078874
+v 0.02288368 -0.15237942 0.04446938
+v 0.02863547 -0.09796321 -0.16807951
+v -0.00469811 -0.16489439 -0.13079839
+v 0.00280208 -0.15499370 0.03817429
+v 0.04540322 -0.05883523 -0.11565868
+v 0.01077973 -0.16966494 0.04446938
+v -0.00240764 -0.15588934 -0.16649147
+v 0.02156133 -0.12496749 -0.16183156
+v -0.00093953 -0.16752658 0.04178769
+v 0.00654917 -0.15155042 -0.16043376
+v 0.00340016 -0.17510714 0.04205824
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 8 1 4
+f 9 6 2
+f 9 4 6
+f 9 8 4
+f 10 2 3
+f 10 3 7
+f 11 7 3
+f 11 3 1
+f 12 2 10
+f 12 9 2
+f 12 5 9
+f 14 8 5
+f 15 9 5
+f 15 5 8
+f 15 8 9
+f 16 11 1
+f 16 7 11
+f 16 1 13
+f 17 5 12
+f 17 13 5
+f 18 12 10
+f 18 10 7
+f 18 17 12
+f 19 1 8
+f 19 8 14
+f 19 14 5
+f 19 5 13
+f 20 16 13
+f 20 7 16
+f 20 13 17
+f 20 18 7
+f 20 17 18
+f 21 19 13
+f 21 13 1
+f 21 1 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..716cf385f77226f4c94d2b72d763a570edf808ad
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.47272152 -0.03945285 0.15634116
+v 0.49346698 -0.02897508 0.15316613
+v 0.49364770 0.02479338 0.16487598
+v 0.40088477 0.04055018 0.13663066
+v 0.40200276 -0.03969420 0.13683760
+v 0.49384334 0.02562837 0.14891264
+v 0.49145590 -0.02945330 0.16170782
+v 0.44326747 -0.04312774 0.14387790
+v 0.43455678 -0.03826757 0.15696935
+v 0.48518760 0.03648684 0.15234711
+v 0.47204373 -0.03075661 0.14196137
+v 0.40510365 0.03805760 0.14892403
+v 0.40678761 -0.04038656 0.14509202
+v 0.47088360 0.03487393 0.14411117
+v 0.48680959 0.03425410 0.16104737
+v 0.47129019 -0.04011819 0.14975315
+v 0.43435182 0.03928346 0.15693112
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 9 7 3
+f 9 1 7
+f 9 8 1
+f 11 5 4
+f 11 8 5
+f 11 6 2
+f 12 4 5
+f 13 5 8
+f 13 8 9
+f 13 12 5
+f 13 9 12
+f 14 10 6
+f 14 4 10
+f 14 11 4
+f 14 6 11
+f 15 3 6
+f 15 6 10
+f 16 11 2
+f 16 2 1
+f 16 1 8
+f 16 8 11
+f 17 12 9
+f 17 9 3
+f 17 3 15
+f 17 15 10
+f 17 10 4
+f 17 4 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a33f81276e43450db560f844a1ec77fa41530beb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.11369848 0.21577512 -0.15680248
+v -0.11363636 0.21590834 -0.16866753
+v -0.13318431 0.26010999 -0.13078874
+v -0.29156587 0.26200463 -0.13078874
+v -0.34090908 0.21590834 -0.16866753
+v -0.27600140 0.26046253 -0.16294797
+v -0.34317230 0.23591301 -0.13080346
+v -0.10731378 0.24461777 -0.13082980
+v -0.14854880 0.25930812 -0.16199202
+v -0.33589366 0.23545585 -0.16674448
+v -0.34082375 0.21578649 -0.15693311
+v -0.11971486 0.24832727 -0.16473085
+v -0.33280291 0.24397883 -0.15727195
+v -0.13373633 0.25804251 -0.15728438
+v -0.33370608 0.24591549 -0.13078874
+v -0.29099460 0.25986608 -0.15765346
+v -0.11678062 0.25461978 -0.13078874
+v -0.31885436 0.24655902 -0.16316917
+f 5 2 1
+f 8 1 2
+f 8 7 1
+f 9 6 4
+f 9 4 3
+f 10 2 5
+f 10 5 7
+f 11 7 5
+f 11 5 1
+f 11 1 7
+f 12 6 9
+f 12 10 6
+f 12 2 10
+f 12 8 2
+f 13 10 7
+f 14 12 9
+f 14 9 3
+f 15 13 7
+f 15 4 13
+f 15 3 4
+f 16 13 4
+f 16 4 6
+f 17 14 3
+f 17 8 12
+f 17 12 14
+f 17 7 8
+f 17 15 7
+f 17 3 15
+f 18 16 6
+f 18 6 10
+f 18 10 13
+f 18 13 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc8aa1cc13d812770bc59edbc31ef3c9f5a783e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_22.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.39743105 -0.21765330 0.04520440
+v -0.39734474 -0.20416367 0.00557489
+v -0.47150143 -0.08963596 0.03994797
+v -0.48547961 -0.08526075 0.04515074
+v -0.44509138 -0.16610615 0.04446938
+v -0.47500447 -0.08651406 0.00557489
+v -0.40937977 -0.18589567 0.03834216
+v -0.40466280 -0.21148173 0.04446938
+v -0.46946000 -0.08908852 0.00555405
+v -0.47681303 -0.11014594 0.04446938
+v -0.43162806 -0.16728935 0.00557489
+v -0.39758232 -0.21786916 0.04419083
+v -0.48575758 -0.08533525 0.04424727
+v -0.46472637 -0.11157472 0.00557489
+v -0.42007201 -0.18143640 0.00557489
+v -0.46086715 -0.10875411 0.00553281
+v -0.43205586 -0.15850224 0.00552329
+v -0.40918043 -0.18569633 0.00554485
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 9 6 3
+f 9 7 2
+f 9 3 7
+f 10 5 4
+f 12 8 2
+f 12 2 1
+f 12 1 8
+f 13 10 4
+f 13 4 6
+f 13 6 10
+f 14 10 6
+f 14 11 5
+f 14 5 10
+f 15 8 5
+f 15 5 11
+f 15 2 8
+f 16 14 6
+f 16 6 9
+f 17 15 11
+f 17 11 14
+f 17 14 16
+f 17 2 15
+f 18 17 16
+f 18 16 9
+f 18 9 2
+f 18 2 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1487ff820009b91d4f60ad1183d1548a4f47db7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.16287953 -0.15654262
+v -0.23484848 -0.16287953 -0.16866753
+v -0.23484848 0.12499925 -0.16866753
+v -0.45049856 0.12664455 -0.14667429
+v -0.43551662 -0.15031779 -0.14679148
+v -0.44696968 0.12499925 -0.16866753
+v -0.23484848 0.12499925 -0.15654262
+v -0.35606060 -0.16287953 -0.16866753
+v -0.44696968 -0.08712195 -0.16866753
+v -0.35606060 -0.16287953 -0.15654262
+v -0.44683524 -0.08705927 -0.15690163
+v -0.43181817 -0.14772801 -0.16866753
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 6 2
+f 9 4 6
+f 9 6 8
+f 10 8 1
+f 10 1 5
+f 10 5 8
+f 11 9 5
+f 11 5 4
+f 11 4 9
+f 12 9 8
+f 12 8 5
+f 12 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2768261f22c7e5516797a93aae15b1b87d174bfc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.03787879 0.12499925 -0.15654262
+v -0.03787879 0.12499925 -0.16866753
+v -0.04837976 0.20739825 -0.14746866
+v -0.34082375 0.21578649 -0.15693311
+v -0.38636363 0.12499925 -0.16866753
+v -0.09848485 0.21590834 -0.16866753
+v -0.03787879 0.17045380 -0.16866753
+v -0.38894765 0.20334086 -0.14662916
+v -0.09854745 0.21577406 -0.15688911
+v -0.34090908 0.21590834 -0.16866753
+v -0.03798371 0.17034887 -0.15690413
+v -0.05303030 0.20075683 -0.16866753
+v -0.38636363 0.12499925 -0.15654262
+v -0.38636363 0.20075683 -0.16866753
+f 5 2 1
+f 6 2 5
+f 7 1 2
+f 7 2 6
+f 8 1 3
+f 8 3 4
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 6 5
+f 10 4 6
+f 10 8 4
+f 11 7 3
+f 11 3 1
+f 11 1 7
+f 12 7 6
+f 12 6 3
+f 12 3 7
+f 13 8 5
+f 13 5 1
+f 13 1 8
+f 14 10 5
+f 14 5 8
+f 14 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26cf9c8099a4713cb677a6c7230a9179fad1e786
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.47689912 0.07944458 0.00557489
+v -0.44696968 0.07954471 -0.16866753
+v -0.47135471 0.08201938 0.00554867
+v -0.45216248 0.12742075 0.00555914
+v -0.45988877 0.11689313 -0.15727156
+v -0.44682683 0.07950643 -0.15686839
+v -0.46753251 0.07693450 -0.16817144
+v -0.46182532 0.11779625 0.00557489
+v -0.44696968 0.12499925 -0.16866753
+v -0.46246885 0.10294471 -0.16316922
+v -0.45136598 0.11998398 -0.16674418
+f 1 3 4
+f 6 4 3
+f 6 3 1
+f 7 6 1
+f 7 2 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 2 7
+f 9 6 2
+f 9 4 6
+f 10 7 1
+f 10 1 5
+f 11 9 7
+f 11 7 10
+f 11 10 5
+f 11 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5931b8ea4b84d01b31779fb28db1e34222085a50
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.03006147 -0.10569369 -0.13081095
+v 0.03620111 -0.09442603 -0.16138055
+v 0.04006322 -0.09622702 -0.13078874
+v 0.02716029 0.11191503 -0.13080218
+v 0.00757576 -0.10227347 -0.16866753
+v 0.03667200 0.09031398 -0.16268734
+v 0.00744140 -0.10221082 -0.15689539
+v 0.03716217 0.10244855 -0.13078874
+v 0.00757576 0.10984774 -0.16866753
+v 0.02686697 0.10471281 -0.16651813
+v 0.00744086 0.10978484 -0.15693868
+v 0.03524165 0.10155290 -0.15718305
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 6
+f 10 6 2
+f 10 2 5
+f 10 5 9
+f 10 9 4
+f 11 7 4
+f 11 4 9
+f 11 9 5
+f 11 5 7
+f 12 8 6
+f 12 6 10
+f 12 10 4
+f 12 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef9194b0f76af6a4134021a6c3d3884d3967f07a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.08339671 0.03392650 0.05096999
+v 0.08787766 0.03718097 0.04669935
+v 0.03493671 0.13171426 0.04446938
+v 0.00174341 0.18152129 0.04520439
+v 0.05009207 0.03515876 0.03584397
+v 0.08332619 0.03820717 0.03586511
+v 0.05009849 0.03515933 0.03817429
+v 0.02486882 0.11791181 0.03582556
+v 0.00195912 0.18167273 0.04419083
+v 0.00722094 0.17474722 0.04446938
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 9 6 8
+f 9 8 5
+f 9 5 4
+f 10 9 4
+f 10 4 3
+f 10 3 6
+f 10 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ac6942535f6af403bdb8468539a1f779a0c8308
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.16086931 -0.27745397 0.04540426
+v -0.15708542 -0.26127266 -0.13081000
+v -0.15651804 -0.26338922 0.03968771
+v -0.28265598 -0.26256797 0.04066124
+v -0.27553506 -0.26630093 -0.13078874
+v -0.28180109 -0.25937907 -0.13080468
+v -0.16335130 -0.26819483 -0.13078874
+v -0.27821453 -0.27629893 0.04446938
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 1 4
+f 8 6 5
+f 8 4 6
+f 8 7 1
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eab48447f818209aa5ca19b874a34198791e57c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.46909862 -0.08899168 -0.13080856
+v -0.44696968 -0.08712195 -0.16866753
+v -0.44682683 0.07950643 -0.15686839
+v -0.47099312 0.08192210 -0.13081403
+v -0.47637274 0.06009315 -0.16294849
+v -0.44683524 -0.08705927 -0.15690163
+v -0.47522075 -0.06736178 -0.16198695
+v -0.44696968 0.07954471 -0.16866753
+v -0.46637724 -0.08420315 -0.16721432
+v -0.48073892 -0.04329524 -0.13084020
+v -0.46753251 0.07693450 -0.16817144
+v -0.47395444 -0.08217407 -0.15727728
+v -0.47791446 0.07565604 -0.13078874
+v -0.47601982 -0.08272552 -0.13078874
+v -0.47577408 0.07508429 -0.15765987
+f 1 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 8 3 2
+f 8 4 3
+f 9 7 5
+f 9 2 1
+f 10 5 7
+f 11 4 8
+f 11 9 5
+f 11 8 2
+f 11 2 9
+f 12 9 1
+f 12 7 9
+f 12 10 7
+f 13 1 4
+f 13 5 10
+f 14 12 1
+f 14 10 12
+f 14 13 10
+f 14 1 13
+f 15 11 5
+f 15 5 13
+f 15 13 4
+f 15 4 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c348f8dbaff7f4b11cd4573e6231352cbabb79cf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_3.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.27821453 -0.27629893 0.04446938
+v -0.27715689 -0.25720007 -0.16651413
+v -0.28026528 -0.22334472 -0.15671634
+v -0.36086154 -0.23034294 0.04147670
+v -0.34814204 -0.23680691 -0.15735995
+v -0.28265598 -0.26256797 0.04066124
+v -0.31746279 -0.25115159 -0.15718264
+v -0.36320497 -0.24235370 0.04446938
+v -0.35554889 -0.22275476 -0.16866753
+v -0.33382436 -0.24078449 0.03817429
+v -0.36883606 -0.23524399 0.04764054
+v -0.30648682 -0.26872177 0.04446938
+v -0.34762409 -0.25084654 0.04446938
+v -0.28030302 -0.22348559 -0.16866753
+v -0.33412492 -0.23924004 -0.16339385
+v -0.36843408 -0.23466943 0.04175158
+v -0.34928948 -0.22896786 -0.16679433
+v -0.30622245 -0.25258233 -0.16268734
+f 1 2 3
+f 6 1 3
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 6 4
+f 11 1 6
+f 11 9 5
+f 11 5 8
+f 12 7 1
+f 12 1 11
+f 13 8 5
+f 13 5 7
+f 13 7 12
+f 13 12 11
+f 13 11 8
+f 14 9 3
+f 14 3 2
+f 14 2 9
+f 15 7 5
+f 16 11 4
+f 16 4 9
+f 16 9 11
+f 17 15 5
+f 17 5 9
+f 17 9 2
+f 18 7 15
+f 18 2 1
+f 18 1 7
+f 18 17 2
+f 18 15 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9808a96e83f1ab9746c7649d320f69418b2f3b4b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.16287953 -0.15654262
+v -0.09848485 -0.16287953 -0.16866753
+v -0.09848485 -0.01136438 -0.15654262
+v -0.23484848 -0.01136438 -0.15654262
+v -0.23484848 -0.16287953 -0.15654262
+v -0.23484848 -0.01136438 -0.16866753
+v -0.09848485 -0.01136438 -0.16866753
+v -0.23484848 -0.16287953 -0.16866753
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92834587d289299c34243cf808e43eb0fea86316
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00743210 -0.01135181 -0.15659577
+v 0.00757576 -0.01136438 -0.16866753
+v 0.01526502 0.12858428 -0.15226271
+v -0.23484848 0.12499925 -0.15654262
+v -0.23484848 -0.01136438 -0.16866753
+v 0.00757576 0.12499925 -0.16866753
+v -0.23484848 -0.01136438 -0.15654262
+v -0.23484848 0.12499925 -0.16866753
+f 1 2 3
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ca4d8766e3c022c1f0292aefe0f082b7f8d21a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.35776960 -0.24107812 0.04762893
+v -0.34928948 -0.22896786 -0.16679433
+v -0.35606060 -0.14772801 -0.15654262
+v -0.44586555 -0.14695493 0.00557489
+v -0.41769212 -0.17905651 -0.16025759
+v -0.36581868 -0.22227189 0.03817429
+v -0.37340515 -0.22013223 -0.15658637
+v -0.39065705 -0.22313077 0.04446938
+v -0.43822919 -0.14160807 -0.16770224
+v -0.38974066 -0.20716287 -0.16012071
+v -0.36140253 -0.22462890 -0.16255423
+v -0.42992899 -0.16609789 -0.15694849
+v -0.40608771 -0.19775512 0.04365294
+v -0.35606060 -0.14772801 -0.16866753
+v -0.43162806 -0.16728935 0.00557489
+v -0.43388896 -0.15371943 -0.16346536
+v -0.38310494 -0.21016951 0.03817429
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 7 1
+f 9 4 3
+f 10 9 2
+f 10 5 9
+f 10 8 5
+f 10 7 8
+f 11 2 1
+f 11 1 7
+f 11 10 2
+f 11 7 10
+f 12 5 8
+f 12 4 9
+f 13 4 8
+f 13 8 1
+f 13 1 6
+f 14 9 3
+f 14 3 2
+f 14 2 9
+f 15 12 8
+f 15 8 4
+f 15 4 12
+f 16 12 9
+f 16 9 5
+f 16 5 12
+f 17 13 6
+f 17 6 4
+f 17 4 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d3ab7f3979d1659ef1167b7af4bb4a48281860
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.47150143 -0.08963596 0.03994797
+v -0.46909862 -0.08899168 -0.13080856
+v -0.47232623 0.08227977 0.03897755
+v -0.47099312 0.08192210 -0.13081403
+v -0.49271635 0.06041078 0.04446938
+v -0.49082168 -0.06748024 0.04446938
+v -0.47791446 0.07565604 -0.13078874
+v -0.48661414 0.07798804 0.04611127
+v -0.48547961 -0.08526075 0.04515074
+v -0.47601982 -0.08272552 -0.13078874
+f 1 2 3
+f 3 2 4
+f 8 1 3
+f 8 7 5
+f 8 3 4
+f 8 4 7
+f 8 5 6
+f 9 2 1
+f 9 8 6
+f 9 1 8
+f 10 6 5
+f 10 5 7
+f 10 9 6
+f 10 2 9
+f 10 7 4
+f 10 4 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4400f703506a36b6fc1a9e86e2693d4ecf71dcd2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_6.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.40372655 -0.03485014 0.15129331
+v 0.39953890 -0.03026247 0.12845126
+v 0.40510365 0.03805760 0.14892403
+v 0.13919710 0.03833344 0.07461152
+v 0.14021421 -0.03496026 0.07269189
+v 0.39872463 0.03118665 0.12830073
+v 0.19420550 0.03383360 0.11003053
+v 0.40088477 0.04055018 0.13663066
+v 0.34401909 0.03382930 0.14018549
+v 0.19421401 -0.03282775 0.11003299
+v 0.34401909 -0.03282345 0.14018549
+v 0.15047734 -0.03256529 0.09573724
+v 0.15059250 0.03357163 0.09578328
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 8 6 4
+f 8 3 6
+f 8 7 3
+f 8 4 7
+f 9 1 3
+f 9 3 7
+f 10 5 1
+f 10 9 7
+f 11 10 1
+f 11 1 9
+f 11 9 10
+f 12 4 5
+f 12 5 10
+f 13 7 4
+f 13 4 12
+f 13 12 10
+f 13 10 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45d643ce4bd73614216a3a618e63e873f3d72d83
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.16335130 -0.26819483 -0.13078874
+v -0.10444467 -0.24100783 -0.16495586
+v -0.09848485 -0.16287953 -0.15654262
+v -0.35606060 -0.16287953 -0.15654262
+v -0.27715689 -0.25720007 -0.16651413
+v -0.15909091 -0.16287953 -0.16866753
+v -0.09777104 -0.24016776 -0.13079338
+v -0.20600581 -0.26739473 -0.16282536
+v -0.27553506 -0.26630093 -0.13078874
+v -0.09848485 -0.16287953 -0.16866753
+v -0.35606060 -0.16287953 -0.16866753
+v -0.11968281 -0.25597305 -0.13078874
+v -0.16390883 -0.26610701 -0.15737748
+v -0.28180109 -0.25937907 -0.13080468
+v -0.23335145 -0.26699320 -0.16250268
+v -0.35554889 -0.22275476 -0.16866753
+v -0.10143406 -0.24746380 -0.13078874
+v -0.12148397 -0.25211100 -0.16138054
+v -0.27499672 -0.26428396 -0.15700905
+v -0.35761977 -0.22571221 -0.14645273
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 10 6 3
+f 10 2 5
+f 10 7 2
+f 10 3 7
+f 11 4 6
+f 13 1 8
+f 13 12 1
+f 14 9 7
+f 14 7 4
+f 15 8 1
+f 15 1 9
+f 15 5 8
+f 16 10 5
+f 16 6 10
+f 16 11 6
+f 17 2 7
+f 17 7 9
+f 17 9 1
+f 17 1 12
+f 18 13 8
+f 18 8 2
+f 18 12 13
+f 18 17 12
+f 18 2 17
+f 19 15 9
+f 19 5 15
+f 19 16 5
+f 20 9 14
+f 20 14 4
+f 20 4 11
+f 20 11 16
+f 20 19 9
+f 20 16 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fc3a6a203b6fdb500fd07ff74f3913a6c95fd02
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_8.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.45911931 0.12359950 0.00557489
+v -0.38636363 0.12499925 -0.16866753
+v -0.38636363 0.12499925 -0.15654262
+v -0.39024181 0.20463501 0.00555970
+v -0.43172118 0.15977567 -0.16134218
+v -0.38002586 0.20685675 -0.16739824
+v -0.44771769 0.13613175 0.00552157
+v -0.45136598 0.11998398 -0.16674418
+v -0.40870912 0.19279929 0.00557489
+v -0.38523332 0.21429400 -0.05503116
+v -0.44557543 0.14371571 -0.15706336
+v -0.44782891 0.13348611 -0.16362020
+v -0.38969879 0.20409199 -0.16287135
+v -0.44729118 0.14491880 0.00557489
+v -0.39355761 0.20795081 -0.05503116
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 3
+f 8 3 1
+f 8 6 2
+f 9 1 4
+f 10 4 3
+f 10 3 6
+f 10 9 4
+f 11 8 1
+f 11 9 5
+f 12 5 6
+f 12 6 8
+f 12 11 5
+f 12 8 11
+f 13 10 6
+f 13 6 5
+f 14 11 1
+f 14 1 9
+f 14 9 11
+f 15 13 5
+f 15 5 9
+f 15 9 10
+f 15 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..033802000e7aef6ecd838f6bca9ba71b489cbd8e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/collision/model_normalized_collision_9.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.34333072 0.23625272 0.00555914
+v -0.23533404 0.26691635 -0.13080409
+v -0.23536720 0.26729149 0.00555841
+v -0.29389766 0.27070529 0.04611196
+v -0.33370608 0.24591549 -0.13078874
+v -0.23446042 0.27207740 -0.13078874
+v -0.28381627 0.25931998 0.03817429
+v -0.34317230 0.23591301 -0.13080346
+v -0.33370608 0.24591549 0.00557489
+v -0.23446042 0.27207740 0.00557489
+v -0.29156587 0.26200463 -0.13078874
+v -0.29818912 0.25641463 0.03897568
+v -0.27935503 0.27297615 0.04803091
+v -0.26955905 0.26265937 -0.13083546
+v -0.31828213 0.24752016 -0.13083866
+f 7 1 3
+f 8 1 5
+f 8 2 3
+f 8 3 1
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 3 2
+f 10 2 6
+f 11 5 4
+f 11 4 6
+f 12 4 1
+f 12 1 7
+f 13 10 6
+f 13 6 4
+f 13 7 3
+f 13 3 10
+f 13 12 7
+f 13 4 12
+f 14 11 6
+f 14 6 2
+f 15 8 5
+f 15 5 11
+f 15 11 14
+f 15 14 2
+f 15 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_17/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ca6aee5f887fd70783ccc3db3d06a4d86ac9c447
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
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+    <default class="region">
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_17/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_17/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_17/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d99157f3c8f6bddbf3b8ce4516dee5ecee705f2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_17/visual/model_normalized_0.obj
@@ -0,0 +1,4999 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5937bb20fe39db2d21d922e7166636c5748df1d2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_0.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.12493728 -0.00925299 -0.06182043
+v 0.12669454 -0.00679627 -0.05418462
+v 0.08084395 -0.00723602 -0.05630091
+v 0.05105563 0.10272254 0.00871174
+v 0.11811454 0.08349881 -0.00684895
+v 0.12977291 0.07615094 0.00709381
+v 0.04904213 0.06007600 -0.04880559
+v 0.12088661 0.08835510 0.00941379
+v 0.13022605 0.01414871 -0.04800008
+v 0.08044153 -0.00807848 -0.06354023
+v 0.04958445 0.04961767 -0.05451633
+v 0.04954019 0.09168133 -0.02399744
+v 0.10360098 0.08423502 -0.01615015
+v 0.12031430 0.04220125 -0.04457546
+v 0.07982047 0.02048808 -0.06111210
+v 0.09130421 0.05624202 -0.04366957
+v 0.10522590 0.06858002 -0.03001872
+v 0.12403669 0.00420195 -0.05989129
+v 0.09415746 0.01903771 -0.06014949
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+f 19 15 11
+f 19 18 1
+f 19 1 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f52825303371a874da07ab342253046502c07b6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_1.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.14704126 -0.05257278 -0.05625114
+v -0.13137524 -0.00766441 -0.06114063
+v -0.13077836 0.08198764 0.01075511
+v -0.26141753 -0.04834638 0.00657793
+v -0.21623494 -0.05683302 -0.05052932
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+v -0.15070988 0.06638380 -0.00499102
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+v -0.15312113 0.02587008 -0.04249891
+v -0.23576127 -0.01968138 -0.01623686
+v -0.23883589 -0.00375946 0.00927176
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+v -0.13796979 0.05278978 -0.02945015
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+v -0.20926676 -0.00467174 -0.02964926
+v -0.17931004 0.03758450 -0.01676809
+v -0.18049861 0.05231056 0.00927176
+v -0.23882507 -0.04647956 -0.03121558
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+v -0.18018904 0.05193982 0.00568539
+v -0.15352636 0.07054962 0.00927176
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8ad0c124f372a4791888bf638f3aff2d2a4eb8f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_10.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.16498073 -0.45149416 0.00927176
+v 0.27547644 -0.32477199 0.01074494
+v 0.17197414 -0.31091782 -0.05641852
+v 0.17454261 -0.44509925 0.00927176
+v 0.22017181 -0.34744098 -0.04249891
+v 0.21505950 -0.30954459 -0.05679995
+v 0.23044439 -0.38764467 -0.00412516
+v 0.16601545 -0.39471904 -0.04800494
+v 0.25003026 -0.31909472 -0.03283817
+v 0.24647080 -0.37487411 0.00927176
+v 0.16280411 -0.43470951 -0.02045975
+v 0.18330610 -0.33795976 -0.06056883
+v 0.26871995 -0.32171156 -0.01013903
+v 0.23183557 -0.37363469 -0.01676512
+v 0.17433901 -0.44481530 0.00612736
+v 0.17133759 -0.31036884 -0.06368609
+v 0.19741619 -0.32293436 -0.05989319
+v 0.26434139 -0.34778011 0.00927176
+v 0.24655372 -0.33238875 -0.02949539
+v 0.18964721 -0.40358557 -0.02964922
+v 0.24607809 -0.37459270 0.00574607
+v 0.18767043 -0.42963368 -0.00381040
+v 0.16430859 -0.45041370 0.00349569
+v 0.16992429 -0.33919533 -0.06232069
+v 0.19874579 -0.30892486 -0.06154646
+v 0.21792965 -0.37465665 -0.02913604
+v 0.26002283 -0.34509357 -0.00475019
+v 0.17796712 -0.39214175 -0.04401442
+v 0.17463749 -0.43008011 -0.01623678
+f 1 2 3
+f 2 1 4
+f 6 3 2
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+f 13 6 2
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..132dc9c4c9fc0df5d128758b95baf8801331861d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.02270134 0.35289898 0.02295662
+v 0.02250945 0.35790410 0.03591200
+v -0.02658444 0.35286101 0.02294558
+v -0.01419057 0.49586556 0.06185609
+v 0.01861006 0.48779116 0.05564501
+v -0.01858313 0.40681845 0.05500452
+v 0.02078151 0.41785458 0.05250812
+v 0.01312649 0.48779116 0.04670744
+v -0.01956189 0.36087261 0.04201308
+v -0.02497022 0.46169635 0.05502275
+v 0.01342432 0.40676405 0.05541248
+v 0.01723913 0.48779103 0.05076998
+v -0.00846632 0.41253683 0.03191453
+v -0.02639812 0.35786592 0.03590102
+v -0.01703323 0.48779116 0.04670744
+v 0.01981868 0.37544614 0.04281076
+v 0.01504813 0.36086179 0.04212470
+v 0.00990953 0.49584469 0.06220891
+v -0.02535745 0.38998427 0.04502329
+v -0.01695883 0.49601988 0.05204337
+v -0.02350273 0.46092097 0.04918607
+v 0.01305209 0.49601988 0.05204337
+f 7 2 1
+f 7 1 5
+f 10 6 4
+f 11 6 9
+f 12 5 1
+f 12 1 8
+f 13 8 1
+f 13 1 3
+f 14 1 2
+f 14 3 1
+f 14 10 3
+f 14 9 6
+f 15 8 13
+f 15 13 3
+f 16 2 7
+f 16 7 11
+f 17 11 9
+f 17 16 11
+f 17 2 16
+f 17 14 2
+f 17 9 14
+f 18 4 6
+f 18 6 11
+f 18 11 7
+f 18 7 5
+f 19 14 6
+f 19 6 10
+f 19 10 14
+f 20 10 4
+f 20 8 15
+f 21 15 3
+f 21 3 10
+f 21 20 15
+f 21 10 20
+f 22 18 5
+f 22 5 12
+f 22 12 8
+f 22 8 20
+f 22 20 4
+f 22 4 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c04db198258425fc0a07dfa5b93dfb4112a6817
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_12.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.21335164 -0.39212677 -0.00678000
+v -0.20105316 -0.38061201 -0.03766532
+v -0.20793951 -0.26534621 -0.05541707
+v -0.29650875 -0.26477952 0.01074488
+v -0.25040474 -0.36038940 -0.00490457
+v -0.22786306 -0.39088896 0.00861940
+v -0.27066905 -0.26228936 -0.03311038
+v -0.26507540 -0.34650840 0.00927168
+v -0.23821420 -0.37601619 -0.00644698
+v -0.21663996 -0.29290427 -0.05911471
+v -0.25248702 -0.31882020 -0.03070796
+v -0.28273250 -0.26156993 -0.01994048
+v -0.24312794 -0.37953812 0.00927168
+v -0.21122810 -0.37723993 -0.03283817
+v -0.21966684 -0.26439234 -0.06102217
+v -0.20437852 -0.29425099 -0.06186936
+v -0.27954539 -0.30361828 -0.00527633
+v -0.22653536 -0.33408857 -0.04391404
+v -0.26808898 -0.27579095 -0.03193105
+v -0.26470247 -0.34630913 0.00591787
+v -0.23758373 -0.34668757 -0.02981670
+v -0.24118803 -0.30541387 -0.04437274
+v -0.20600755 -0.26488867 -0.06281342
+v -0.20206413 -0.35184968 -0.05058751
+v -0.26529664 -0.31775941 -0.01727162
+v -0.28458362 -0.30551521 0.00927168
+v -0.28063897 -0.27500126 -0.01810988
+v -0.21299501 -0.34935695 -0.04587661
+v -0.25087864 -0.34553261 -0.01686597
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 9 1 6
+f 12 4 3
+f 13 6 4
+f 13 4 8
+f 13 9 6
+f 13 5 9
+f 14 2 1
+f 14 1 9
+f 15 7 12
+f 16 10 15
+f 19 12 7
+f 20 13 8
+f 20 5 13
+f 21 14 9
+f 21 11 18
+f 22 15 10
+f 22 7 15
+f 22 19 7
+f 22 10 18
+f 22 18 11
+f 22 11 19
+f 23 15 12
+f 23 12 3
+f 23 16 15
+f 23 3 2
+f 23 2 16
+f 24 16 2
+f 24 10 16
+f 24 18 10
+f 25 20 17
+f 25 19 11
+f 26 8 4
+f 26 4 17
+f 26 20 8
+f 26 17 20
+f 27 17 4
+f 27 4 12
+f 27 25 17
+f 27 12 19
+f 27 19 25
+f 28 2 14
+f 28 21 18
+f 28 14 21
+f 28 24 2
+f 28 18 24
+f 29 21 9
+f 29 9 5
+f 29 5 20
+f 29 20 25
+f 29 25 11
+f 29 11 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fdd9f8b5dcd01b1a25e75caee6353043d29fcd8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_13.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08003357 0.03615496 -0.05683140
+v 0.08339036 0.04507095 -0.04380898
+v -0.07305886 0.04521311 -0.04553122
+v -0.07083005 0.09854472 -0.01659184
+v 0.05038689 0.09865605 -0.01663760
+v -0.07472888 0.06586634 -0.03104553
+v -0.06807170 0.05909593 -0.04676087
+v -0.07039482 0.03643656 -0.05778923
+v 0.07902015 0.04755351 -0.05154530
+v 0.05189501 0.07736724 -0.02538885
+v 0.04822515 0.08442847 -0.03056948
+v 0.08183709 0.05683391 -0.03654395
+v 0.04904213 0.06007600 -0.04880559
+v -0.05377460 0.08402166 -0.03016132
+f 6 3 2
+f 8 1 2
+f 8 2 3
+f 8 3 6
+f 8 6 4
+f 8 4 7
+f 9 2 1
+f 10 5 4
+f 10 4 6
+f 11 4 5
+f 11 5 9
+f 12 9 5
+f 12 2 9
+f 12 5 10
+f 12 10 6
+f 12 6 2
+f 13 8 7
+f 13 11 9
+f 13 9 1
+f 13 1 8
+f 14 7 4
+f 14 4 11
+f 14 13 7
+f 14 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ae6a122598047d72a35d78ee535b67a43609d19
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_14.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.08439670 -0.48719451 0.01074492
+v -0.08236641 -0.48050578 -0.00944811
+v -0.08633099 -0.40241630 -0.05431099
+v -0.24312794 -0.37953812 0.00927168
+v -0.15199017 -0.45902137 0.00591779
+v -0.11119626 -0.47890254 0.00927176
+v -0.13976958 -0.42085409 -0.04391414
+v -0.10929944 -0.47386410 -0.00527654
+v -0.19372793 -0.43055512 0.00927168
+v -0.08316956 -0.43932964 -0.04903142
+v -0.18534294 -0.37966194 -0.04690786
+v -0.15121371 -0.44519748 -0.01686602
+v -0.15218950 -0.45939434 0.00927176
+v -0.23623614 -0.38804687 0.00927168
+v -0.13121921 -0.38605667 -0.06035703
+v -0.12344055 -0.45961566 -0.01727140
+v -0.16607049 -0.44472360 -0.00490469
+v -0.15236872 -0.43190254 -0.02981673
+v -0.19352655 -0.43030944 0.00621780
+v -0.20759075 -0.40190974 -0.01616212
+v -0.08597111 -0.40148135 -0.06167594
+v -0.11109485 -0.43550682 -0.04437285
+v -0.18223877 -0.39104175 -0.04249891
+v -0.12450139 -0.44680586 -0.03070804
+v -0.24202255 -0.37874587 0.00324590
+v -0.08385299 -0.45510020 -0.03784607
+v -0.23599073 -0.38784552 0.00621827
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 6 5
+f 8 2 6
+f 10 3 2
+f 13 6 1
+f 13 1 9
+f 13 5 6
+f 14 9 1
+f 14 1 4
+f 15 4 3
+f 15 7 11
+f 16 8 5
+f 16 5 12
+f 16 2 8
+f 17 12 5
+f 19 13 9
+f 19 5 13
+f 19 17 5
+f 20 17 19
+f 20 18 12
+f 20 12 17
+f 21 15 3
+f 21 3 10
+f 21 10 15
+f 22 15 10
+f 22 7 15
+f 23 11 7
+f 23 7 18
+f 23 20 11
+f 23 18 20
+f 24 16 12
+f 24 12 18
+f 24 18 7
+f 24 7 22
+f 25 11 20
+f 25 15 11
+f 25 4 15
+f 26 2 16
+f 26 16 24
+f 26 10 2
+f 26 24 22
+f 26 22 10
+f 27 14 4
+f 27 4 25
+f 27 19 9
+f 27 9 14
+f 27 25 20
+f 27 20 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb795509c8804a2cf8747456469920e9c5b0c025
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_15.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.15122808 -0.39283441 -0.04606819
+v -0.12958815 -0.38375686 -0.06102669
+v -0.13165858 -0.26525820 -0.05766554
+v -0.20793951 -0.26534621 -0.05541707
+v -0.20114632 -0.32197240 -0.05906904
+v -0.20796663 -0.38708493 -0.01737975
+v -0.13221838 -0.38745423 -0.05257465
+v -0.19672285 -0.37655763 -0.04249896
+v -0.13119219 -0.26503182 -0.06488816
+v -0.21560761 -0.36296213 -0.02829630
+v -0.18485883 -0.39487152 -0.02913667
+v -0.14411707 -0.38290442 -0.05918506
+v -0.20600755 -0.26488867 -0.06281342
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 9 3 2
+f 10 6 4
+f 10 8 6
+f 10 5 8
+f 11 7 6
+f 11 1 7
+f 11 8 1
+f 11 6 8
+f 12 8 5
+f 12 5 2
+f 12 2 1
+f 12 1 8
+f 13 9 2
+f 13 2 5
+f 13 4 3
+f 13 3 9
+f 13 10 4
+f 13 5 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67a294c04e307a628ca6f0bdfa51411fa01703cb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_16.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.11500048 -0.47098484 0.00673007
+v 0.17773231 -0.42415072 -0.00758551
+v 0.06636003 -0.45052795 -0.03614769
+v 0.17291796 -0.41828313 -0.01825074
+v 0.16188960 -0.44652520 -0.00610446
+v 0.08289170 -0.43768581 -0.04156855
+v 0.17601791 -0.43799360 0.00828199
+v 0.09511168 -0.46020250 -0.02968192
+v 0.06667669 -0.46703855 -0.02073889
+v 0.16498073 -0.45149416 0.00927176
+v 0.06604559 -0.46432974 -0.03410381
+v 0.14724798 -0.42624636 -0.02727424
+v 0.08370890 -0.47209135 -0.00806190
+v 0.09761914 -0.43655943 -0.03871353
+f 5 4 2
+f 6 2 4
+f 7 6 3
+f 7 2 6
+f 7 5 2
+f 8 5 1
+f 9 7 3
+f 9 1 7
+f 10 7 1
+f 10 1 5
+f 10 5 7
+f 11 3 6
+f 11 6 8
+f 11 9 3
+f 12 6 4
+f 12 4 5
+f 12 5 8
+f 13 11 8
+f 13 8 1
+f 13 1 9
+f 13 9 11
+f 14 12 8
+f 14 8 6
+f 14 6 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02e775858431fbdb594b2b4ac06244f7eaa6b62b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_17.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.29121699 -0.26707666 0.00763674
+v -0.24668196 -0.26333971 -0.05061097
+v -0.26325706 -0.26837092 -0.02851743
+v -0.24559535 -0.01263277 0.00937502
+v -0.28158964 -0.11864954 -0.01884659
+v -0.29504917 -0.24699587 -0.00605532
+v -0.29584535 -0.11769285 0.00927176
+v -0.24528162 -0.11587318 -0.04973311
+v -0.28273250 -0.26156993 -0.01994048
+v -0.29802211 -0.26160210 0.00927168
+v -0.28103299 -0.07591496 0.00523330
+v -0.29569414 -0.14683710 -0.00642534
+v -0.24460271 -0.04288538 -0.02364839
+v -0.25595470 -0.26239118 -0.04495768
+v -0.29711658 -0.26139120 0.00447259
+v -0.28163693 -0.07564144 0.00927176
+v -0.28086980 -0.08982240 -0.00607684
+v -0.25352720 -0.07464789 -0.03180070
+v -0.24425781 -0.01359142 0.00228136
+v -0.25525279 -0.11744557 -0.04363135
+v -0.25049655 -0.01997973 0.00612777
+v -0.29517822 -0.11784832 0.00517056
+v -0.25241300 -0.04745227 -0.01820578
+v -0.24531990 -0.07209860 -0.03777764
+v -0.26658250 -0.07559751 -0.01831805
+v -0.26676662 -0.10376429 -0.03049635
+v -0.25078041 -0.01977627 0.00927176
+f 1 3 4
+f 3 2 4
+f 9 3 1
+f 10 1 4
+f 10 4 7
+f 12 10 7
+f 12 9 6
+f 14 2 3
+f 14 3 9
+f 14 8 2
+f 14 9 12
+f 15 9 1
+f 15 1 10
+f 15 6 9
+f 15 12 6
+f 15 10 12
+f 16 11 7
+f 16 7 4
+f 19 4 2
+f 19 2 8
+f 19 8 13
+f 20 8 14
+f 20 14 12
+f 20 12 5
+f 21 11 16
+f 21 4 19
+f 22 7 11
+f 22 11 17
+f 22 12 7
+f 22 17 5
+f 22 5 12
+f 23 13 18
+f 23 11 21
+f 23 21 19
+f 23 19 13
+f 24 18 13
+f 24 13 8
+f 24 8 20
+f 25 5 17
+f 25 23 18
+f 25 17 11
+f 25 11 23
+f 26 20 5
+f 26 24 20
+f 26 18 24
+f 26 25 18
+f 26 5 25
+f 27 21 16
+f 27 16 4
+f 27 4 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bfec469f3bb656d90ad6a99fa57c2586c8f3e14
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.16663188 -0.44004993 -0.01097611
+v 0.17689313 -0.40797638 -0.02447930
+v 0.09599010 -0.34112807 -0.05718969
+v 0.17250631 -0.34179725 -0.05439895
+v 0.09261695 -0.43842476 -0.04746643
+v 0.16304795 -0.40625385 -0.04313643
+v 0.09855915 -0.45420765 -0.02388315
+v 0.09495916 -0.39958839 -0.06142144
+v 0.16280411 -0.43470951 -0.02045975
+v 0.16855388 -0.35310128 -0.06074966
+v 0.09564138 -0.34063683 -0.06442031
+v 0.12336052 -0.39704503 -0.05915730
+v 0.11948228 -0.43451409 -0.04249891
+v 0.16992429 -0.33919533 -0.06232069
+v 0.14783932 -0.43314390 -0.03121552
+f 1 2 3
+f 3 2 4
+f 7 1 3
+f 7 3 5
+f 9 6 2
+f 9 2 1
+f 10 2 6
+f 11 8 5
+f 11 5 3
+f 12 5 8
+f 12 10 6
+f 12 8 10
+f 13 12 6
+f 13 5 12
+f 13 7 5
+f 14 4 2
+f 14 2 10
+f 14 10 8
+f 14 8 11
+f 14 11 3
+f 14 3 4
+f 15 13 6
+f 15 6 9
+f 15 9 1
+f 15 1 7
+f 15 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f8288da48fa44615c9f1f4578cdebfb3c738d4d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.21564494 -0.08408027 -0.05744847
+v 0.22360556 -0.07982878 -0.04511848
+v 0.09601265 -0.08314266 -0.05783681
+v 0.09613430 -0.00700955 -0.05586305
+v 0.21471374 -0.00948951 -0.02875679
+v 0.09535217 -0.00848274 -0.06320091
+v 0.09563988 -0.08354070 -0.06506137
+v 0.16770823 -0.02637990 -0.05916000
+v 0.16117765 -0.00180176 -0.04517582
+v 0.19990635 -0.08438673 -0.06120578
+v 0.20770731 -0.03038973 -0.04507652
+v 0.13911029 -0.01061681 -0.06073019
+v 0.18187179 -0.04189690 -0.05914581
+v 0.19347883 -0.01545526 -0.04584643
+v 0.19847728 -0.07031214 -0.05992674
+v 0.20921104 -0.01400442 -0.03579948
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 7 3 6
+f 9 6 4
+f 9 4 5
+f 10 1 3
+f 10 3 7
+f 10 7 6
+f 11 5 1
+f 12 6 9
+f 12 10 6
+f 13 11 1
+f 13 12 8
+f 13 10 12
+f 14 8 12
+f 14 12 9
+f 14 9 5
+f 14 13 8
+f 14 11 13
+f 15 13 1
+f 15 1 10
+f 15 10 13
+f 16 14 5
+f 16 5 11
+f 16 11 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0856c2de9d31ffcadf55d52a423b47007b42713
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_2.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.26893430 -0.32919490 0.00850285
+v 0.28962979 -0.28989204 0.00537714
+v 0.30102688 -0.14508254 0.01022309
+v 0.21853755 -0.12835026 -0.05381866
+v 0.21385535 -0.32377259 -0.05397808
+v 0.29297141 -0.14141183 0.00414196
+v 0.29021583 -0.29006984 0.00927176
+v 0.27405613 -0.31726553 -0.00485248
+v 0.22201442 -0.32884822 -0.03980887
+v 0.27759539 -0.23233925 -0.03204687
+v 0.28920349 -0.27461107 -0.00540924
+v 0.27874171 -0.31938795 0.00927176
+v 0.23565906 -0.31951171 -0.04343689
+v 0.22841521 -0.14479873 -0.05995808
+v 0.29060293 -0.21798601 -0.01871574
+v 0.22729232 -0.26368884 -0.05914982
+v 0.27606185 -0.28915134 -0.01837993
+v 0.21509535 -0.14436540 -0.06213229
+v 0.24276028 -0.12985701 -0.05338408
+v 0.24971551 -0.29064097 -0.04286826
+v 0.21452111 -0.26451313 -0.06183138
+v 0.25237265 -0.12761750 -0.03884173
+v 0.27676945 -0.14658493 -0.03124592
+v 0.21696948 -0.12881042 -0.06136090
+v 0.23987612 -0.12645709 -0.04618261
+v 0.29430303 -0.14619194 -0.00866669
+v 0.29087911 -0.17525399 -0.01895413
+f 6 1 3
+f 6 4 1
+f 9 1 4
+f 9 4 5
+f 11 7 2
+f 11 3 7
+f 11 2 8
+f 12 7 3
+f 12 3 1
+f 12 1 8
+f 12 8 2
+f 12 2 7
+f 13 8 1
+f 13 1 9
+f 13 9 5
+f 15 11 10
+f 15 3 11
+f 17 11 8
+f 17 8 13
+f 17 10 11
+f 18 5 4
+f 19 16 14
+f 19 10 16
+f 20 13 5
+f 20 5 16
+f 20 16 10
+f 20 17 13
+f 20 10 17
+f 21 16 5
+f 21 5 18
+f 21 18 14
+f 21 14 16
+f 23 10 19
+f 23 19 22
+f 24 18 4
+f 24 19 14
+f 24 14 18
+f 25 4 6
+f 25 6 22
+f 25 24 4
+f 25 22 19
+f 25 19 24
+f 26 22 6
+f 26 6 3
+f 26 23 22
+f 27 15 10
+f 27 10 23
+f 27 23 26
+f 27 26 3
+f 27 3 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4453b7b9d8baf0fedcba21c26b16a5230da5ee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.07098624 -0.00721741 -0.05646034
+v -0.07060989 -0.00809158 -0.06370831
+v -0.06807170 0.05909593 -0.04676087
+v -0.07083005 0.09854472 -0.01659184
+v -0.13572195 0.01446113 -0.04633583
+v -0.06942863 0.09070965 -0.02202451
+v -0.13020430 -0.00930127 -0.06141285
+v -0.12740532 0.07583455 -0.01078419
+v -0.13230428 -0.00636723 -0.05346884
+v -0.12519648 0.04142144 -0.04343010
+v -0.06997778 0.02057936 -0.06162721
+v -0.10999059 0.08634952 -0.00904138
+v -0.13594011 0.04630382 -0.02562068
+v -0.12926707 0.00408762 -0.05927500
+v -0.10912671 0.06811227 -0.02903632
+v -0.12434528 0.07004074 -0.01988056
+v -0.09942138 0.01895491 -0.05964322
+v -0.09637013 0.05562112 -0.04282126
+v -0.10780271 0.08207430 -0.01615595
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 9 7 1
+f 9 5 7
+f 11 3 2
+f 11 2 7
+f 12 8 1
+f 12 1 4
+f 13 5 9
+f 13 10 5
+f 13 9 1
+f 13 1 8
+f 14 7 5
+f 14 5 10
+f 16 13 8
+f 16 10 13
+f 16 15 10
+f 17 11 7
+f 17 7 14
+f 17 3 11
+f 17 14 10
+f 18 15 4
+f 18 4 3
+f 18 10 15
+f 18 17 10
+f 18 3 17
+f 19 16 8
+f 19 8 12
+f 19 12 4
+f 19 4 15
+f 19 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fbf74710f4062c612c5e85919f8757dd6b08c21
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_21.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.24322703 -0.01053030 0.01074492
+v 0.23746811 -0.01465799 -0.00961679
+v 0.17413565 0.05096088 -0.00439650
+v 0.12088661 0.08835510 0.00941379
+v 0.12669454 -0.00679627 -0.05418462
+v 0.16049756 0.06607009 0.00927168
+v 0.23670277 -0.00115959 0.00927168
+v 0.17886364 -0.00083998 -0.04584644
+v 0.12028769 0.08761890 0.00259970
+v 0.23241398 -0.00467851 -0.00556645
+v 0.16021491 0.06575870 0.00568378
+v 0.18154848 -0.01277020 -0.05028964
+v 0.12114105 0.05756170 -0.03320004
+v 0.11993624 0.07121464 -0.02100678
+v 0.20543999 -0.00329073 -0.03158245
+v 0.13228056 0.06770519 -0.01759462
+v 0.13234990 0.08188014 0.00468070
+v 0.12610590 -0.00761936 -0.06154931
+v 0.16093393 0.03833296 -0.02925298
+v 0.20921104 -0.01400442 -0.03579948
+v 0.13339928 0.05385528 -0.03071531
+v 0.13287065 0.08219515 0.00929479
+v 0.12264078 0.03133465 -0.05015737
+v 0.16069572 0.05137597 -0.01643090
+v 0.14877124 0.02719600 -0.04354209
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 7 1 2
+f 7 6 1
+f 10 7 2
+f 10 3 7
+f 11 7 3
+f 11 6 7
+f 14 5 4
+f 14 4 9
+f 15 3 10
+f 15 10 2
+f 16 14 9
+f 17 9 4
+f 17 16 9
+f 18 12 2
+f 18 2 5
+f 18 5 14
+f 19 15 8
+f 20 12 8
+f 20 8 15
+f 20 15 2
+f 20 2 12
+f 21 13 14
+f 21 14 16
+f 22 17 4
+f 22 4 6
+f 22 6 11
+f 22 11 17
+f 23 18 14
+f 23 14 13
+f 23 12 18
+f 24 3 15
+f 24 15 19
+f 24 16 17
+f 24 17 11
+f 24 11 3
+f 24 21 16
+f 24 19 21
+f 25 8 12
+f 25 12 23
+f 25 19 8
+f 25 21 19
+f 25 23 13
+f 25 13 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e74102138dfa391a5c596f31d691799f127cc21
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_22.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.09580288 -0.44688686 -0.03154754
+v 0.09906199 -0.42379291 -0.04581813
+v -0.08633099 -0.40241630 -0.05431099
+v -0.08525587 -0.39962279 -0.06194237
+v 0.01964532 -0.42779296 -0.05986038
+v 0.09644967 -0.40287302 -0.05348430
+v 0.09261695 -0.43842476 -0.04746643
+v -0.08645810 -0.44822861 -0.03330189
+v 0.07996174 -0.39964204 -0.06219265
+v 0.09578963 -0.40141728 -0.06115031
+v -0.08869046 -0.42385482 -0.04787294
+v -0.08316956 -0.43932964 -0.04903142
+v 0.07931723 -0.41306784 -0.06019166
+v -0.08459350 -0.41298018 -0.05978823
+v -0.02497009 -0.42776539 -0.05974799
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 8 1 3
+f 8 7 1
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 6 2
+f 10 2 7
+f 10 9 6
+f 11 8 3
+f 11 3 4
+f 12 5 7
+f 12 7 8
+f 12 8 11
+f 13 10 7
+f 13 7 5
+f 13 5 9
+f 13 9 10
+f 14 12 11
+f 14 11 4
+f 15 14 4
+f 15 4 5
+f 15 5 12
+f 15 12 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f165269d4187238aa973217ee3a3586dabfea9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.14994110 -0.45167408 -0.00953389
+v 0.15497677 -0.44461736 -0.01469713
+v -0.08650739 -0.46384511 -0.01800738
+v -0.06902081 -0.44100088 -0.05061092
+v 0.07687333 -0.44957173 -0.04363134
+v -0.08934831 -0.45590520 -0.02561677
+v 0.11967093 -0.44784610 -0.03180068
+v -0.08385299 -0.45510020 -0.03784607
+v 0.15143346 -0.43892148 -0.02364843
+v -0.06807229 -0.45027346 -0.04495778
+v -0.08543614 -0.44551422 -0.04462320
+v 0.14686666 -0.44673185 -0.01820562
+v 0.12222026 -0.43963873 -0.03777760
+v 0.07844568 -0.43960051 -0.04973313
+f 1 2 3
+f 5 1 3
+f 6 3 2
+f 7 1 5
+f 8 5 3
+f 8 3 6
+f 9 6 2
+f 9 4 6
+f 10 5 8
+f 11 8 6
+f 11 6 4
+f 11 10 8
+f 11 4 10
+f 12 9 2
+f 12 2 1
+f 12 1 7
+f 12 7 9
+f 13 9 7
+f 13 7 5
+f 14 10 4
+f 14 5 10
+f 14 13 5
+f 14 4 9
+f 14 9 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..229157eb98646164c5d25630fedd23d35be6b663
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.21738686 -0.31078807 -0.04761115
+v 0.21063916 -0.30720400 -0.05877198
+v 0.21564494 -0.08408027 -0.05744847
+v 0.17191586 -0.08312720 -0.05626593
+v 0.17197414 -0.31091782 -0.05641852
+v 0.17110805 -0.08364107 -0.06350493
+v 0.21779002 -0.08293591 -0.04857701
+v 0.17133759 -0.31036884 -0.06368609
+v 0.21343862 -0.10008245 -0.06008870
+v 0.19990635 -0.08438673 -0.06120578
+f 1 2 3
+f 5 1 4
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 9 3 2
+f 9 2 8
+f 10 6 3
+f 10 3 9
+f 10 9 8
+f 10 8 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9919fa3972dce4beceb7f52be4ae4511b66bb51
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.08084395 -0.00723602 -0.05630091
+v 0.08044153 -0.00807848 -0.06354023
+v 0.08085075 0.03832555 -0.04780365
+v -0.07112942 0.03885663 -0.04895430
+v -0.07098624 -0.00721741 -0.05646034
+v 0.04930949 0.03366560 -0.06034111
+v -0.07060989 -0.00809158 -0.06370831
+v 0.08003357 0.03615496 -0.05683140
+v -0.06929275 0.03286751 -0.05915199
+v 0.07982047 0.02048808 -0.06111210
+v 0.06420028 0.03354698 -0.05936822
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 4
+f 8 3 2
+f 8 4 3
+f 9 7 4
+f 9 6 7
+f 9 8 6
+f 9 4 8
+f 10 8 2
+f 10 2 6
+f 11 10 6
+f 11 6 8
+f 11 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91adab0648deae3506b1e9016c2c9685ec9911a1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_26.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.03075163 0.15754400 0.00513927
+v 0.00951097 0.20958080 -0.02288205
+v 0.00517552 0.27837516 0.02046802
+v -0.03248332 0.27993417 0.01116282
+v -0.05021268 0.15790211 -0.01945138
+v 0.00411805 0.27773502 -0.00786718
+v -0.05986930 0.15441810 0.00492486
+v 0.00652433 0.20611801 0.00554476
+v -0.03378030 0.16040274 -0.01980932
+v -0.02757880 0.27529451 -0.00247198
+v -0.05925731 0.15521054 -0.01126628
+v -0.00844254 0.25966661 -0.01321910
+v -0.04128055 0.19973867 -0.01633285
+v 0.00315568 0.25968522 -0.01335065
+v -0.03838590 0.22999943 -0.00737342
+v -0.03111963 0.23090747 -0.01477908
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 5 2
+f 9 2 1
+f 10 4 6
+f 11 1 7
+f 11 9 1
+f 11 5 9
+f 11 7 4
+f 11 4 10
+f 12 10 6
+f 13 5 11
+f 14 12 6
+f 14 6 2
+f 14 2 12
+f 15 13 11
+f 15 11 10
+f 15 10 13
+f 16 13 10
+f 16 10 12
+f 16 12 2
+f 16 2 5
+f 16 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f5f7161182a2313803a5fd474a11c5689a34cc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17184566 -0.14387136 -0.05711467
+v 0.17127189 -0.14402467 -0.06434203
+v 0.17164613 -0.08329865 -0.06347803
+v 0.09601265 -0.08314266 -0.05783681
+v 0.09552077 -0.14409601 -0.06614094
+v 0.17191586 -0.08312720 -0.05626593
+v 0.09617998 -0.14376602 -0.05890541
+v 0.09563988 -0.08354070 -0.06506137
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eb292a6fe6bb953c199bd5fab3a9cf62e9b1957
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_28.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.07662607 -0.49016433 0.00927176
+v 0.15304827 -0.45666878 0.00171622
+v -0.08439670 -0.48719451 0.01074492
+v -0.08385299 -0.45510020 -0.03784607
+v 0.09256278 -0.45343239 -0.03672246
+v -0.09068655 -0.47761333 0.00372879
+v -0.05267690 -0.48936809 -0.00605536
+v 0.15365902 -0.45765056 0.01074492
+v 0.10449651 -0.47518869 -0.00607688
+v 0.12250854 -0.45411059 -0.02422564
+v -0.08068237 -0.47495786 -0.01810980
+v -0.06728324 -0.49234101 0.00927176
+v 0.04748177 -0.49001308 -0.00642543
+v 0.11867743 -0.47595582 0.00927176
+v 0.07566940 -0.47590865 -0.01884652
+v 0.11872140 -0.46090142 -0.01831797
+v -0.08147207 -0.46240780 -0.03193113
+v -0.06707219 -0.49143554 0.00447271
+v 0.07647056 -0.48949725 0.00517058
+v 0.14806524 -0.46159776 0.00927176
+v 0.11840394 -0.47535190 0.00523330
+v 0.09055461 -0.46108547 -0.03049645
+v 0.14773700 -0.46098338 0.00513760
+f 8 3 1
+f 8 6 3
+f 8 4 6
+f 10 5 4
+f 10 8 2
+f 10 4 8
+f 11 6 4
+f 11 3 6
+f 12 1 3
+f 13 1 12
+f 14 8 1
+f 16 10 2
+f 16 2 9
+f 16 9 15
+f 17 11 4
+f 17 7 11
+f 17 13 7
+f 17 15 13
+f 17 4 5
+f 17 5 15
+f 18 11 7
+f 18 13 12
+f 18 7 13
+f 18 12 3
+f 18 3 11
+f 19 1 13
+f 19 15 9
+f 19 13 15
+f 20 2 8
+f 20 8 14
+f 21 9 2
+f 21 20 14
+f 21 19 9
+f 21 14 1
+f 21 1 19
+f 22 16 15
+f 22 15 5
+f 22 5 10
+f 22 10 16
+f 23 21 2
+f 23 2 20
+f 23 20 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecee23619d84b317f38bd47de23a74eb623f36c1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09617998 -0.14376602 -0.05890541
+v 0.09552077 -0.14409601 -0.06614094
+v 0.09613430 -0.00700955 -0.05586305
+v 0.00492517 -0.00740333 -0.05689812
+v 0.00497231 -0.14342545 -0.06081272
+v 0.09535217 -0.00848274 -0.06320091
+v 0.00489478 -0.14427122 -0.06805799
+v 0.00492642 -0.00779896 -0.06411586
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 4
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..132b4a40729e6be6bf222dabd4a3b447ece411e6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_3.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.09644967 -0.40287302 -0.05348430
+v 0.17250631 -0.34179725 -0.05439895
+v -0.13172718 -0.40197893 -0.04794918
+v -0.13165858 -0.26525820 -0.05766554
+v 0.09556377 -0.26493521 -0.06571432
+v 0.17175085 -0.26522482 -0.05693002
+v 0.09495916 -0.39958839 -0.06142144
+v 0.16992429 -0.33919533 -0.06232069
+v -0.13050594 -0.40001580 -0.05693665
+v 0.17138871 -0.26505826 -0.06414756
+v -0.13119219 -0.26503182 -0.06488816
+v -0.12958815 -0.38375686 -0.06102669
+v -0.11443138 -0.39803056 -0.06000282
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 8 7 5
+f 8 2 7
+f 9 7 1
+f 9 1 3
+f 10 6 2
+f 10 2 8
+f 10 8 5
+f 10 5 6
+f 11 9 3
+f 11 3 4
+f 11 4 5
+f 11 5 7
+f 12 11 7
+f 12 9 11
+f 13 12 7
+f 13 7 9
+f 13 9 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8be1a5b3acd2bff4666c44c158d574bab33bc3aa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.17175085 -0.26522482 -0.05693002
+v 0.17138871 -0.26505826 -0.06414756
+v 0.17184566 -0.14387136 -0.05711467
+v 0.00497231 -0.14342545 -0.06081272
+v 0.00497716 -0.26562717 -0.06017541
+v 0.17127189 -0.14402467 -0.06434203
+v 0.00487722 -0.24966939 -0.06797482
+v 0.00488719 -0.26480700 -0.06741969
+v 0.00489478 -0.14427122 -0.06805799
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 6 2
+f 8 7 2
+f 8 2 5
+f 8 5 7
+f 9 7 4
+f 9 4 6
+f 9 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ba71de6685a01d643848a03ef1cccc01050b281
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00497716 -0.26562717 -0.06017541
+v 0.00488719 -0.26480700 -0.06741969
+v 0.00492517 -0.00740333 -0.05689812
+v -0.14750966 -0.00645376 -0.05099558
+v -0.14664281 -0.26517873 -0.06457303
+v 0.00492642 -0.00779896 -0.06411586
+v -0.14680250 -0.26526115 -0.05735720
+v -0.14413836 -0.01057938 -0.06000727
+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 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c88431edf5012eaebaba123ce308276dde6ca33c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.22378652 -0.26558073 -0.05246437
+v -0.22196495 -0.26504355 -0.06041334
+v -0.21623494 -0.05683302 -0.05052932
+v -0.24838377 -0.04625919 -0.00960958
+v -0.25561435 -0.26605107 -0.03546171
+v -0.23192750 -0.04707085 -0.02727425
+v -0.24428070 -0.26720993 -0.04286224
+v -0.25578369 -0.05135643 -0.00350003
+v -0.23356908 -0.17462962 -0.05981037
+v -0.24242720 -0.05849262 -0.03421945
+v -0.24668196 -0.26333971 -0.05061097
+v -0.22032653 -0.17443691 -0.06209033
+v -0.24019526 -0.07483656 -0.04249891
+v -0.23337995 -0.21929582 -0.05978926
+v -0.22022726 -0.21950797 -0.06215366
+v -0.22734126 -0.05934949 -0.04523968
+v -0.26022854 -0.06413314 -0.00688279
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 10 6 3
+f 10 4 6
+f 10 8 4
+f 11 7 5
+f 11 2 7
+f 12 9 3
+f 13 3 9
+f 13 9 11
+f 14 11 9
+f 14 2 11
+f 15 12 3
+f 15 3 2
+f 15 2 14
+f 15 14 9
+f 15 9 12
+f 16 13 10
+f 16 10 3
+f 16 3 13
+f 17 13 11
+f 17 11 5
+f 17 5 8
+f 17 8 10
+f 17 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..625c0132c4736d6def544f4a7ed246deec1c9112
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_5.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.10884074 0.09426468 0.00969220
+v 0.10834335 0.09337851 0.00148352
+v 0.02870078 0.27994822 0.01162771
+v 0.00517552 0.27837516 0.02046802
+v 0.00486880 0.11133650 0.01074492
+v 0.04954019 0.09168133 -0.02399744
+v 0.05105563 0.10272254 0.00871174
+v 0.02510778 0.24389741 -0.01266775
+v 0.02229344 0.27558479 -0.00377419
+v 0.07691843 0.09236588 -0.02005226
+v 0.00497097 0.11705875 -0.01932077
+v 0.00411805 0.27773502 -0.00786718
+v 0.03404643 0.21339366 -0.01542917
+v 0.00362627 0.24602796 -0.01714862
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 7 6 1
+f 7 1 5
+f 7 5 6
+f 9 3 2
+f 9 2 8
+f 10 2 6
+f 11 6 5
+f 12 4 3
+f 12 3 9
+f 12 9 8
+f 13 8 2
+f 13 2 10
+f 14 12 8
+f 14 11 5
+f 14 5 4
+f 14 4 12
+f 14 8 13
+f 14 6 11
+f 14 13 10
+f 14 10 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5756d4c1a96831f56552329c5a38f50cddd57ca
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_6.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05058500 0.08457875 -0.01755373
+v 0.04954019 0.09168133 -0.02399744
+v 0.05023176 0.11021798 0.00976596
+v -0.05986930 0.15441810 0.00492486
+v -0.13259920 0.05520244 -0.01856353
+v -0.03378030 0.16040274 -0.01980932
+v 0.05030707 0.11496624 -0.01832728
+v -0.10443043 0.06178146 -0.02542831
+v 0.05286546 0.09860349 0.00378614
+v -0.13489413 0.07461228 0.00822279
+v -0.02101659 0.14252693 0.00515084
+v -0.05605909 0.15439770 -0.01645284
+v -0.12507969 0.08619954 0.00937223
+v -0.13621197 0.06196432 -0.00787465
+v -0.12254119 0.08186392 -0.00568488
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 5 1
+f 9 7 3
+f 9 1 7
+f 10 9 3
+f 11 6 4
+f 11 4 3
+f 11 3 6
+f 12 4 6
+f 12 8 5
+f 12 6 8
+f 13 10 3
+f 13 3 4
+f 13 12 10
+f 13 4 12
+f 14 5 9
+f 14 9 10
+f 15 12 5
+f 15 5 14
+f 15 14 10
+f 15 10 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a2b1c9652184441d39ce4d203cc293469aaf12e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_7.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.14680250 -0.26526115 -0.05735720
+v -0.14633938 -0.26502178 -0.06458074
+v -0.14704126 -0.05257278 -0.05625114
+v -0.22460814 -0.05162414 -0.03492531
+v -0.22378652 -0.26558073 -0.05246437
+v -0.14619243 -0.05342716 -0.06350317
+v -0.21993152 -0.24946858 -0.06156427
+v -0.19828525 -0.04855739 -0.04786671
+v -0.21966684 -0.26439234 -0.06102217
+v -0.22947388 -0.09525696 -0.04581820
+v -0.21623494 -0.05683302 -0.05052932
+v -0.18880970 -0.05539051 -0.05983439
+v -0.21796764 -0.10045794 -0.05915839
+v -0.20274430 -0.07095712 -0.05915758
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 6 2
+f 8 4 3
+f 8 3 6
+f 9 7 2
+f 9 2 5
+f 9 5 7
+f 10 7 5
+f 10 5 4
+f 11 10 4
+f 11 4 8
+f 12 11 8
+f 12 8 6
+f 13 7 10
+f 13 10 11
+f 13 12 6
+f 13 6 7
+f 14 13 11
+f 14 11 12
+f 14 12 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b45bd3141e9342a4f00b0d6f7d0af208584ed37
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.03145090 0.25078811 0.00814504
+v 0.02458384 0.25261530 0.01272342
+v -0.02757880 0.27529451 -0.00247198
+v -0.02639812 0.35786592 0.03590102
+v 0.02250945 0.35790410 0.03591200
+v -0.02990044 0.25290053 0.01171822
+v 0.01611288 0.30044593 0.02523210
+v 0.02053439 0.28990785 -0.00031037
+v -0.03492003 0.25060125 0.00810288
+v 0.02054279 0.31443943 0.02712749
+v -0.02121689 0.30071512 0.02525294
+v 0.02270134 0.35289898 0.02295662
+v 0.02229344 0.27558479 -0.00377419
+v -0.02658444 0.35286101 0.02294558
+v -0.01904273 0.30472667 0.00251629
+v 0.01412905 0.35066545 0.01630107
+v 0.01390457 0.30482676 0.00212449
+v -0.01942292 0.35053694 0.01675176
+v 0.02027015 0.33558669 0.01506344
+v -0.02503395 0.28973773 0.00029336
+v -0.02493411 0.33534047 0.01571684
+f 5 2 1
+f 7 5 4
+f 9 6 4
+f 9 1 2
+f 9 2 6
+f 10 7 2
+f 10 2 5
+f 10 5 7
+f 11 6 2
+f 11 2 7
+f 11 7 4
+f 11 4 6
+f 12 5 1
+f 13 9 3
+f 13 1 9
+f 13 12 1
+f 14 9 4
+f 14 3 9
+f 15 13 3
+f 16 4 5
+f 16 5 12
+f 17 8 13
+f 17 13 15
+f 17 16 8
+f 17 15 16
+f 18 16 15
+f 18 14 4
+f 18 4 16
+f 19 16 12
+f 19 8 16
+f 19 13 8
+f 19 12 13
+f 20 18 15
+f 20 15 3
+f 20 3 14
+f 21 20 14
+f 21 14 18
+f 21 18 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3251096d76e4f8d686e0ed111d58834fd15c356f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/collision/model_normalized_collision_9.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.30102688 -0.14508254 0.01022309
+v 0.29430303 -0.14619194 -0.00866669
+v 0.27457759 -0.06128622 0.00567760
+v 0.22633269 0.00004383 0.00506960
+v 0.21853755 -0.12835026 -0.05381866
+v 0.24322703 -0.01053030 0.01074492
+v 0.29094184 -0.10364911 0.00489626
+v 0.24393657 -0.14473447 -0.05451631
+v 0.27503955 -0.06107689 0.00927176
+v 0.20921104 -0.01400442 -0.03579948
+v 0.28992004 -0.11783832 -0.00601924
+v 0.24898106 -0.01726595 0.00927173
+v 0.29168933 -0.10342234 0.00927176
+v 0.24503573 -0.02009372 -0.00433997
+v 0.21024160 -0.04275594 -0.04866959
+v 0.18853487 -0.00589821 -0.03466941
+v 0.27556581 -0.07599001 -0.00578977
+v 0.26153833 -0.08940011 -0.03032043
+v 0.21928682 -0.01816903 -0.03081584
+v 0.21696948 -0.12881042 -0.06136090
+v 0.19477943 -0.00005161 -0.02701289
+v 0.26084484 -0.06201030 -0.01751507
+v 0.25433819 -0.14528615 -0.04882648
+v 0.22149014 -0.04555338 -0.04354893
+v 0.19104597 -0.01869868 -0.03986946
+v 0.24519251 -0.03349443 -0.01653063
+v 0.25030801 -0.10307536 -0.04375251
+v 0.23248339 -0.03338226 -0.02929485
+f 5 1 4
+f 6 4 1
+f 8 2 1
+f 8 1 5
+f 9 6 1
+f 11 7 1
+f 11 1 2
+f 12 9 3
+f 12 6 9
+f 13 7 3
+f 13 3 9
+f 13 9 1
+f 13 1 7
+f 14 4 6
+f 14 6 12
+f 14 12 3
+f 16 5 4
+f 16 10 15
+f 17 3 7
+f 17 7 11
+f 18 11 2
+f 18 17 11
+f 19 10 4
+f 19 4 14
+f 20 15 8
+f 20 8 5
+f 20 5 16
+f 21 16 4
+f 21 4 10
+f 21 10 16
+f 22 14 3
+f 22 3 17
+f 22 17 18
+f 23 18 2
+f 23 2 8
+f 24 15 10
+f 24 10 19
+f 25 20 16
+f 25 16 15
+f 25 15 20
+f 26 19 14
+f 26 14 22
+f 27 24 18
+f 27 18 23
+f 27 23 8
+f 27 8 15
+f 27 15 24
+f 28 22 18
+f 28 18 24
+f 28 26 22
+f 28 24 19
+f 28 19 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_18/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..79464925482625fe8a14300747a1d2ecf374056f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
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+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert1.030" texture="image0" specular="0.5" shininess="0.25"/>
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+  <default>
+    <default class="region">
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+  </default>
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_18/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_18/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_18/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b239ab14b6e4b008f0a162e92df90e262d4c6cd1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_18/visual/model_normalized_0.obj
@@ -0,0 +1,28755 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 5830/5830/5830 5832/5832/5832 5833/5833/5833
+f 5831/5831/5831 5830/5830/5830 5833/5833/5833
+f 5831/5831/5831 5833/5833/5833 386/386/386
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+f 5834/5834/5834 386/386/386 384/384/384
+f 5835/5835/5835 5834/5834/5834 384/384/384
+f 5835/5835/5835 384/384/384 383/383/383
+f 403/403/403 436/436/436 5836/5836/5836
+f 403/403/403 5836/5836/5836 5837/5837/5837
+f 435/435/435 432/432/432 5838/5838/5838
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+f 5839/5839/5839 5838/5838/5838 5840/5840/5840
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+f 5837/5837/5837 5836/5836/5836 5842/5842/5842
+f 5837/5837/5837 5842/5842/5842 5843/5843/5843
+f 432/432/432 431/431/431 5844/5844/5844
+f 432/432/432 5844/5844/5844 5838/5838/5838
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+f 5850/5850/5850 5835/5835/5835 383/383/383
+f 5850/5850/5850 383/383/383 5851/5851/5851
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+f 5841/5841/5841 5849/5849/5849 5856/5856/5856
+f 5856/5856/5856 5849/5849/5849 5853/5853/5853
+f 5856/5856/5856 5853/5853/5853 5857/5857/5857
+f 5855/5855/5855 5854/5854/5854 5858/5858/5858
+f 5855/5855/5855 5858/5858/5858 5859/5859/5859
+f 409/409/409 408/408/408 5860/5860/5860
+f 409/409/409 5860/5860/5860 5805/5805/5805
+f 408/408/408 405/405/405 5861/5861/5861
+f 408/408/408 5861/5861/5861 5860/5860/5860
+f 5860/5860/5860 5861/5861/5861 5862/5862/5862
+f 5860/5860/5860 5862/5862/5862 5863/5863/5863
+f 5805/5805/5805 5860/5860/5860 5863/5863/5863
+f 5805/5805/5805 5863/5863/5863 5807/5807/5807
+f 405/405/405 404/404/404 5864/5864/5864
+f 405/405/405 5864/5864/5864 5861/5861/5861
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+f 5861/5861/5861 5864/5864/5864 5865/5865/5865
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+f 5865/5865/5865 5843/5843/5843 5855/5855/5855
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+f 5807/5807/5807 5863/5863/5863 5870/5870/5870
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+f 5863/5863/5863 5862/5862/5862 5867/5867/5867
+f 5863/5863/5863 5867/5867/5867 5870/5870/5870
+f 5870/5870/5870 5867/5867/5867 5869/5869/5869
+f 5870/5870/5870 5869/5869/5869 5871/5871/5871
+f 5812/5812/5812 5870/5870/5870 5871/5871/5871
+f 5812/5812/5812 5871/5871/5871 5872/5872/5872
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..734f0f5222c2cef61d0a08bfd923d83429e71d5a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_0.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.45517314 0.12404505 -0.01264136
+v 0.47141184 0.12965889 -0.01264136
+v 0.30656010 0.27394535 -0.01264142
+v 0.38636364 0.13363343 -0.05969970
+v 0.42389869 0.12826286 -0.05663320
+v 0.31060606 0.16393646 -0.05337096
+v 0.45111833 0.12129530 -0.02398575
+v 0.41719095 0.19673055 -0.02225943
+v 0.30740168 0.23082119 -0.05678341
+v 0.31542394 0.25303436 -0.01279475
+v 0.46987900 0.12861943 -0.01510491
+v 0.38636364 0.13363343 -0.05337096
+v 0.37425228 0.23926383 -0.01264140
+v 0.37654496 0.19675891 -0.04948098
+v 0.30652337 0.27384365 -0.01278525
+v 0.31060606 0.16393646 -0.05969970
+v 0.43256261 0.15416641 -0.03711402
+v 0.44552429 0.16783282 -0.01264136
+v 0.40394791 0.17046285 -0.05018372
+v 0.34407117 0.23942051 -0.03711405
+v 0.33291040 0.22799075 -0.05138644
+v 0.40407039 0.19318522 -0.03669360
+v 0.31996349 0.26910481 -0.01264142
+f 7 4 5
+f 9 5 4
+f 10 6 1
+f 10 1 3
+f 10 3 6
+f 11 7 5
+f 11 2 1
+f 11 1 7
+f 11 8 2
+f 12 6 4
+f 12 4 7
+f 12 7 1
+f 12 1 6
+f 15 9 6
+f 15 6 3
+f 16 9 4
+f 16 4 6
+f 16 6 9
+f 17 11 5
+f 17 8 11
+f 18 2 8
+f 18 8 13
+f 18 13 3
+f 18 1 2
+f 18 3 1
+f 19 5 9
+f 19 17 5
+f 20 9 15
+f 21 19 9
+f 21 14 19
+f 21 20 14
+f 21 9 20
+f 22 19 14
+f 22 8 17
+f 22 17 19
+f 22 14 20
+f 22 20 13
+f 22 13 8
+f 23 20 15
+f 23 15 3
+f 23 3 13
+f 23 13 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8fdd6f8f0d52930f9c22dbc88eb70e300c2a0fc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_1.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.31085442 -0.01433931 0.03788189
+v -0.31424342 -0.01128912 0.04070837
+v -0.49284234 -0.01284332 0.04382689
+v -0.41644893 0.04682762 0.03614328
+v -0.31155555 0.04433310 0.03533199
+v -0.49345997 -0.01346104 0.03779002
+v -0.35686080 -0.00868459 0.05063378
+v -0.31461805 0.04352439 0.03934578
+v -0.49683716 0.01281221 0.03609640
+v -0.41565514 0.03487487 0.05481653
+v -0.33099293 0.03225218 0.05004817
+v -0.35613754 0.04651725 0.03588891
+v -0.47541480 -0.00010912 0.05207669
+v -0.49327181 0.01294200 0.05035524
+v -0.33077759 -0.00007594 0.05083139
+v -0.41638817 0.04352446 0.05000724
+v -0.44566527 -0.00870927 0.05068354
+v -0.47564543 0.01458757 0.05418821
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 4 5
+f 9 5 1
+f 9 1 6
+f 11 2 8
+f 12 8 5
+f 12 5 4
+f 14 4 9
+f 14 9 3
+f 14 3 13
+f 15 7 2
+f 15 2 11
+f 15 11 10
+f 15 10 7
+f 16 11 8
+f 16 10 11
+f 16 8 12
+f 16 12 4
+f 16 4 14
+f 17 13 3
+f 17 3 7
+f 17 7 13
+f 18 13 7
+f 18 7 10
+f 18 14 13
+f 18 16 14
+f 18 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c645da799e4bf524356d85ea93a40910b9caba0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26003177 -0.28807219 -0.01264142
+v 0.36923170 -0.24223410 -0.01264142
+v 0.08261555 -0.24714194 -0.01264142
+v 0.08582186 -0.23826386 -0.04397585
+v 0.29289835 -0.23632303 -0.05705006
+v 0.36747216 -0.23963947 -0.01681157
+v 0.17473789 -0.29047990 -0.01264142
+v 0.33548650 -0.23715820 -0.04137843
+v 0.08666141 -0.26624218 -0.01264142
+v 0.29097007 -0.25996408 -0.03711405
+v 0.13149076 -0.23767033 -0.05842551
+v 0.33019001 -0.25965092 -0.02261472
+v 0.13462581 -0.27444403 -0.02405204
+v 0.33111029 -0.24585647 -0.03711405
+v 0.13365466 -0.24683022 -0.05134023
+v 0.34477671 -0.25881817 -0.01264142
+v 0.08807018 -0.24719000 -0.03711405
+v 0.10490535 -0.27283093 -0.01264142
+v 0.29108943 -0.24522494 -0.04981396
+v 0.11971744 -0.25861946 -0.03711405
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 5 4
+f 8 4 6
+f 9 7 3
+f 9 3 4
+f 10 1 7
+f 11 4 5
+f 12 1 10
+f 14 10 5
+f 14 5 8
+f 14 12 10
+f 14 8 6
+f 14 6 12
+f 15 10 7
+f 15 7 13
+f 15 11 5
+f 16 2 1
+f 16 1 12
+f 16 12 6
+f 16 6 2
+f 17 9 4
+f 18 13 7
+f 18 7 9
+f 18 9 13
+f 19 15 5
+f 19 5 10
+f 19 10 15
+f 20 15 13
+f 20 13 9
+f 20 9 17
+f 20 11 15
+f 20 17 4
+f 20 4 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d940941dbee3502f96a80705382955ccaefed3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08333333 0.13363343 -0.05337096
+v 0.08333333 0.13363343 -0.05969970
+v 0.09048543 0.22914748 -0.05310291
+v 0.08400893 0.26766299 -0.01264142
+v -0.00081596 0.14015612 -0.04853207
+v 0.08701428 0.25727999 -0.02701970
+v 0.00757575 0.13363343 -0.05969975
+v 0.00187967 0.18351542 -0.01264142
+v 0.02078914 0.18396905 -0.04866240
+v 0.02272728 0.13363344 -0.05337100
+v 0.07294248 0.23986495 -0.01466503
+v 0.04926634 0.22290179 -0.03687106
+v 0.01828567 0.22390104 -0.01264142
+v 0.03212132 0.19553841 -0.04866018
+v 0.06349790 0.25456140 -0.01264142
+v 0.07837944 0.25495951 -0.02331339
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 3 2
+f 9 7 5
+f 10 7 1
+f 10 5 7
+f 10 8 5
+f 10 1 8
+f 11 8 1
+f 11 1 4
+f 11 4 8
+f 12 6 3
+f 13 9 5
+f 13 5 8
+f 13 8 4
+f 14 3 7
+f 14 7 9
+f 14 12 3
+f 14 13 12
+f 14 9 13
+f 15 13 4
+f 16 6 12
+f 16 12 13
+f 16 13 15
+f 16 15 4
+f 16 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a1826b2f7f44b07c5701fe71cf4bc62422224e6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00807121 -0.21421400 -0.01264142
+v 0.01506432 -0.20521706 -0.02779893
+v 0.00757577 -0.12394233 -0.05337100
+v -0.06080968 -0.12180848 -0.01264148
+v -0.00798150 -0.20173662 -0.01264142
+v -0.01514828 -0.11880266 -0.05709075
+v -0.03489743 -0.13219545 -0.01302003
+v 0.01531452 -0.16414886 -0.05687604
+v -0.04220817 -0.11709464 -0.03781610
+v -0.01022501 -0.16631685 -0.01595817
+v 0.00757575 -0.12394232 -0.05969974
+v 0.00560990 -0.18899876 -0.03711405
+v -0.05923647 -0.12135312 -0.01482004
+v 0.01414253 -0.19125144 -0.04022307
+v -0.05604416 -0.13086275 -0.01264148
+v -0.03621096 -0.12768788 -0.03684635
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 3 4
+f 7 4 1
+f 8 3 2
+f 9 3 6
+f 9 6 8
+f 10 7 1
+f 10 1 3
+f 10 3 7
+f 11 8 6
+f 11 6 3
+f 11 3 8
+f 12 2 5
+f 12 9 8
+f 13 4 3
+f 13 3 9
+f 14 12 8
+f 14 8 2
+f 14 2 12
+f 15 13 9
+f 15 5 4
+f 15 4 13
+f 16 15 9
+f 16 9 12
+f 16 12 5
+f 16 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..654c577b738a6f9402518c1bb14b14df15f70991
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.21967054 -0.24596968 -0.05301111
+v 0.32575757 -0.21485141 -0.05969970
+v 0.32575757 -0.16939687 -0.05337096
+v 0.08333333 -0.16939687 -0.05337096
+v 0.08333333 -0.21485141 -0.05969970
+v 0.32575757 -0.16939687 -0.05969970
+v 0.08313471 -0.21510695 -0.05247600
+v 0.32575757 -0.21485141 -0.05337096
+v 0.21969697 -0.24515444 -0.05969970
+v 0.08333333 -0.16939687 -0.05969970
+v 0.18938208 -0.24552002 -0.05252181
+v 0.18939394 -0.24515444 -0.05969970
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 11 7 5
+f 11 1 8
+f 11 8 3
+f 11 3 7
+f 12 9 1
+f 12 1 11
+f 12 11 5
+f 12 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476e4c5618dcc01379e4e554de726ea39c53a191
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.16939687 -0.05337096
+v 0.26515151 -0.16939687 -0.05969970
+v 0.26515151 0.13363343 -0.05337096
+v 0.00757576 0.13363343 -0.05337100
+v 0.05303030 -0.16939687 -0.05969970
+v 0.26515151 0.13363343 -0.05969970
+v 0.05303030 -0.16939687 -0.05337096
+v 0.00757575 0.13363343 -0.05969975
+v 0.00757576 -0.10879081 -0.05337101
+v 0.00757575 -0.10879080 -0.05969975
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 8 4 6
+f 9 7 4
+f 9 4 8
+f 10 9 8
+f 10 5 7
+f 10 7 9
+f 10 2 5
+f 10 8 6
+f 10 6 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e26f9f6b35105d3e112304229f17e783e05cc02
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_15.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.32878428 -0.24961766 -0.01264142
+v 0.44552885 -0.16827693 -0.01264138
+v 0.41485842 -0.17976829 -0.01396798
+v 0.32575757 -0.16939687 -0.05337096
+v 0.32138683 -0.22355775 -0.05861433
+v 0.40740564 -0.21634656 -0.01264142
+v 0.32246859 -0.24030445 -0.04560647
+v 0.39520440 -0.16449169 -0.05838577
+v 0.38998886 -0.22815770 -0.01264142
+v 0.32575757 -0.16939687 -0.05969970
+v 0.43682201 -0.16150929 -0.02731014
+v 0.38864073 -0.18969294 -0.04913972
+v 0.37632256 -0.21519617 -0.03711405
+v 0.43084585 -0.18716717 -0.01264140
+v 0.41795502 -0.17377295 -0.03711405
+v 0.34850441 -0.23401194 -0.03715041
+v 0.34742263 -0.21726523 -0.05015828
+v 0.42301062 -0.16255100 -0.03971717
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 7 1 4
+f 7 4 5
+f 9 1 7
+f 9 2 1
+f 10 8 5
+f 10 5 4
+f 11 4 2
+f 11 10 4
+f 11 8 10
+f 12 5 8
+f 13 6 9
+f 13 12 6
+f 13 7 5
+f 14 9 6
+f 14 2 9
+f 15 6 12
+f 15 14 6
+f 15 11 2
+f 15 2 14
+f 16 13 9
+f 16 9 7
+f 16 7 13
+f 17 13 5
+f 17 5 12
+f 17 12 13
+f 18 8 11
+f 18 11 15
+f 18 15 12
+f 18 12 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4687f421089abef56cc10e391e05012921351383
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.08666141 -0.26624218 -0.01264142
+v 0.08807018 -0.24719000 -0.03711405
+v 0.08333333 -0.16939687 -0.05337096
+v 0.01531452 -0.16414886 -0.05687604
+v 0.01541269 -0.21992036 -0.01264142
+v 0.08621678 -0.22201882 -0.05783426
+v 0.08695735 -0.26542275 -0.01380034
+v 0.04898598 -0.24601605 -0.01264142
+v 0.00266584 -0.18787802 -0.01264142
+v 0.08333333 -0.16939687 -0.05969970
+v 0.01936198 -0.19968794 -0.03711405
+v 0.07325806 -0.26140160 -0.01264142
+v 0.07791037 -0.24501884 -0.01356443
+v 0.00027119 -0.17435042 -0.02563262
+v 0.01836310 -0.17704669 -0.05263585
+v 0.07466687 -0.24234937 -0.03711405
+v 0.06313108 -0.21700784 -0.04896988
+f 7 2 3
+f 7 3 1
+f 8 1 5
+f 9 5 1
+f 10 3 2
+f 10 2 6
+f 10 6 4
+f 10 4 3
+f 11 8 5
+f 12 1 8
+f 12 7 1
+f 12 2 7
+f 13 9 1
+f 13 1 3
+f 13 3 9
+f 14 9 3
+f 14 3 4
+f 14 11 5
+f 14 5 9
+f 15 4 6
+f 15 14 4
+f 15 11 14
+f 16 6 2
+f 16 8 11
+f 16 12 8
+f 16 2 12
+f 17 15 6
+f 17 6 16
+f 17 16 11
+f 17 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a959771f3d1094863b5f9d1c1f2b2ffd71c48b83
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_17.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.17399322 -0.25284035 -0.04533605
+v 0.18939394 -0.24515444 -0.05969970
+v 0.18939394 -0.21485141 -0.05337096
+v 0.08333333 -0.21485141 -0.05969970
+v 0.08838068 -0.23117864 -0.05074904
+v 0.18939394 -0.21485141 -0.05969970
+v 0.18938208 -0.24552002 -0.05252181
+v 0.08261555 -0.24714194 -0.01264142
+v 0.09601890 -0.25198253 -0.01264142
+v 0.07850186 -0.22106732 -0.04553487
+v 0.09158852 -0.24909851 -0.01543772
+v 0.07791037 -0.24501884 -0.01356443
+v 0.12878788 -0.21485141 -0.05337096
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 9 5 1
+f 9 1 3
+f 9 3 8
+f 10 4 5
+f 11 9 8
+f 11 5 9
+f 12 8 3
+f 12 10 5
+f 12 11 8
+f 12 5 11
+f 13 3 4
+f 13 4 10
+f 13 12 3
+f 13 10 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..653e94797172af72e75a9c408194a3165199a0ee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_18.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.09899108 -0.01888165 -0.03042696
+v -0.09892229 -0.01340957 -0.04285361
+v -0.08245765 0.05556876 -0.01264148
+v -0.16076950 0.04345514 -0.01094685
+v -0.15935457 -0.01743820 -0.02072289
+v -0.13203768 0.04455041 -0.04195206
+v -0.13230828 -0.01705474 -0.04136129
+v -0.11822089 -0.01010549 -0.01173906
+v -0.09976765 0.04189199 -0.04250807
+v -0.15838788 0.04340081 -0.03047559
+v -0.11504303 -0.01532482 -0.04269036
+v -0.11697642 -0.01646341 -0.01673300
+v -0.10108729 -0.01298670 -0.01727383
+v -0.16282953 0.03611745 -0.00353027
+v -0.15623228 -0.01022399 -0.03425727
+v -0.16347184 -0.01083290 -0.00566158
+v -0.10012783 -0.01779706 -0.02647472
+v -0.15652359 0.03547169 -0.03623026
+v -0.16123993 -0.01457096 -0.01214562
+f 1 2 3
+f 7 1 5
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 11 2 1
+f 11 1 7
+f 11 7 6
+f 11 9 2
+f 11 6 9
+f 12 5 1
+f 13 1 3
+f 13 3 8
+f 13 8 12
+f 14 3 4
+f 14 4 10
+f 15 7 5
+f 16 12 8
+f 16 8 3
+f 16 3 14
+f 16 14 10
+f 16 15 5
+f 16 10 15
+f 17 13 12
+f 17 12 1
+f 17 1 13
+f 18 15 10
+f 18 10 6
+f 18 6 7
+f 18 7 15
+f 19 16 5
+f 19 5 12
+f 19 12 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..385e526cf2ea9861924ef6a52b976eeb69a3582c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.44717927 -0.10886649 -0.03721483
+v 0.45604956 -0.05146396 -0.04747182
+v 0.44696970 0.04272434 -0.05337096
+v 0.40151515 0.04272434 -0.05337096
+v 0.40151515 -0.10879081 -0.05969970
+v 0.43731705 -0.10530481 -0.05586122
+v 0.40151515 -0.10879081 -0.05337096
+v 0.40151515 0.04272434 -0.05969970
+v 0.41666667 -0.10879081 -0.05337096
+v 0.44696970 0.04272434 -0.05969970
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 9 6 1
+f 9 1 5
+f 9 5 6
+f 10 3 2
+f 10 2 6
+f 10 6 5
+f 10 5 8
+f 10 8 4
+f 10 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1247323add2948f180362ca78395f98f6ae303e2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_2.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.03980567 -0.12524903 -0.01264142
+v -0.03189495 -0.11988441 -0.04408283
+v -0.02901070 0.08497619 -0.05678893
+v -0.04645141 0.10642640 -0.01264144
+v -0.09892229 -0.01340957 -0.04285361
+v -0.06080968 -0.12180848 -0.01264148
+v -0.03689808 -0.04790088 -0.05969976
+v -0.09976765 0.04189199 -0.04250807
+v -0.04220817 -0.11709464 -0.03781610
+v -0.03020446 -0.07626647 -0.05838983
+v -0.03393203 0.10190504 -0.04745693
+v -0.10084129 0.03836298 -0.01629594
+v -0.05224589 -0.11932971 -0.02450048
+v -0.06729989 0.09753999 -0.01264145
+v -0.08338493 -0.04381412 -0.01264148
+v -0.04309190 0.09974114 -0.04037170
+v -0.10007620 0.04594978 -0.02871726
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 7 5
+f 8 3 7
+f 9 5 2
+f 9 2 6
+f 10 7 3
+f 10 3 2
+f 10 2 5
+f 10 5 7
+f 11 4 3
+f 11 3 8
+f 12 8 5
+f 13 9 6
+f 13 6 5
+f 13 5 9
+f 14 4 11
+f 14 1 4
+f 15 12 5
+f 15 5 6
+f 15 14 12
+f 15 6 1
+f 15 1 14
+f 16 14 11
+f 16 11 8
+f 16 8 14
+f 17 14 8
+f 17 8 12
+f 17 12 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77dc1aa30891d0b4a08ce7e64662a9c4df52698f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_20.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.31355069 0.24784749 -0.02556469
+v 0.31542394 0.25303436 -0.01279475
+v 0.14049614 0.26674166 -0.01264142
+v 0.14802303 0.28619179 -0.01264142
+v 0.27491278 0.28537453 -0.01264142
+v 0.14196632 0.26166232 -0.02488571
+v 0.30656010 0.27394535 -0.01264142
+v 0.29987254 0.25192720 -0.02743802
+v 0.30652337 0.27384365 -0.01278525
+f 1 2 3
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 2 1
+f 7 5 3
+f 7 3 2
+f 8 6 5
+f 8 1 6
+f 9 7 1
+f 9 1 8
+f 9 8 5
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6ec0f602b915429eefa7b20bfd1e591b7d82a0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.10333040 -0.05337102
+v 0.00757576 0.10333040 -0.05969976
+v 0.01422540 0.15876786 -0.05790846
+v 0.01124748 0.21912814 -0.01264142
+v -0.06555174 0.10238056 -0.01264145
+v 0.01484140 0.18859208 -0.04188920
+v -0.05550977 0.09875389 -0.02684369
+v -0.04645141 0.10642640 -0.01264144
+v 0.01239630 0.21743407 -0.01536413
+v -0.05110558 0.14238141 -0.01264142
+v -0.02684681 0.09934622 -0.05423011
+v -0.00512859 0.17381127 -0.01361866
+v 0.00509889 0.21469081 -0.01264142
+v -0.03681835 0.12777848 -0.03711412
+v 0.00494185 0.18450986 -0.03711407
+v -0.02468292 0.11371624 -0.05167128
+v -0.02150081 0.15120625 -0.03652954
+v -0.01091497 0.13960353 -0.05063601
+f 1 2 3
+f 6 1 3
+f 8 7 1
+f 8 5 7
+f 9 4 1
+f 9 1 6
+f 10 8 4
+f 10 5 8
+f 10 7 5
+f 11 2 1
+f 11 1 7
+f 11 3 2
+f 12 8 1
+f 12 1 4
+f 12 4 8
+f 13 9 6
+f 13 10 4
+f 13 4 9
+f 14 11 7
+f 14 7 10
+f 15 13 6
+f 15 10 13
+f 15 6 3
+f 16 3 11
+f 16 11 14
+f 17 14 10
+f 17 10 15
+f 18 16 14
+f 18 3 16
+f 18 14 17
+f 18 17 15
+f 18 15 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eb545d220c26c9df04e86adc4c45f2c64965367
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.38674277 -0.16969156 -0.05264626
+v 0.40151515 -0.10879081 -0.05969970
+v 0.40151515 0.13363343 -0.05337096
+v 0.31060606 0.16393646 -0.05337096
+v 0.26515151 -0.16939687 -0.05969970
+v 0.38636364 0.16393646 -0.05969970
+v 0.38636364 0.16393646 -0.05337096
+v 0.40151515 -0.10879081 -0.05337096
+v 0.38636364 -0.16939687 -0.05969970
+v 0.26515151 -0.16939687 -0.05337096
+v 0.40151515 0.13363343 -0.05969970
+v 0.26515151 0.13363343 -0.05969970
+v 0.26515151 0.13363343 -0.05337096
+v 0.31060606 0.16393646 -0.05969970
+f 6 2 5
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 5 1
+f 11 6 3
+f 11 3 2
+f 11 2 6
+f 12 6 5
+f 12 5 10
+f 13 10 1
+f 13 1 4
+f 13 12 10
+f 13 4 12
+f 14 12 4
+f 14 4 6
+f 14 6 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0523dffe605e1ef7f60a520f31d94da9255bd47
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.44552885 -0.16827693 -0.01264138
+v 0.45378746 -0.12640455 -0.01264136
+v 0.42101713 -0.17277839 -0.01264139
+v 0.38636364 -0.10879081 -0.05337096
+v 0.43731705 -0.10530481 -0.05586122
+v 0.45365291 -0.11120444 -0.02488970
+v 0.38636364 -0.16939687 -0.05969970
+v 0.44979784 -0.11528413 -0.03007667
+v 0.43107596 -0.15704312 -0.03699083
+v 0.39270315 -0.17432443 -0.04570510
+v 0.38636364 -0.10879081 -0.05969970
+v 0.43455582 -0.12944489 -0.04978863
+v 0.38636364 -0.13909384 -0.05337096
+v 0.40613368 -0.16120985 -0.05243803
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 5 4
+f 6 4 2
+f 8 6 1
+f 8 5 6
+f 9 1 7
+f 10 7 1
+f 10 1 3
+f 10 3 4
+f 11 4 5
+f 11 5 7
+f 12 8 1
+f 12 5 8
+f 12 1 9
+f 12 7 5
+f 13 10 4
+f 13 7 10
+f 13 11 7
+f 13 4 11
+f 14 12 9
+f 14 9 7
+f 14 7 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c87ee547bf754be77b6ced1a135055f8c913c01b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 0.19423949 -0.05337096
+v 0.18939394 0.20939101 -0.05969970
+v 0.18939394 0.20939101 -0.05337096
+v 0.09606276 0.24806198 -0.02558327
+v 0.09048543 0.22914748 -0.05310291
+v 0.18939394 0.23969404 -0.05337096
+v 0.08196962 0.24170498 -0.02287033
+v 0.08333333 0.19423949 -0.05969970
+v 0.15663998 0.24816161 -0.04655980
+v 0.18939394 0.23969404 -0.05969970
+v 0.08716671 0.24123234 -0.03053008
+v 0.14393939 0.19423949 -0.05969970
+v 0.07603782 0.23530054 -0.02743474
+v 0.08333333 0.19423949 -0.05337096
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 9 5 4
+f 9 4 6
+f 10 6 2
+f 10 9 6
+f 10 5 9
+f 10 8 5
+f 10 2 8
+f 11 7 4
+f 11 4 5
+f 12 8 2
+f 12 2 1
+f 12 1 8
+f 13 5 8
+f 13 11 5
+f 13 7 11
+f 14 13 8
+f 14 8 1
+f 14 1 7
+f 14 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad04f4add29cf4b8699da0e4fdc656a06238ff55
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_25.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 0.23969404 -0.05969970
+v 0.26791839 0.24735535 -0.04583173
+v 0.14202504 0.24630782 -0.04446087
+v 0.16217753 0.28963629 -0.01347515
+v 0.26441958 0.28312185 -0.02020107
+v 0.14196632 0.26166232 -0.02488571
+v 0.16323102 0.25569352 -0.05071429
+v 0.14518896 0.28083152 -0.01844230
+v 0.26843657 0.26394166 -0.02599759
+v 0.14393939 0.23969404 -0.05969970
+v 0.26010072 0.27116348 -0.03711405
+v 0.14909173 0.26734789 -0.03711405
+v 0.20422299 0.29035553 -0.01434089
+v 0.25996378 0.25563280 -0.05028924
+v 0.16420089 0.28264575 -0.02315546
+v 0.20398714 0.28308181 -0.02402126
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 8 6 4
+f 8 3 6
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 7 1
+f 10 1 3
+f 10 3 8
+f 11 5 1
+f 12 10 8
+f 12 7 10
+f 13 9 5
+f 13 4 9
+f 13 5 11
+f 14 11 1
+f 14 1 7
+f 14 7 11
+f 15 7 12
+f 15 4 13
+f 15 12 8
+f 15 8 4
+f 16 15 13
+f 16 13 11
+f 16 11 7
+f 16 7 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ec9fe1829ef611eceec1ba5d1136532695dbb0a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_26.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.00273020 -0.05337101
+v 0.00757576 -0.00273020 -0.05969975
+v 0.00757576 0.10333040 -0.05969976
+v -0.03810623 0.10888453 -0.02888248
+v -0.03855038 -0.00270843 -0.05285481
+v 0.00757576 0.10333040 -0.05337102
+v -0.03787879 -0.00273020 -0.05969976
+v -0.04604102 0.09112669 -0.02556880
+v -0.04196131 0.10480480 -0.02369556
+v -0.02684681 0.09934622 -0.05423011
+v -0.04564588 0.02782463 -0.04542446
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 5 1
+f 9 6 4
+f 9 1 6
+f 9 8 1
+f 9 4 8
+f 10 4 3
+f 10 3 7
+f 10 8 4
+f 11 7 5
+f 11 5 8
+f 11 10 7
+f 11 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136158125a1e931fb2bcc4820dbf1ca2c3fa3857
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.29799042 -0.25391563 -0.02576002
+v 0.33236503 -0.23974637 -0.02690522
+v 0.32643321 -0.24615074 -0.02234086
+v 0.21969697 -0.21485141 -0.05337096
+v 0.32575757 -0.21485141 -0.05969970
+v 0.21969697 -0.24515444 -0.05969970
+v 0.29545454 -0.21485141 -0.05337096
+v 0.31824056 -0.23406974 -0.05237961
+v 0.23457011 -0.25373967 -0.04631462
+v 0.21969697 -0.21485141 -0.05969970
+v 0.33053067 -0.22188990 -0.04622172
+v 0.21967054 -0.24596968 -0.05301111
+f 1 3 4
+f 3 2 4
+f 7 5 4
+f 7 4 2
+f 8 5 2
+f 8 2 3
+f 8 3 1
+f 8 6 5
+f 9 1 4
+f 9 8 1
+f 9 6 8
+f 10 4 5
+f 10 5 6
+f 11 7 2
+f 11 2 5
+f 11 5 7
+f 12 9 4
+f 12 6 9
+f 12 10 6
+f 12 4 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671e88a8c479ae1448a424fbc01fe421f19b8382
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.31060606 0.20939101 -0.05337096
+v 0.31060606 0.20939101 -0.05969970
+v 0.30652337 0.27384365 -0.01278525
+v 0.26441958 0.28312185 -0.02020107
+v 0.26515151 0.20939101 -0.05337096
+v 0.30523779 0.23998095 -0.04969817
+v 0.31355069 0.24784749 -0.02556469
+v 0.26194764 0.27627708 -0.02988174
+v 0.26212765 0.24647280 -0.05737443
+v 0.30405143 0.26699887 -0.02246593
+v 0.26515151 0.20939101 -0.05969970
+f 5 2 1
+f 5 3 4
+f 7 1 2
+f 7 5 1
+f 7 3 5
+f 7 6 3
+f 7 2 6
+f 8 5 4
+f 9 6 2
+f 9 8 6
+f 9 5 8
+f 10 3 6
+f 10 6 8
+f 10 8 4
+f 10 4 3
+f 11 9 2
+f 11 2 5
+f 11 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e36a05c08b17bd3e96e686da4f0210c89fd0e52
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_29.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.10110143 0.23065405 -0.05680862
+v 0.14679416 0.24498272 -0.05585593
+v 0.07949017 0.24536120 -0.01264142
+v 0.14397646 0.28502052 -0.01264142
+v 0.10310441 0.25403706 -0.03711405
+v 0.14049614 0.26674166 -0.01264142
+v 0.14393939 0.23969404 -0.05969970
+v 0.14721234 0.27384095 -0.02812266
+v 0.08625739 0.23538220 -0.04632969
+v 0.08805549 0.26883426 -0.01264142
+v 0.08940369 0.24589414 -0.04009498
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 5 4
+f 8 2 5
+f 8 6 2
+f 8 4 6
+f 9 1 3
+f 10 3 4
+f 10 4 5
+f 10 9 3
+f 11 5 1
+f 11 1 9
+f 11 10 5
+f 11 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59c6596fc2875fc15aac11fa7732252692a7d37
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.41636595 -0.01777536 0.03513664
+v -0.41840877 -0.01014644 0.01202540
+v -0.41638817 0.04352446 0.05000724
+v -0.49284252 0.04352427 0.04313586
+v -0.49284242 -0.01608855 0.01257121
+v -0.49284252 0.04352427 0.00486894
+v -0.45495424 0.01426589 0.05640124
+v -0.41250034 0.02586440 0.05819336
+v -0.41703194 -0.01774483 0.02755325
+v -0.41716509 0.04352446 0.01383086
+v -0.49327181 0.01294200 0.05035524
+v -0.49284234 -0.01327161 0.00447244
+v -0.47529421 0.03276068 0.05097251
+v -0.41821206 0.03515657 0.00991485
+v -0.49284242 -0.01606845 0.03496678
+v -0.46274253 -0.01510290 0.01280891
+v -0.41565514 0.03487487 0.05481653
+v -0.49049981 0.02480975 0.05146768
+v -0.49062200 0.01482045 0.05258639
+f 8 7 1
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 8 2
+f 10 3 8
+f 10 6 4
+f 10 4 3
+f 11 4 6
+f 12 11 6
+f 12 5 11
+f 13 3 4
+f 14 10 2
+f 14 6 10
+f 14 12 6
+f 14 2 12
+f 15 11 5
+f 15 5 1
+f 15 1 7
+f 16 9 5
+f 16 5 12
+f 16 12 2
+f 16 2 9
+f 17 13 8
+f 17 8 3
+f 17 3 13
+f 18 7 8
+f 18 8 13
+f 18 13 4
+f 18 4 11
+f 19 15 7
+f 19 11 15
+f 19 18 11
+f 19 7 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe71247e95bbe844c0d6bae6bdd463ee816598f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.05303030 -0.16939687 -0.05337096
+v 0.05303030 -0.16939687 -0.05969970
+v 0.05303030 -0.10879081 -0.05337098
+v 0.00757576 -0.10879081 -0.05337101
+v 0.00661752 -0.17004669 -0.03823170
+v 0.05303030 -0.10879080 -0.05969972
+v 0.01531452 -0.16414886 -0.05687604
+v 0.00016889 -0.14411677 -0.04670574
+v 0.03787879 -0.16939687 -0.05337096
+v 0.00757575 -0.10879080 -0.05969975
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 8 7 5
+f 8 5 4
+f 9 7 2
+f 9 2 5
+f 9 5 7
+f 10 6 2
+f 10 2 7
+f 10 4 3
+f 10 3 6
+f 10 8 4
+f 10 7 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494c0c28fdd6364c6e7b6ba92cac53302b2764a1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.31184725 -0.01532951 0.03427125
+v -0.30789696 -0.01328814 0.00443244
+v -0.31155555 0.04433310 0.03533199
+v -0.35613754 0.04651725 0.03588891
+v -0.35595823 -0.01800464 0.02748664
+v -0.30780722 0.04352439 0.00480025
+v -0.35616584 -0.01749461 0.03482328
+v -0.30943585 -0.01650231 0.01300118
+v -0.35588061 0.03518863 0.00984461
+v -0.33959825 -0.01451562 0.01354429
+v -0.35600429 0.04352440 0.01364974
+v -0.35585743 -0.01017004 0.01196828
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 9 6 2
+f 10 8 5
+f 10 2 8
+f 11 4 6
+f 11 6 9
+f 11 7 4
+f 12 5 7
+f 12 11 9
+f 12 7 11
+f 12 10 5
+f 12 9 2
+f 12 2 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66418d3fea201fa17e3d09fea2874baf7a04ce1d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.44552885 -0.16827693 -0.01264138
+v 0.49090585 -0.07246753 -0.01264136
+v 0.49897229 0.04023411 -0.01264136
+v 0.47887474 0.04757358 -0.01420168
+v 0.44696970 0.04272434 -0.05969970
+v 0.43948093 -0.09093477 -0.05842002
+v 0.45610536 0.04536861 -0.04731618
+v 0.44934230 -0.13339157 -0.03711405
+v 0.43682201 -0.16150929 -0.02731014
+v 0.47669440 -0.05765544 -0.03711399
+v 0.46362101 0.03877291 -0.05146904
+v 0.46428314 -0.14414881 -0.01264136
+v 0.44050357 -0.13406790 -0.04301545
+v 0.49055801 0.01297311 -0.02417207
+v 0.46212846 -0.05786693 -0.04936709
+v 0.47463604 -0.11751821 -0.01264136
+v 0.49085307 0.03788406 -0.02388456
+v 0.46038679 -0.13299550 -0.02347544
+f 1 3 4
+f 5 1 4
+f 7 5 4
+f 7 4 3
+f 9 1 5
+f 9 5 6
+f 9 8 1
+f 10 8 6
+f 11 7 3
+f 11 5 7
+f 12 1 8
+f 12 3 1
+f 13 9 6
+f 13 6 8
+f 13 8 9
+f 14 3 2
+f 14 2 10
+f 14 10 11
+f 15 11 10
+f 15 10 6
+f 15 6 5
+f 15 5 11
+f 16 2 3
+f 16 3 12
+f 16 10 2
+f 17 14 11
+f 17 11 3
+f 17 3 14
+f 18 16 12
+f 18 12 8
+f 18 8 10
+f 18 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0857031c8b0470af284073c34e63dc9530fcf727
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.49897229 0.04023411 -0.01264136
+v 0.49784368 0.03990745 -0.01420421
+v 0.47141184 0.12965889 -0.01264136
+v 0.40151515 0.13363343 -0.05337096
+v 0.40151515 0.04272434 -0.05337096
+v 0.45471917 0.04058185 -0.05870515
+v 0.47756844 0.11418198 -0.01264136
+v 0.44813494 0.13442363 -0.01264137
+v 0.43441065 0.12511655 -0.05039849
+v 0.40151515 0.04272434 -0.05969970
+v 0.47975899 0.03905846 -0.03745963
+v 0.47887474 0.04757358 -0.01420168
+v 0.40151515 0.13363343 -0.05969970
+v 0.46385580 0.12453485 -0.02478528
+v 0.47608174 0.05314561 -0.03711399
+v 0.47429225 0.09808218 -0.02278162
+v 0.44748344 0.09909358 -0.05032728
+f 5 2 1
+f 7 3 1
+f 8 1 3
+f 8 4 5
+f 10 5 4
+f 11 2 5
+f 11 10 6
+f 11 5 10
+f 12 8 5
+f 12 5 1
+f 12 1 8
+f 13 8 3
+f 13 4 8
+f 13 3 9
+f 13 9 6
+f 13 10 4
+f 13 6 10
+f 14 9 3
+f 14 3 7
+f 15 2 11
+f 15 11 6
+f 16 15 14
+f 16 14 7
+f 16 2 15
+f 16 7 1
+f 16 1 2
+f 17 9 14
+f 17 14 15
+f 17 15 6
+f 17 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2c887145fbdc14e9de27602327371684add516e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03489743 -0.13219545 -0.01302003
+v 0.00757575 -0.12394232 -0.05969974
+v 0.00757576 -0.00273020 -0.05337101
+v -0.03855038 -0.00270843 -0.05285481
+v -0.02566024 -0.11565637 -0.05085603
+v -0.03787879 -0.00273020 -0.05969976
+v -0.04657746 -0.11130859 -0.01264143
+v 0.00757577 -0.12394233 -0.05337100
+v 0.00757576 -0.00273020 -0.05969975
+v -0.04589213 -0.03535267 -0.04604545
+v -0.04082924 -0.12106656 -0.01611534
+v -0.03980567 -0.12524903 -0.01264142
+f 5 2 1
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 9 6 4
+f 9 4 3
+f 10 7 4
+f 10 4 6
+f 10 6 5
+f 10 5 7
+f 11 7 5
+f 11 5 1
+f 12 11 1
+f 12 1 7
+f 12 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..956c95e89395d471d6c6a836aa5a938df7cc0f16
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_7.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.35616584 -0.01749461 0.03482328
+v -0.35600427 -0.01422996 0.01364974
+v -0.35613754 0.04651725 0.03588891
+v -0.41644893 0.04682762 0.03614328
+v -0.41703194 -0.01774483 0.02755325
+v -0.41821206 0.03515657 0.00991485
+v -0.37170960 0.01408925 0.05761569
+v -0.35595823 -0.01800464 0.02748664
+v -0.35588061 0.03518863 0.00984461
+v -0.41676743 -0.00343875 0.05535832
+v -0.41802507 -0.00010897 0.00790800
+v -0.35658593 0.01418263 0.05697347
+v -0.41636595 -0.01777536 0.03513664
+v -0.35590282 -0.00010914 0.00780591
+v -0.35600429 0.04352440 0.01364974
+v -0.35667585 -0.00010914 0.05489952
+v -0.41638817 -0.01422982 0.05000724
+v -0.41716509 0.04352446 0.01383086
+v -0.37179893 -0.00010908 0.05555530
+f 7 3 4
+f 8 5 2
+f 9 3 8
+f 10 4 6
+f 10 7 4
+f 11 2 5
+f 11 10 6
+f 11 5 10
+f 12 3 7
+f 12 8 3
+f 12 1 8
+f 13 8 1
+f 13 5 8
+f 14 9 8
+f 14 8 2
+f 14 2 11
+f 14 11 6
+f 14 6 9
+f 15 9 6
+f 15 4 3
+f 15 3 9
+f 16 1 12
+f 16 12 7
+f 17 10 5
+f 17 5 13
+f 17 13 1
+f 17 1 16
+f 18 15 6
+f 18 6 4
+f 18 4 15
+f 19 16 7
+f 19 7 10
+f 19 17 16
+f 19 10 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..210ed9ffb6d089fb354d6084bb02ac24cfb1b521
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_8.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.15935457 -0.01743820 -0.02072289
+v -0.15686092 0.00047998 -0.03863665
+v -0.16401985 0.04257766 -0.00671298
+v -0.31155555 0.04433310 0.03533199
+v -0.30789696 -0.01328814 0.00443244
+v -0.30780722 0.04352439 0.00480025
+v -0.27088112 0.01497127 0.03639808
+v -0.15652359 0.03547169 -0.03623026
+v -0.23298442 -0.01422988 -0.01546041
+v -0.15838788 0.04340081 -0.03047559
+v -0.31424342 -0.01128912 0.04070837
+v -0.24460928 0.02549883 -0.01857833
+v -0.17988861 0.00014128 0.00493809
+v -0.28500905 0.03331101 0.03682175
+v -0.16123993 -0.01457096 -0.01214562
+v -0.24442518 -0.00010914 -0.01795018
+v -0.30943585 -0.01650231 0.01300118
+v -0.21494209 0.04352439 -0.02074798
+v -0.31364958 0.03663645 0.04286793
+v -0.29098098 0.03435866 -0.00348825
+v -0.18658354 0.01421592 -0.03508718
+v -0.17961842 0.02478485 0.00585420
+v -0.22597714 0.00006478 0.01956126
+v -0.16347184 -0.01083290 -0.00566158
+v -0.29676534 -0.01433667 0.03401812
+v -0.22935374 -0.01012394 -0.01822334
+v -0.27898338 -0.01451372 -0.00126143
+v -0.27121494 0.02466239 0.03537625
+v -0.25544276 0.04352439 0.02212462
+v -0.18645515 0.02555984 -0.03427094
+v -0.17158939 0.00026338 -0.03614990
+v -0.28567086 -0.00815257 0.03441498
+v -0.31184725 -0.01532951 0.03427125
+v -0.17135482 0.03456690 -0.03424744
+f 8 1 2
+f 9 2 1
+f 10 4 3
+f 10 3 8
+f 15 8 3
+f 15 1 8
+f 17 9 1
+f 17 11 6
+f 17 6 5
+f 18 6 4
+f 18 4 10
+f 18 10 8
+f 19 4 6
+f 19 6 11
+f 19 11 7
+f 20 5 6
+f 20 6 18
+f 20 16 5
+f 20 12 16
+f 21 8 2
+f 21 16 12
+f 22 7 13
+f 22 3 14
+f 23 13 7
+f 24 15 3
+f 24 13 23
+f 24 22 13
+f 24 3 22
+f 25 1 15
+f 25 15 24
+f 26 9 5
+f 26 5 16
+f 27 17 5
+f 27 5 9
+f 27 9 17
+f 28 19 7
+f 28 14 19
+f 28 22 14
+f 28 7 22
+f 29 19 14
+f 29 14 3
+f 29 3 4
+f 29 4 19
+f 30 20 18
+f 30 12 20
+f 30 21 12
+f 30 8 21
+f 31 21 2
+f 31 16 21
+f 31 26 16
+f 31 2 9
+f 31 9 26
+f 32 23 7
+f 32 7 11
+f 32 11 25
+f 32 25 24
+f 32 24 23
+f 33 17 1
+f 33 1 25
+f 33 25 11
+f 33 11 17
+f 34 30 18
+f 34 18 8
+f 34 8 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5dd207e30b7a66fb89630c6e51b16f1d48540f3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.31060606 0.13363343 -0.05337096
+v 0.31060606 0.13363343 -0.05969970
+v 0.31060606 0.20939101 -0.05969970
+v 0.18939394 0.23969404 -0.05337096
+v 0.08333333 0.13363343 -0.05969970
+v 0.31060606 0.20939101 -0.05337096
+v 0.08333333 0.13363343 -0.05337096
+v 0.18939394 0.23969404 -0.05969970
+v 0.26535413 0.24025508 -0.05277277
+v 0.08333333 0.19423949 -0.05337096
+v 0.26515151 0.23969404 -0.05969970
+v 0.08333333 0.19423949 -0.05969970
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 3 5
+f 9 1 6
+f 9 7 1
+f 9 8 4
+f 9 6 3
+f 10 5 7
+f 10 4 8
+f 10 9 4
+f 10 7 9
+f 11 9 3
+f 11 3 8
+f 11 8 9
+f 12 10 8
+f 12 8 5
+f 12 5 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_19/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c85cf108aa38fd1d89f130390b30fcfa77053afe
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/model.xml
@@ -0,0 +1,103 @@
+<mujoco model="pan_34">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="visual/model_normalized_3.obj" name="model_normalized_3_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="visual/model_normalized_4.obj" name="model_normalized_4_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <texture type="2d" name="image8" file="visual/image8.png"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image5" file="visual/image5.png"/>
+    <texture type="2d" name="image11" file="visual/image11.png"/>
+    <material name="TAVA_TAVA_tavademir" texture="image8" specular="0.5" shininess="0.25"/>
+    <material name="TAVA_TAVA_tavadss1" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+    <material name="TAVA_TAVA_tavaic2" texture="image5" specular="0.5" shininess="0.25"/>
+    <material name="TAVA_TAVA_tavakenar" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="TAVA_TAVA_tavasap" texture="image11" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0.0 -0.048 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_0_vis" conaffinity="0" contype="0" group="1" material="TAVA_TAVA_tavadss1"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="TAVA_TAVA_tavakenar"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_2_vis" conaffinity="0" contype="0" group="1" material="TAVA_TAVA_tavaic2"/>
+          <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_3_vis" conaffinity="0" contype="0" group="1" material="TAVA_TAVA_tavademir"/>
+          <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_4_vis" conaffinity="0" contype="0" group="1" material="TAVA_TAVA_tavasap"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        </body>
+        <geom class="region" name="reg_bbox" type="box" pos="1.4924400000004837e-05 -0.048 -0.0001807679999999987" size="0.06971517600000002 0.11975334960000002 0.0141471744"/>
+        <geom rgba="0 0 0 0" size="0.063 0.001" pos="0 0.002 -0.01" type="cylinder" name="liquid" class="region"/>
+        <geom rgba="0 0 0 0 " size="0.058 0.0043" pos="0 0.001 -0.008" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/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
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..468df72d1be024ae858c83d9e8fc93390f22a98b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_0.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5f401604f03ee4f0777fb10e08b6daf1855a52f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_1.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f1c6f96e8d349cf24deacb0ba57ce9f0b5ae353
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_2.obj
@@ -0,0 +1,286 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc082da25e4db92c9d4478da93856174905d1d3d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_3.obj
@@ -0,0 +1,209 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616669dfbd048692142981ec052bfda0e3819e0a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_19/visual/model_normalized_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3413f40f3d88b81f683640171e0d211819047628
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8aba768687eec05970d87a111370b60b19c6a07
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.25463259 0.34000404 0.01969247
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c3f591a1a5b255d0a20825520ee91954466fd7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
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+v -0.00867941 -0.49352318 0.07432682
+v -0.00953778 -0.49274546 0.07368714
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+f 18 12 4
+f 18 4 10
+f 18 10 12
+f 19 7 1
+f 19 1 8
+f 19 8 2
+f 19 2 13
+f 19 16 7
+f 19 13 16
+f 20 14 11
+f 20 11 6
+f 20 6 14
+f 21 17 7
+f 21 12 17
+f 21 16 12
+f 21 7 16
+f 22 15 1
+f 22 1 7
+f 22 7 17
+f 23 22 17
+f 23 17 15
+f 23 15 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a43251569b1d0e7267dbf6534a55ae306e6605a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.16615164 -0.04996839 0.01969250
+v 0.23374336 0.01681690 -0.03131390
+v 0.23374335 0.01681691 0.01969250
+v 0.24666333 0.05158827 0.01284537
+v 0.16783706 0.03787879 -0.08232030
+v 0.24689761 0.03632666 0.01969250
+v 0.17637138 -0.04434297 0.01969250
+v 0.16406151 -0.04617124 -0.03485324
+v 0.16783706 0.03787879 -0.05486032
+v 0.23471033 0.05720519 -0.04757164
+v 0.17637138 -0.04434297 -0.03131390
+v 0.16210956 0.02810003 -0.08027895
+v 0.21547258 0.04397387 -0.05719402
+v 0.19814009 0.05303030 -0.05486032
+v 0.16304266 -0.02916876 -0.04741728
+v 0.23180387 0.03207067 -0.04099073
+v 0.20761906 0.05569593 -0.06706900
+v 0.21780567 0.05802903 -0.06035095
+v 0.17706139 0.04343887 -0.07994365
+f 6 3 2
+f 6 1 3
+f 6 4 1
+f 7 2 3
+f 7 3 1
+f 9 1 4
+f 10 6 2
+f 10 4 6
+f 11 2 7
+f 11 7 1
+f 11 1 8
+f 12 1 9
+f 12 9 5
+f 12 2 11
+f 14 9 4
+f 15 8 1
+f 15 1 12
+f 15 12 11
+f 15 11 8
+f 16 10 2
+f 16 2 12
+f 17 16 13
+f 17 10 16
+f 18 14 4
+f 18 4 10
+f 18 17 14
+f 18 10 17
+f 19 5 9
+f 19 9 14
+f 19 14 17
+f 19 17 13
+f 19 13 16
+f 19 16 12
+f 19 12 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f41a8bc9e92712869d5819529dfe1cca4b9664
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.13519325 0.09848485 -0.05486035
+v -0.13519325 0.09848485 -0.08232031
+v -0.13182069 0.39488311 -0.08078443
+v -0.18218785 0.40305765 -0.04711087
+v -0.23998167 0.09913178 -0.04396717
+v -0.13519325 0.40151515 -0.05486035
+v -0.20946986 0.38488032 -0.04187463
+v -0.22918195 0.27543886 -0.07379615
+v -0.18464110 0.36003618 -0.07055590
+v -0.21672873 0.10325157 -0.07701784
+v -0.23962474 0.34007739 -0.04220152
+v -0.15432845 0.39032959 -0.07053922
+v -0.22937567 0.11925763 -0.07373703
+v -0.23368083 0.10233593 -0.06434011
+v -0.20201136 0.36225845 -0.05925006
+v -0.22885718 0.31942874 -0.05769920
+v -0.23301363 0.33670224 -0.04826279
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 9 3 8
+f 10 8 3
+f 10 3 2
+f 10 2 5
+f 11 5 7
+f 12 9 4
+f 12 4 3
+f 12 3 9
+f 13 8 10
+f 14 11 8
+f 14 5 11
+f 14 8 13
+f 14 13 10
+f 14 10 5
+f 15 9 8
+f 15 11 7
+f 15 7 4
+f 15 4 9
+f 16 15 8
+f 16 8 11
+f 17 16 11
+f 17 11 15
+f 17 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d76e506d7b01a9471a742cacb2535eb701c0befb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.28122682 0.27943037 0.01969247
+v -0.21095082 0.31060606 -0.05486035
+v -0.23903459 0.33235984 0.00195046
+v -0.25150000 0.34614002 0.01969247
+v -0.27316972 0.30369420 -0.03131393
+v -0.22300660 0.34706389 -0.01863746
+v -0.23590125 0.34591170 0.00539436
+v -0.22610234 0.28030303 -0.05486035
+v -0.27316972 0.30369421 0.01969247
+v -0.25776517 0.33386805 -0.03131393
+v -0.25431532 0.30212277 0.00180844
+v -0.23622116 0.27773371 -0.06782464
+v -0.28085231 0.28178285 0.01969247
+v -0.21492857 0.34293984 -0.04592595
+v -0.27816420 0.27894281 -0.03384626
+v -0.23301363 0.33670224 -0.04826279
+v -0.23376650 0.29163205 -0.06444950
+v -0.24502302 0.27849098 -0.06062983
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 2
+f 7 2 6
+f 8 2 3
+f 9 4 5
+f 10 5 4
+f 10 4 6
+f 11 8 3
+f 11 3 1
+f 11 1 8
+f 12 2 8
+f 12 8 1
+f 13 9 5
+f 13 1 4
+f 13 4 9
+f 14 10 6
+f 14 6 2
+f 15 12 1
+f 15 13 5
+f 15 1 13
+f 16 10 14
+f 16 5 10
+f 17 14 2
+f 17 2 12
+f 17 16 14
+f 17 12 5
+f 17 5 16
+f 18 15 5
+f 18 5 12
+f 18 12 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..981d7f5df1bab48dc13025a64044bb69564933a1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.24130365 0.02487636 0.01969250
+v 0.27261576 0.09105569 -0.03131391
+v 0.27261576 0.09105569 0.01969250
+v 0.28832204 0.15918238 0.01969249
+v 0.24009368 0.15953130 -0.07042340
+v 0.24380613 0.02974785 -0.03131390
+v 0.27185821 0.15744153 0.00322766
+v 0.28237726 0.15993017 -0.03620650
+v 0.24380612 0.02974786 0.01969250
+v 0.23499157 0.10252758 -0.06310369
+v 0.24927836 0.16028188 -0.06305861
+v 0.24517819 0.10486068 -0.05638564
+v 0.23792971 0.02791229 -0.03501933
+v 0.23471033 0.05720519 -0.04757164
+f 1 3 4
+f 3 2 4
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 4 2
+f 9 6 3
+f 9 3 1
+f 9 1 6
+f 10 1 5
+f 11 8 5
+f 11 5 4
+f 11 4 8
+f 12 8 2
+f 12 5 8
+f 12 10 5
+f 13 6 1
+f 13 10 12
+f 13 12 2
+f 13 2 6
+f 14 13 1
+f 14 1 10
+f 14 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89fe847153094bf75ad3d97a57f88a37e1e18fa0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.10393596 0.40965473 -0.08040817
+v 0.10723100 0.41666667 -0.05486035
+v 0.07692796 0.41666667 -0.05486035
+v 0.06167998 0.49165734 0.01969247
+v 0.10034553 0.47777176 -0.03131393
+v 0.11189935 0.45690413 0.00541923
+v 0.06065035 0.44360565 -0.07034967
+v 0.06342326 0.47521293 0.00324768
+v 0.11200975 0.47229054 0.01969247
+v 0.07692796 0.41666667 -0.08232033
+v 0.06093519 0.48573643 -0.03618687
+v 0.10034553 0.47777176 0.01969247
+v 0.07349256 0.42450754 -0.08000398
+v 0.06058349 0.45263752 -0.06303899
+f 1 2 3
+f 6 3 2
+f 6 2 1
+f 8 6 4
+f 8 3 6
+f 8 7 3
+f 8 4 7
+f 9 4 6
+f 9 6 1
+f 9 1 5
+f 10 1 3
+f 10 3 7
+f 11 4 5
+f 11 5 7
+f 12 9 5
+f 12 5 4
+f 12 4 9
+f 13 10 7
+f 13 1 10
+f 13 7 5
+f 13 5 1
+f 14 11 7
+f 14 7 4
+f 14 4 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89519759a3d728ec69483f39369e70305248948e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.28690795 0.15745433 0.01847958
+v 0.28855805 0.16105861 -0.03131391
+v 0.28941708 0.23202024 0.01969249
+v 0.28698325 0.23735188 0.01827393
+v 0.24009368 0.15953130 -0.07042340
+v 0.28941708 0.23202024 -0.03131391
+v 0.28855805 0.16105861 0.01969249
+v 0.25777256 0.15730745 -0.03403946
+v 0.24017160 0.23419362 -0.07047658
+v 0.25996416 0.19114664 -0.05754667
+v 0.27185654 0.23735663 0.00309770
+v 0.25772580 0.23755191 -0.03407197
+v 0.25989874 0.21701883 -0.05729013
+v 0.27185821 0.15744153 0.00322766
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 10 6 2
+f 10 2 5
+f 10 5 9
+f 11 1 4
+f 11 9 5
+f 12 4 6
+f 12 6 9
+f 12 11 4
+f 12 9 11
+f 13 10 9
+f 13 9 6
+f 13 6 10
+f 14 8 1
+f 14 1 11
+f 14 11 5
+f 14 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d9e196ddc107388a1c0bec1f04a55c70ca247a6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.04704537 -0.34374858 0.05149282
+v 0.04757152 -0.33993858 0.04094535
+v 0.03300982 -0.27009466 0.03683393
+v -0.01622715 -0.26617084 0.02420129
+v -0.03060424 -0.33954525 0.04061373
+v 0.03173857 -0.26679523 0.02546226
+v 0.04668478 -0.31517234 0.04063719
+v 0.04266700 -0.32351506 0.03293221
+v -0.02098553 -0.29986977 0.04677878
+v -0.01694576 -0.26915111 0.03793680
+v 0.04511084 -0.32896996 0.05016300
+v 0.04608225 -0.31255058 0.04014348
+v -0.02602436 -0.32328640 0.03268963
+v -0.02966321 -0.34325764 0.05162362
+v 0.03695123 -0.30045563 0.04705939
+v -0.02740915 -0.30043162 0.03765467
+v -0.02522765 -0.31683678 0.04870513
+v -0.02688857 -0.29779236 0.03716096
+f 5 2 1
+f 7 1 2
+f 8 4 6
+f 8 7 2
+f 8 6 7
+f 10 6 4
+f 10 3 6
+f 11 1 7
+f 12 7 6
+f 12 6 3
+f 12 11 7
+f 13 4 8
+f 13 8 2
+f 13 2 5
+f 14 5 1
+f 14 1 11
+f 15 10 9
+f 15 3 10
+f 15 14 11
+f 15 12 3
+f 15 11 12
+f 16 5 14
+f 16 13 5
+f 16 4 13
+f 17 15 9
+f 17 14 15
+f 17 16 14
+f 18 10 4
+f 18 4 16
+f 18 9 10
+f 18 17 9
+f 18 16 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f91e60702475c7d2fa3e25030b38c4b56ccffb53
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.03853948 -0.18865216 0.02585805
+v 0.06409241 -0.09543912 0.01925050
+v -0.04647175 -0.09707461 0.01769500
+v -0.04428416 -0.08728672 -0.01154481
+v 0.05869537 -0.08463126 -0.01012077
+v -0.02863621 -0.18380676 0.01012428
+v 0.04621373 -0.17136976 0.01350343
+v -0.02775257 -0.18663829 0.02387075
+v -0.04586061 -0.12498220 0.00421408
+v 0.03777694 -0.18634126 0.00717853
+v -0.03353796 -0.15390942 0.00088752
+v -0.04188824 -0.14149646 0.00767105
+v 0.04454143 -0.15303924 0.00095189
+v -0.04261599 -0.13884141 0.00693119
+v 0.04530351 -0.16893307 0.01050373
+f 1 2 3
+f 5 3 2
+f 5 4 3
+f 7 5 2
+f 7 2 1
+f 8 1 3
+f 9 3 4
+f 10 7 1
+f 10 8 6
+f 10 1 8
+f 11 9 4
+f 11 6 9
+f 11 10 6
+f 12 8 3
+f 12 6 8
+f 13 4 5
+f 13 11 4
+f 13 10 11
+f 14 12 3
+f 14 3 9
+f 14 9 6
+f 14 6 12
+f 15 13 5
+f 15 5 7
+f 15 7 10
+f 15 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ed563726d40abe8b2b6e1e0c9421e643bc0b87a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.07458719 0.41666667 -0.05486035
+v -0.06884914 0.43568600 -0.07439359
+v -0.07405742 0.48906218 0.01969247
+v -0.07638702 0.48869510 0.01969247
+v -0.14179582 0.42965043 -0.01897986
+v -0.07337422 0.48472635 -0.03489812
+v -0.11546555 0.40766774 -0.07753261
+v -0.14044254 0.44214075 0.00482797
+v -0.07458719 0.41666667 -0.08232033
+v -0.12867286 0.46445057 -0.03131394
+v -0.12688073 0.44526685 0.00139479
+v -0.14074961 0.45789613 0.01931632
+v -0.09847421 0.47980735 -0.03131394
+v -0.13273633 0.41183521 -0.06810670
+v -0.12867286 0.46445057 0.01969247
+v -0.09847421 0.47980735 0.01969247
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 5
+f 8 5 1
+f 9 7 2
+f 9 2 1
+f 9 1 7
+f 11 8 1
+f 11 1 3
+f 11 3 8
+f 12 8 3
+f 12 10 5
+f 12 5 8
+f 13 6 2
+f 13 2 7
+f 13 4 6
+f 14 7 5
+f 14 5 10
+f 14 13 7
+f 14 10 13
+f 15 12 3
+f 15 3 4
+f 15 13 10
+f 15 10 12
+f 16 15 4
+f 16 4 13
+f 16 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f0ecedd563eb70eeb1bfe18236c8058845ca42e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.23881046 0.36857869 0.01969249
+v 0.23604660 0.36705734 -0.03389012
+v 0.16059090 0.44946139 -0.03131393
+v 0.10617764 0.47503115 0.01969247
+v 0.10709289 0.41637278 -0.07434690
+v 0.16059090 0.44946139 0.01969247
+v 0.23240972 0.38020695 -0.03131393
+v 0.16754297 0.37089862 -0.07421817
+v 0.11498109 0.44831068 -0.00504370
+v 0.10407437 0.47055533 -0.03535217
+v 0.23240973 0.38020696 0.01969249
+v 0.19217175 0.36484972 -0.06406136
+v 0.14313079 0.42163259 -0.05764175
+v 0.10242670 0.43674601 -0.06091081
+v 0.13099945 0.46336694 -0.03131393
+v 0.21904411 0.36603848 -0.04645416
+v 0.21885447 0.37614191 -0.04242957
+f 7 1 2
+f 9 1 4
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 11 1 7
+f 11 6 4
+f 11 4 1
+f 11 7 3
+f 11 3 6
+f 12 1 8
+f 12 8 3
+f 13 8 5
+f 13 5 3
+f 13 3 8
+f 14 5 4
+f 14 4 10
+f 14 10 3
+f 14 3 5
+f 15 10 4
+f 15 3 10
+f 15 6 3
+f 15 4 6
+f 16 2 1
+f 16 1 12
+f 16 7 2
+f 17 12 3
+f 17 3 7
+f 17 16 12
+f 17 7 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b508d010bd98cb9a2bcede4c1c365ce210f20f9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.26505914 0.32089245 0.01969249
+v 0.26472771 0.32071002 -0.03162284
+v 0.23528720 0.37497942 0.01969249
+v 0.20612089 0.37971984 -0.00286411
+v 0.20972334 0.32379344 -0.06975648
+v 0.24233370 0.36217796 -0.03131392
+v 0.24772523 0.31969116 -0.04418688
+v 0.18298857 0.35606061 -0.05486034
+v 0.19115069 0.37991312 -0.03325522
+v 0.25865841 0.33252071 -0.03131392
+v 0.22022304 0.32123287 -0.06325370
+v 0.23268176 0.33643083 -0.00634352
+v 0.20915228 0.36770656 -0.05287353
+v 0.22835980 0.34920333 0.00079581
+v 0.20460220 0.35127756 -0.06259763
+v 0.18804806 0.37660566 -0.04689948
+f 1 3 4
+f 6 3 1
+f 7 2 1
+f 9 4 3
+f 9 3 6
+f 9 8 4
+f 10 6 1
+f 10 1 2
+f 10 2 7
+f 11 7 1
+f 11 1 5
+f 12 8 5
+f 12 5 1
+f 13 10 7
+f 13 6 10
+f 13 9 6
+f 14 12 1
+f 14 1 4
+f 14 4 8
+f 14 8 12
+f 15 5 8
+f 15 11 5
+f 15 13 7
+f 15 7 11
+f 16 8 9
+f 16 9 13
+f 16 15 8
+f 16 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d14797260163845606676173c885db5e41a703a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.03300982 -0.27009466 0.03683393
+v 0.03173857 -0.26679523 0.02546226
+v 0.03853948 -0.18865216 0.02585805
+v -0.02863621 -0.18380676 0.01012428
+v -0.01694576 -0.26915111 0.03793680
+v 0.03777694 -0.18634126 0.00717853
+v -0.01622715 -0.26617084 0.02420129
+v 0.03488208 -0.20527756 0.02901662
+v -0.02775257 -0.18663829 0.02387075
+v 0.01608916 -0.24674084 0.01842214
+v -0.02218893 -0.20613072 0.02900977
+v 0.02878359 -0.22838381 0.01508856
+v -0.01542931 -0.22880976 0.01503894
+v -0.01120697 -0.24727783 0.01853611
+v 0.01628896 -0.18818214 0.00741636
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 5 1
+f 8 1 3
+f 9 3 4
+f 9 4 5
+f 10 2 7
+f 11 8 3
+f 11 3 9
+f 11 9 5
+f 11 5 8
+f 12 10 6
+f 12 6 2
+f 12 2 10
+f 13 7 4
+f 14 13 10
+f 14 10 7
+f 14 7 13
+f 15 13 4
+f 15 4 6
+f 15 6 10
+f 15 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ad718ae3573afb8e11c4dc7a2e20ae1eeeb5fc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.24666333 0.05158827 0.01284537
+v 0.24142839 0.05404826 -0.04151037
+v 0.24960227 0.11081327 -0.03149626
+v 0.22844312 0.11363636 -0.05486032
+v 0.21653975 0.05150394 -0.04563438
+v 0.24549792 0.11274197 -0.04514050
+v 0.25255906 0.09427232 -0.00227907
+v 0.22474847 0.04764653 -0.01834591
+v 0.21329160 0.08333333 -0.05486032
+v 0.25261966 0.07909232 0.00640290
+v 0.23784946 0.04861010 0.00599047
+v 0.24491133 0.07559465 0.00079582
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 9 4 2
+f 9 2 5
+f 9 5 8
+f 10 1 2
+f 10 2 3
+f 10 3 7
+f 11 8 2
+f 11 2 1
+f 11 9 8
+f 11 1 10
+f 12 7 4
+f 12 4 9
+f 12 9 11
+f 12 11 10
+f 12 10 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d5c51d1459afb1e7f288fdb5aa2700711fd7f0f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.21052785 0.04047137 -0.04318204
+v 0.24142839 0.05404826 -0.04151037
+v 0.24823543 0.26603934 -0.04601197
+v 0.16783706 0.26515152 -0.05486034
+v 0.16783706 0.03787879 -0.08232030
+v 0.20632986 0.04440936 -0.06305498
+v 0.16783706 0.03787879 -0.05486032
+v 0.16783706 0.26515152 -0.08232031
+v 0.23060662 0.11973966 -0.07232189
+v 0.20090101 0.05885286 -0.07313027
+v 0.23064370 0.26267387 -0.07374832
+v 0.18898878 0.04646332 -0.07452995
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 9 3 2
+f 10 5 9
+f 10 9 2
+f 10 2 6
+f 11 8 3
+f 11 3 9
+f 11 9 5
+f 11 5 8
+f 12 10 6
+f 12 6 5
+f 12 5 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72a4fe8b6b438c5a6053931dea16e704b8385730
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.26695996 0.11197327 0.00570491
+v -0.25235331 0.11427485 -0.05456954
+v -0.26695629 0.28198272 0.00570591
+v -0.28085231 0.28178285 0.01969247
+v -0.28624624 0.14639965 -0.03131392
+v -0.24874870 0.17544889 -0.06525225
+v -0.27815987 0.11498336 -0.03384355
+v -0.28624624 0.14639965 0.01969249
+v -0.27816420 0.27894281 -0.03384626
+v -0.28085291 0.11217158 0.01969249
+v -0.28630629 0.24752388 0.01969248
+v -0.28630628 0.24752388 -0.03131393
+v -0.25235354 0.27965799 -0.05456856
+v -0.25802747 0.21754311 -0.05796734
+v -0.24878740 0.21848420 -0.06529786
+v -0.25798580 0.17638083 -0.05791989
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 10 7 2
+f 10 2 1
+f 10 4 8
+f 10 1 3
+f 10 3 4
+f 10 8 5
+f 10 5 7
+f 11 8 4
+f 11 5 8
+f 12 5 11
+f 12 11 4
+f 12 4 9
+f 13 9 4
+f 13 4 3
+f 13 12 9
+f 14 5 12
+f 14 12 13
+f 15 13 3
+f 15 3 6
+f 15 14 13
+f 15 6 14
+f 16 14 6
+f 16 5 14
+f 16 6 2
+f 16 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6fb9394cdf65c31f9c5ac826b788a935a7c52db
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.16406151 -0.04617124 -0.03485324
+v 0.16048209 -0.03966846 -0.04091451
+v 0.16566667 0.39920147 -0.04338715
+v -0.13768460 0.42156585 -0.04626833
+v -0.13449629 -0.05166512 -0.04256442
+v 0.15908511 0.01578565 -0.07520054
+v 0.15009349 0.41390347 -0.04318230
+v 0.08461294 -0.03946575 -0.07093415
+v 0.13087274 0.40568249 -0.07398899
+v 0.13096025 -0.01078464 -0.07320145
+v -0.12928017 -0.01114495 -0.07397044
+v 0.14615524 0.40970521 -0.06305546
+v -0.08267581 -0.03919575 -0.07087364
+v -0.12937169 0.40521874 -0.07416797
+v 0.15944012 0.37741229 -0.07486573
+v 0.16149407 0.39475338 -0.06339075
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 4 1
+f 8 1 5
+f 10 6 2
+f 10 2 1
+f 10 1 8
+f 11 5 4
+f 11 10 8
+f 11 6 10
+f 12 9 4
+f 12 4 7
+f 12 7 3
+f 13 11 8
+f 13 8 5
+f 13 5 11
+f 14 11 4
+f 14 4 9
+f 14 6 11
+f 15 3 6
+f 15 9 12
+f 15 14 9
+f 15 6 14
+f 16 15 12
+f 16 12 3
+f 16 3 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09c08e6c746b368b7fe93e93d28cc58a31c3e7df
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05256079 -0.11055907 -0.00692479
+v 0.06152700 -0.08202942 -0.04281576
+v 0.05869537 -0.08463126 -0.01012077
+v -0.04310414 -0.07592110 -0.05040147
+v -0.04207422 -0.09975471 -0.03131390
+v 0.04519472 -0.07585744 -0.05027179
+v 0.05858113 -0.09693401 -0.03131390
+v -0.04428416 -0.08728672 -0.01154481
+v 0.04407609 -0.08516170 -0.04298117
+v -0.04281710 -0.11196831 -0.00693903
+v -0.04216305 -0.08516117 -0.04307095
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 7 1 5
+f 7 6 2
+f 8 3 4
+f 9 4 6
+f 9 7 5
+f 9 6 7
+f 10 5 1
+f 10 1 3
+f 10 3 8
+f 10 8 4
+f 10 4 5
+f 11 9 5
+f 11 5 4
+f 11 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d588639879a828ea7c3a6aeb970d3f01a0733e6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00316076 -0.40349285 0.06629255
+v -0.00316077 -0.39842042 0.04723461
+v -0.00316077 -0.34221021 0.05472563
+v -0.03060424 -0.33954525 0.04061373
+v -0.02923373 -0.40392209 0.06661848
+v -0.00316077 -0.34002156 0.03588128
+v -0.02906492 -0.39896967 0.04706559
+v -0.01414909 -0.37421107 0.06088186
+v -0.02966321 -0.34325764 0.05162362
+v -0.01397689 -0.34001968 0.03589094
+v -0.02833041 -0.37471940 0.06103404
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 7 6 2
+f 8 5 1
+f 8 1 3
+f 8 3 5
+f 9 3 4
+f 9 4 5
+f 10 7 4
+f 10 4 6
+f 10 6 7
+f 11 9 5
+f 11 5 3
+f 11 3 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d1b4bd130c6a432151e5700fdddeb08bd21599
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.04815837 -0.40408529 0.06690786
+v 0.04786217 -0.39930562 0.04735755
+v 0.04757152 -0.33993858 0.04094535
+v 0.02011691 -0.34208415 0.05477029
+v 0.02202478 -0.40330868 0.06633185
+v 0.02005023 -0.33994505 0.03584832
+v 0.04704537 -0.34374858 0.05149282
+v 0.02187326 -0.39844697 0.04679239
+v 0.04637630 -0.37512953 0.06133658
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 8 6 2
+f 8 2 5
+f 8 5 6
+f 9 7 4
+f 9 4 1
+f 9 1 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c85a169298fd4750d7c0f4fcc63166b92d1beec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07692796 0.41666667 -0.05486035
+v 0.07692796 0.41666667 -0.08232033
+v 0.07857594 0.45047665 -0.04572943
+v -0.07726654 0.45223856 -0.04640618
+v -0.07458719 0.41666667 -0.05486035
+v 0.07115946 0.43469415 -0.07328594
+v -0.07458719 0.41666667 -0.08232033
+v -0.06884914 0.43568600 -0.07439359
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 8 6 2
+f 8 2 7
+f 8 7 4
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2402f303175ae0acf2dc956dc25fc0511eba365
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.04066255 -0.12832660 0.01425738
+v -0.03972405 -0.12594868 -0.00433018
+v -0.04381932 -0.05011043 -0.07112377
+v -0.13752731 -0.02729916 -0.04614766
+v -0.12848905 -0.07020138 -0.03131390
+v -0.04648223 -0.08198908 0.00247801
+v -0.04207422 -0.09975471 0.01969250
+v -0.04357081 -0.12657919 0.00848547
+v -0.09831519 -0.08560591 -0.03131390
+v -0.13112114 -0.04505401 -0.04862568
+v -0.10489022 -0.02272727 -0.05486032
+v -0.04287823 -0.05935051 -0.06379325
+v -0.14067842 -0.06377445 0.01950697
+v -0.08605095 -0.04580687 -0.06481238
+v -0.05685122 -0.09740224 -0.03131390
+v -0.09831518 -0.08560591 0.01969250
+v -0.14165135 -0.03537719 -0.01885917
+v -0.14036786 -0.04801461 0.00502408
+v -0.08359629 -0.05615028 -0.05820126
+v -0.04207422 -0.09975471 -0.03131390
+v -0.12848903 -0.07020137 0.01969250
+v -0.05685122 -0.09740224 0.01969250
+f 7 1 2
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 10 5 4
+f 11 6 3
+f 12 7 2
+f 12 3 7
+f 13 8 1
+f 13 5 8
+f 14 5 10
+f 14 11 3
+f 14 10 4
+f 14 4 11
+f 15 2 9
+f 17 4 5
+f 17 5 13
+f 17 11 4
+f 18 13 7
+f 18 7 6
+f 18 17 13
+f 18 6 11
+f 18 11 17
+f 19 14 3
+f 19 9 5
+f 19 5 14
+f 19 15 9
+f 19 3 15
+f 20 12 2
+f 20 2 15
+f 20 15 3
+f 20 3 12
+f 21 13 1
+f 21 1 16
+f 21 16 7
+f 21 7 13
+f 22 16 1
+f 22 1 7
+f 22 7 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b266d3e91ad634979bf4b0a7d97171dc9cd35edf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.21329160 0.26515151 -0.05486034
+v 0.21329160 0.26515152 -0.08232031
+v 0.21464294 0.37265269 -0.04686042
+v 0.16783706 0.37121212 -0.05486035
+v 0.16783706 0.26515152 -0.08232031
+v 0.16246457 0.36548492 -0.08027944
+v 0.16783706 0.26515152 -0.05486034
+v 0.20065999 0.33395608 -0.07223832
+v 0.20330443 0.36316555 -0.05884492
+v 0.17477895 0.36246047 -0.07520103
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 6 5
+f 7 4 6
+f 8 3 2
+f 8 2 6
+f 9 6 3
+f 9 3 8
+f 10 9 8
+f 10 8 6
+f 10 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d442b786ea93622143a9344b618b2706fd58f916
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.13519325 -0.00757576 -0.05486032
+v -0.13173483 -0.00080153 -0.08058155
+v -0.13519325 0.09848485 -0.05486035
+v -0.19579931 0.09848485 -0.05486034
+v -0.19423076 -0.00600970 -0.04172714
+v -0.19579931 0.09848485 -0.08232031
+v -0.13519325 0.09848485 -0.08232031
+v -0.18453332 0.03397538 -0.07040005
+v -0.15423992 0.00366273 -0.07041673
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 5 6
+f 9 8 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4e018dc39a5ceeb1787f81480af911b96ba2b24
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.07754757 -0.08657207 0.01293656
+v 0.13657739 -0.05129238 -0.04201209
+v -0.04648223 -0.08198908 0.00247801
+v -0.04381932 -0.05011043 -0.07112377
+v 0.10397213 -0.07741293 -0.03616539
+v 0.13299797 -0.04478960 -0.04807336
+v 0.13401682 -0.06179209 -0.03550932
+v -0.04528097 -0.08959477 0.00995788
+v 0.01476745 -0.04490497 -0.07976506
+v 0.07897549 -0.07888450 0.00549743
+v -0.04310414 -0.07592110 -0.05040147
+v 0.08819236 -0.04596853 -0.06487289
+v -0.04673314 -0.06841362 -0.03446737
+v 0.02886245 -0.06968547 -0.05772781
+v 0.00329387 -0.05484326 -0.07335553
+v 0.08563180 -0.05646823 -0.05837011
+v 0.00235277 -0.04560319 -0.08068605
+v -0.02693544 -0.06953167 -0.05762973
+v 0.01364881 -0.05420923 -0.07247445
+f 6 4 3
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 9 4 6
+f 10 1 2
+f 10 2 6
+f 10 6 3
+f 10 3 1
+f 11 5 8
+f 12 9 6
+f 12 6 5
+f 13 11 8
+f 13 8 3
+f 13 3 4
+f 13 4 11
+f 14 5 11
+f 16 12 5
+f 16 5 14
+f 16 14 9
+f 16 9 12
+f 17 15 4
+f 17 4 9
+f 17 9 15
+f 18 15 14
+f 18 14 11
+f 18 11 4
+f 18 4 15
+f 19 15 9
+f 19 9 14
+f 19 14 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..200b2d9a4c10240142ed7280bb16c9116f4aed16
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.06065035 0.44360565 -0.07034967
+v 0.06782110 0.45983293 -0.03401391
+v -0.08137776 0.46032315 -0.01911771
+v -0.07638702 0.48869510 0.01969247
+v 0.05980376 0.49189335 -0.03131393
+v 0.06342326 0.47521293 0.00324768
+v 0.06058349 0.45263752 -0.06303899
+v -0.07337422 0.48472635 -0.03489812
+v -0.07642136 0.47376160 0.00462886
+v 0.05980376 0.49189335 0.01969247
+v 0.01466163 0.46407390 -0.05845345
+v -0.07221378 0.44230246 -0.06833233
+v -0.05694339 0.49175885 -0.03131394
+v 0.06341046 0.49026271 0.01849958
+v -0.02698142 0.46362034 -0.05781911
+v -0.05694339 0.49175885 0.01969247
+v -0.07150144 0.45195309 -0.06157166
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 3 4
+f 9 4 3
+f 9 3 6
+f 11 5 1
+f 12 1 3
+f 12 3 8
+f 12 11 1
+f 13 8 4
+f 13 5 11
+f 14 9 6
+f 14 4 9
+f 14 10 4
+f 14 6 2
+f 14 2 5
+f 14 5 10
+f 15 8 13
+f 15 13 11
+f 15 11 12
+f 16 13 4
+f 16 4 10
+f 16 10 5
+f 16 5 13
+f 17 15 12
+f 17 12 8
+f 17 8 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..953fa6189dc961260f68fcd90f9b8ed386e60f2b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.13462502 -0.06706879 0.01969250
+v -0.13020066 -0.02809948 -0.06129806
+v -0.18064779 0.03787879 -0.05486034
+v -0.24835792 0.04197112 0.01969249
+v -0.15866291 -0.05479685 -0.03131390
+v -0.13510997 -0.00741264 -0.07452029
+v -0.13204163 -0.06200854 -0.03595331
+v -0.15866289 -0.05479682 0.01969250
+v -0.24745338 0.04243110 -0.03214255
+v -0.14371339 -0.03941619 -0.00521495
+v -0.24223608 0.02993272 0.01969249
+v -0.20321356 0.04181339 -0.06411446
+v -0.24223608 0.02993272 -0.03131391
+v -0.23050129 0.04334675 -0.04482028
+v -0.19281685 0.04085652 -0.06958335
+v -0.15891784 -0.04014469 -0.04187540
+v -0.22805229 0.02944061 -0.04145563
+v -0.20190229 0.03176145 -0.05908589
+f 1 3 4
+f 6 1 2
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 10 6 3
+f 10 3 1
+f 10 1 6
+f 11 8 4
+f 11 5 8
+f 13 5 11
+f 13 11 4
+f 13 4 9
+f 14 9 4
+f 14 4 12
+f 14 13 9
+f 15 12 4
+f 15 4 3
+f 15 3 6
+f 16 5 13
+f 16 6 2
+f 16 2 5
+f 16 15 6
+f 17 16 13
+f 17 14 12
+f 17 13 14
+f 18 12 15
+f 18 15 16
+f 18 17 12
+f 18 16 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511060f76557fc8e338537873dbdb3d421346008
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06137742 -0.09639905 0.01969250
+v 0.17653746 -0.00058580 -0.03325496
+v 0.17634420 -0.01555602 -0.00286386
+v 0.15268554 0.00757576 -0.05486032
+v 0.10043641 -0.08614106 -0.03131390
+v 0.07692797 -0.03787879 -0.05486032
+v 0.15975091 -0.05349164 -0.03131390
+v 0.06040836 -0.09133368 -0.03552515
+v 0.17322999 0.00251683 -0.04689920
+v 0.17255237 -0.04644513 0.01969250
+v 0.06152700 -0.08202942 -0.04281576
+v 0.10043641 -0.08614106 0.01969250
+f 1 3 4
+f 3 2 4
+f 6 1 4
+f 8 5 1
+f 9 7 4
+f 9 4 2
+f 9 2 7
+f 10 7 2
+f 10 2 3
+f 10 3 1
+f 11 6 4
+f 11 4 7
+f 11 7 5
+f 11 5 8
+f 11 8 1
+f 11 1 6
+f 12 10 1
+f 12 1 5
+f 12 5 7
+f 12 7 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040daea1c313f2514bb7771c06bf6abe280c6cf3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.22371157 0.03138961 0.00215028
+v -0.18871046 0.05663517 -0.08015683
+v -0.19579931 0.09848485 -0.05486034
+v -0.28121998 0.11450118 0.01969249
+v -0.24745338 0.04243110 -0.03214255
+v -0.26159041 0.11520678 -0.04723718
+v -0.20481893 0.02887348 -0.03352625
+v -0.24524481 0.03584929 0.01969249
+v -0.19579931 0.09848485 -0.08232031
+v -0.22610234 0.11363636 -0.05486034
+v -0.27294966 0.09033001 -0.03131391
+v -0.19281685 0.04085652 -0.06958335
+v -0.21672873 0.10325157 -0.07701784
+v -0.27815987 0.11498336 -0.03384355
+v -0.27294965 0.09033001 0.01969249
+v -0.25759287 0.06013136 -0.03131391
+v -0.21354919 0.04426239 -0.05749800
+v -0.25235331 0.11427485 -0.05456954
+v -0.28085291 0.11217158 0.01969249
+f 1 3 4
+f 7 2 3
+f 7 3 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 3 2
+f 10 6 4
+f 10 4 3
+f 10 3 9
+f 12 7 5
+f 12 2 7
+f 13 9 2
+f 13 10 9
+f 13 5 11
+f 14 4 6
+f 15 11 8
+f 15 8 4
+f 16 11 5
+f 16 5 8
+f 16 8 11
+f 17 12 5
+f 17 2 12
+f 17 13 2
+f 17 5 13
+f 18 6 10
+f 18 10 13
+f 18 13 11
+f 18 14 6
+f 18 11 14
+f 19 14 11
+f 19 4 14
+f 19 15 4
+f 19 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7834d7449d1d279f0b8b59ae20dc715512b2ed94
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.25210853 0.09296496 -0.00303444
+v -0.23368083 0.10233593 -0.06434011
+v -0.23622116 0.27773371 -0.06782464
+v -0.25376537 0.28669049 -0.01880753
+v -0.26169938 0.11280218 -0.00076827
+v -0.24401646 0.10478493 -0.05772365
+v -0.25647715 0.09844835 0.00093418
+v -0.24502302 0.27849098 -0.06062983
+v -0.25721772 0.28043236 -0.01441191
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 3 2
+f 7 6 1
+f 7 5 6
+f 8 6 5
+f 8 4 3
+f 8 3 6
+f 9 7 1
+f 9 1 4
+f 9 5 7
+f 9 8 5
+f 9 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..473f9fa26cb4324f573bc8acbf4ec7b7d6978b29
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_31">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material_25.003" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0.0 -0.045 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_0_vis" conaffinity="0" contype="0" group="1" material="Material_25.003"/>
+          <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"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        </body>
+        <geom class="region" name="reg_bbox" type="box" pos="0.000373294799999997 -0.045311318399999995 -0.0007432799999999972" size="0.06946009920000001 0.11805440400000003 0.01901359920000001"/>
+        <geom rgba="0 0 0 0" size="0.067 0.004" pos="0 0.001 -0.005" type="cylinder" name="liquid" class="region"/>
+        <geom rgba="0 0 0 0 " size="0.063 0.008" pos="0 0.002 -0.004" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_2/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c68d6bb08b968bb558b8916b2292121d83ee403
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_2/visual/model_normalized_0.obj
@@ -0,0 +1,1358 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d67857808338b546c32486dedc75623d127987a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_0.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.48872442 0.06304282 0.02666260
+v 0.47650851 0.06110803 -0.00240476
+v 0.45033982 0.14468951 0.02666260
+v 0.44373056 0.15129876 0.02666260
+v 0.40151515 0.06362880 -0.02069417
+v 0.44519399 0.10045850 -0.03130541
+v 0.47246473 0.06526703 0.02666262
+v 0.43893531 0.14650351 0.01072486
+v 0.46399188 0.06152535 -0.03130541
+v 0.46230693 0.08659502 0.02666262
+v 0.44617355 0.14166253 0.01470870
+v 0.40151515 0.10908335 -0.03198861
+v 0.47954564 0.08736986 0.02666260
+v 0.44481204 0.11541541 -0.01614685
+v 0.40151515 0.10908335 -0.02069417
+v 0.40151515 0.06362880 -0.03198861
+v 0.46057465 0.07027223 -0.03130541
+v 0.47517747 0.06999265 -0.00102513
+f 5 2 1
+f 7 5 1
+f 8 4 3
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+f 9 1 2
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+f 10 5 7
+f 10 3 4
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+f 12 8 6
+f 13 7 1
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+f 13 3 10
+f 13 11 3
+f 14 6 8
+f 14 8 11
+f 14 13 6
+f 14 11 13
+f 15 5 4
+f 15 4 8
+f 15 8 12
+f 16 12 9
+f 16 9 5
+f 16 15 12
+f 16 5 15
+f 17 12 6
+f 17 9 12
+f 18 13 1
+f 18 1 9
+f 18 9 17
+f 18 17 6
+f 18 6 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fd27b7b0a9c6d6c64a2e1a83361a6d68eb58b06
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.45278863 -0.09085124 -0.01163953
+v 0.48482300 -0.05637940 0.00916483
+v 0.40151515 -0.08788635 -0.02069417
+v 0.40151515 0.06362880 -0.02069417
+v 0.46399188 0.06152535 -0.03130541
+v 0.48189998 0.06196194 0.01042408
+v 0.46744413 -0.05602662 -0.03130541
+v 0.40151515 0.06362880 -0.03198861
+v 0.46770523 -0.05846774 0.00383139
+v 0.44696970 -0.08788635 -0.03198861
+v 0.47372670 0.00006138 -0.03130541
+v 0.45997174 0.07025366 0.00057624
+v 0.40151515 -0.08788635 -0.03198861
+v 0.47261291 -0.02414248 -0.03102956
+f 1 2 3
+f 6 4 3
+f 8 3 4
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 7 2
+f 10 2 1
+f 10 8 5
+f 11 6 2
+f 11 5 6
+f 11 10 5
+f 11 7 10
+f 12 6 5
+f 12 5 8
+f 12 8 4
+f 12 4 6
+f 13 10 1
+f 13 1 3
+f 13 3 8
+f 13 8 10
+f 14 11 2
+f 14 2 7
+f 14 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b33130db1a4bfa360b509280fdb63e6d4ca4df8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_10.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.45004910 0.11065238 0.02666262
+v 0.44373778 0.10743661 0.00721107
+v 0.39281404 0.20221529 0.02666260
+v 0.30987088 0.24080525 0.02666260
+v 0.31209513 0.22454557 0.02666262
+v 0.31702997 0.21260007 0.00073743
+v 0.43615481 0.15887452 0.02666260
+v 0.38981042 0.19808116 0.01480092
+v 0.30894325 0.23399763 0.01080257
+v 0.43920660 0.11284793 0.00287054
+v 0.33411949 0.23212166 0.02666260
+v 0.43252088 0.15524060 0.01458473
+v 0.33212522 0.22748811 0.01483207
+f 5 2 1
+f 5 1 3
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 9 6 5
+f 9 5 4
+f 9 8 6
+f 10 2 6
+f 10 6 8
+f 11 9 4
+f 11 3 8
+f 11 5 3
+f 11 4 5
+f 12 10 8
+f 12 7 2
+f 12 2 10
+f 12 8 3
+f 12 3 7
+f 13 11 8
+f 13 8 9
+f 13 9 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3859e28e1e6d0ccb1c52b28aeaf195d8bf6af68
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.31197583 -0.22693831 -0.01036005
+v 0.37121212 -0.19394696 -0.03198861
+v 0.37121212 -0.14849241 -0.02069417
+v 0.18939394 -0.14849241 -0.02069417
+v 0.18939394 -0.22424999 -0.03198861
+v 0.37121212 -0.14849241 -0.03198861
+v 0.37237570 -0.19623061 -0.01019467
+v 0.31060606 -0.22424999 -0.03198861
+v 0.18847166 -0.23007299 -0.01140824
+v 0.18939394 -0.14849241 -0.03198861
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 8 5 2
+f 8 2 1
+f 9 7 4
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 6 5
+f 10 4 6
+f 10 9 4
+f 10 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a7c1c2cf9df1965d88ea843e35d55cb367e089e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_12.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.34090909 0.16968941 -0.02069417
+v 0.34090909 0.16968941 -0.03198861
+v 0.31908514 0.23275757 0.01197756
+v 0.16165786 0.23288673 0.01137809
+v 0.14393939 0.16968941 -0.03198861
+v 0.16700650 0.21522134 -0.03130892
+v 0.34722990 0.19724623 0.00082013
+v 0.31676473 0.21319295 -0.03134921
+v 0.20739225 0.22747306 -0.01637720
+v 0.14891280 0.20561565 -0.03149972
+v 0.33714646 0.22252513 0.00979693
+v 0.14393939 0.16968941 -0.02069417
+v 0.33485843 0.20358727 -0.03154000
+v 0.16335917 0.22765063 -0.00140160
+v 0.27760378 0.22686121 -0.01643855
+v 0.13672725 0.19899552 0.00010518
+v 0.31666448 0.22787599 -0.00085162
+v 0.14720552 0.22408407 0.00886992
+f 5 2 1
+f 7 1 2
+f 9 4 3
+f 10 4 6
+f 11 3 4
+f 12 5 1
+f 12 1 7
+f 13 7 2
+f 13 2 5
+f 13 5 10
+f 13 10 6
+f 13 6 8
+f 13 11 7
+f 13 8 11
+f 14 9 6
+f 14 6 4
+f 14 4 9
+f 15 8 6
+f 15 6 9
+f 15 9 3
+f 16 7 11
+f 16 12 7
+f 16 10 5
+f 16 5 12
+f 17 11 8
+f 17 3 11
+f 17 15 3
+f 17 8 15
+f 18 16 11
+f 18 11 4
+f 18 4 10
+f 18 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a92bc2caa2501d07c7560c2fb4adf83d85956d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_13.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.36721520 -0.23155711 0.02666260
+v 0.46707432 -0.12814455 0.02666260
+v 0.37121212 -0.14849241 -0.02069417
+v 0.46683336 -0.12802177 0.02602702
+v 0.44732679 -0.16400103 0.02666260
+v 0.40151515 -0.13334090 -0.02069417
+v 0.44370672 -0.13939840 0.02666262
+v 0.43040064 -0.14707488 -0.02959396
+v 0.37846906 -0.20818949 0.02666262
+v 0.44208604 -0.13828398 -0.01484504
+v 0.46094541 -0.14017323 0.02666260
+v 0.38625142 -0.20898626 -0.00007641
+v 0.37121212 -0.14849241 -0.03198861
+v 0.43885160 -0.12920452 -0.03130541
+v 0.40187226 -0.20945558 0.02666260
+v 0.36774984 -0.20242427 -0.03188683
+v 0.44727541 -0.12577658 -0.01732323
+v 0.40151515 -0.13334090 -0.03198861
+v 0.37924387 -0.22542819 0.02666260
+v 0.38494610 -0.19252944 -0.02959397
+v 0.36442793 -0.21093527 -0.01781429
+v 0.36438263 -0.22599788 0.01253280
+f 6 2 4
+f 7 6 3
+f 7 2 6
+f 9 7 3
+f 9 3 1
+f 9 5 7
+f 11 5 8
+f 11 7 5
+f 11 2 7
+f 11 8 10
+f 13 3 6
+f 14 10 8
+f 14 11 10
+f 14 4 2
+f 14 2 11
+f 15 12 5
+f 15 5 9
+f 16 14 8
+f 17 6 4
+f 17 4 14
+f 18 13 6
+f 18 17 14
+f 18 6 17
+f 18 16 13
+f 18 14 16
+f 19 1 12
+f 19 12 15
+f 19 15 9
+f 19 9 1
+f 20 16 8
+f 20 12 16
+f 20 8 5
+f 20 5 12
+f 21 3 13
+f 21 13 16
+f 22 21 16
+f 22 1 3
+f 22 3 21
+f 22 16 12
+f 22 12 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b04276feb97674c48c9a7719a3be5076b680b9b9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.12878788 0.12423486 -0.02069417
+v 0.12923373 0.12455880 -0.03122301
+v 0.13462012 0.20405240 -0.01909200
+v 0.12934481 0.21405091 0.00641217
+v 0.04107017 0.13667843 0.00747763
+v 0.08333333 0.12423486 -0.02069417
+v 0.04760483 0.14628516 0.01072808
+v 0.05914929 0.13476568 -0.02770093
+v 0.10433003 0.20367214 0.01136855
+v 0.04873164 0.13017753 -0.01901446
+v 0.13081909 0.19600995 -0.03169051
+v 0.08390848 0.12465274 -0.02880398
+v 0.09800496 0.18725596 -0.01625868
+v 0.06666174 0.14308461 -0.02833559
+v 0.11907617 0.19907257 -0.01399656
+v 0.05372233 0.13922676 -0.01361106
+v 0.10388050 0.18405320 -0.02923429
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 9 7 1
+f 9 1 4
+f 10 6 5
+f 11 3 2
+f 12 2 6
+f 12 10 8
+f 12 6 10
+f 13 7 9
+f 14 11 2
+f 14 8 10
+f 14 12 8
+f 14 2 12
+f 15 4 3
+f 15 3 11
+f 15 9 4
+f 16 13 10
+f 16 7 13
+f 16 10 5
+f 16 5 7
+f 17 11 14
+f 17 15 11
+f 17 13 9
+f 17 9 15
+f 17 14 10
+f 17 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4677499e313d1a7d02c674f218e18f230aa85140
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04618237 -0.15534033 0.02666262
+v 0.05170672 -0.14981599 0.00520855
+v 0.00668922 -0.02742070 0.00556332
+v 0.00187771 -0.02818277 0.01894087
+v 0.02001449 -0.14215457 0.02666260
+v 0.02477574 -0.13972859 0.01410404
+v 0.00378248 -0.05818412 0.02666262
+v 0.03963988 -0.12501214 0.00041751
+v 0.00879056 -0.02948764 0.00075181
+v 0.00415326 -0.06052515 0.02666262
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 1 4
+f 7 4 3
+f 8 2 6
+f 9 6 5
+f 9 7 3
+f 9 8 6
+f 9 3 2
+f 9 2 8
+f 10 9 5
+f 10 7 9
+f 10 5 1
+f 10 1 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c747013ec44e3f964b573625ee1ef7cb1b9eb397
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04505121 -0.13740645 0.00262912
+v 0.05303030 -0.13334090 -0.03198861
+v 0.05303030 0.06362880 -0.02069417
+v 0.01691235 0.06659165 0.00351363
+v 0.02360482 -0.09487065 -0.03130541
+v 0.01387126 0.06263170 0.00821129
+v 0.01958637 -0.12722119 0.01162586
+v 0.05279214 0.06289582 -0.03110281
+v 0.00962540 0.06413512 -0.03042618
+v 0.03898549 -0.12505692 -0.03130541
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 6
+f 8 3 2
+f 8 4 3
+f 9 6 4
+f 9 7 6
+f 9 5 7
+f 9 4 8
+f 9 8 2
+f 9 2 5
+f 10 7 5
+f 10 5 2
+f 10 2 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac5636a0a7966d23decb57671a6812159bd3e06
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 0.10908335 -0.02069417
+v 0.14437346 0.10939872 -0.03144351
+v 0.14974229 0.21925971 -0.00396725
+v 0.14720552 0.22408407 0.00886992
+v 0.12212133 0.19792473 0.01569433
+v 0.12878788 0.10908335 -0.02069417
+v 0.13992697 0.20786726 0.01782325
+v 0.13709369 0.19934105 -0.03162434
+v 0.12753267 0.20245592 0.02003487
+v 0.13453419 0.21901770 0.01127588
+v 0.12926504 0.10943003 -0.03063717
+v 0.14891280 0.20561565 -0.03149972
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 9 6 1
+f 9 5 6
+f 9 1 7
+f 10 8 5
+f 10 4 3
+f 10 5 9
+f 10 9 7
+f 10 7 4
+f 11 6 5
+f 11 5 8
+f 11 8 2
+f 11 2 6
+f 12 3 2
+f 12 2 8
+f 12 10 3
+f 12 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04a403aaf55fe28dc8875d0368204dea79348f30
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.32500026 -0.25306671 0.02666260
+v 0.37121212 -0.19394696 -0.03198861
+v 0.37234014 -0.21131234 0.02666262
+v 0.31060606 -0.19394696 -0.02069417
+v 0.30920904 -0.23103942 -0.03196009
+v 0.37679893 -0.20491168 0.01656040
+v 0.33012520 -0.23282194 0.02666262
+v 0.36167392 -0.20611055 -0.03086249
+v 0.30975381 -0.24917217 0.00820828
+v 0.31060606 -0.19394696 -0.03198861
+v 0.36721520 -0.23155711 0.02666260
+v 0.31652185 -0.23698883 -0.01598694
+v 0.30804596 -0.23838922 -0.01744940
+v 0.33164403 -0.22178152 -0.03111169
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 9 7 4
+f 9 1 7
+f 10 4 2
+f 10 2 5
+f 11 6 3
+f 11 8 2
+f 11 2 6
+f 11 7 1
+f 11 3 7
+f 12 1 9
+f 12 11 1
+f 13 9 4
+f 13 12 9
+f 13 5 12
+f 13 10 5
+f 13 4 10
+f 14 12 5
+f 14 5 8
+f 14 8 11
+f 14 11 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10080fcc418bd12a729674ebadd39941d32db437
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 -0.14849241 -0.02069417
+v 0.14393939 -0.14849241 -0.03198861
+v 0.14437346 0.10939872 -0.03144351
+v 0.08333333 0.12423486 -0.02069417
+v 0.04939174 -0.13519483 -0.01074842
+v 0.05303030 -0.13334090 -0.03198861
+v 0.14393939 0.10908335 -0.02069417
+v 0.08333333 -0.14849241 -0.02069417
+v 0.05268223 0.10801209 -0.02719771
+v 0.12923373 0.12455880 -0.03122301
+v 0.04654924 0.11238561 -0.01191015
+v 0.08333333 -0.14849241 -0.03198861
+v 0.12878788 0.12423486 -0.02069417
+v 0.08390848 0.12465274 -0.02880398
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 10 7 3
+f 10 3 6
+f 11 5 7
+f 11 9 6
+f 11 6 5
+f 12 6 2
+f 12 2 8
+f 12 8 5
+f 12 5 6
+f 13 7 10
+f 13 11 7
+f 13 4 11
+f 14 13 10
+f 14 4 13
+f 14 11 4
+f 14 9 11
+f 14 10 6
+f 14 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a19c3afc6fecb2ce5d0936acc47ddecdfd9e00d7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_2.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00775666 -0.11809720 0.02666260
+v 0.01439699 -0.11471379 0.00914767
+v 0.00748727 0.13314277 0.02611764
+v -0.03772619 0.13611227 0.02467459
+v -0.03150166 0.02758472 -0.01956666
+v -0.02992495 0.01482716 0.02614986
+v 0.01032019 -0.08276883 -0.01639925
+v 0.00643188 0.12314808 -0.02061709
+v -0.00744494 -0.08679025 0.02666404
+v -0.03742333 0.12785638 -0.01369097
+v 0.00978411 -0.01264392 -0.02761901
+v 0.01011108 0.10621615 -0.02351783
+v 0.00463383 -0.11196829 0.02666260
+v 0.01374569 -0.08474261 -0.02146639
+v -0.01988091 0.09071289 -0.02154926
+f 1 2 3
+f 6 3 4
+f 6 4 5
+f 7 2 1
+f 9 1 3
+f 9 3 6
+f 9 6 5
+f 9 5 7
+f 10 5 4
+f 10 4 3
+f 10 3 8
+f 12 8 3
+f 12 3 2
+f 13 9 7
+f 13 7 1
+f 13 1 9
+f 14 7 5
+f 14 5 11
+f 14 2 7
+f 14 12 2
+f 14 11 12
+f 15 12 11
+f 15 11 5
+f 15 5 10
+f 15 10 8
+f 15 8 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b82cc0704274ab4eb371e507ee2ac849ab6a5963
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_20.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.32032729 -0.25544771 0.02666260
+v 0.33012520 -0.23282194 0.02666262
+v 0.14168506 -0.22867436 0.02666262
+v 0.14498109 -0.22220554 0.00672575
+v 0.32658175 -0.22586751 0.00522910
+v 0.16213777 -0.25046742 0.01417762
+v 0.15293892 -0.25204196 0.02666260
+v 0.31873190 -0.25053761 0.01467855
+v 0.14998325 -0.24305901 0.01140410
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 7 6 1
+f 7 1 2
+f 7 2 3
+f 8 6 5
+f 8 5 1
+f 8 1 6
+f 9 4 5
+f 9 5 6
+f 9 6 7
+f 9 7 3
+f 9 3 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea18902e687fd3861260eed574ccdec187278416
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09345094 0.05559000 0.02375080
+v -0.09042196 0.06125659 -0.00596918
+v -0.09900064 0.14013661 0.02271892
+v -0.16109137 0.14904579 0.02112723
+v -0.15009715 0.09193827 0.02161156
+v -0.09820565 0.13438198 -0.00409154
+v -0.14747146 0.09532934 0.00149037
+v -0.16233781 0.14732831 0.00134372
+f 1 2 3
+f 1 3 4
+f 5 1 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 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f39a80bae6d99fd3cd5121d8af2bc6d3b5a0a83c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.44373778 0.10743661 0.00721107
+v 0.44207115 0.10658742 -0.03130541
+v 0.43893531 0.14650351 0.01072486
+v 0.33714646 0.22252513 0.00979693
+v 0.34090909 0.10908335 -0.02069417
+v 0.37771224 0.18243001 -0.03088113
+v 0.34945954 0.21734015 0.01207700
+v 0.43013634 0.13001082 -0.03130541
+v 0.33485843 0.20358727 -0.03154000
+v 0.37966371 0.20199461 0.01216966
+v 0.38576102 0.18423831 -0.01493282
+v 0.33420732 0.21755027 -0.00314719
+v 0.34090909 0.10908335 -0.03198861
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 9 4 6
+f 9 6 8
+f 10 7 3
+f 10 6 4
+f 10 4 7
+f 11 8 6
+f 11 3 8
+f 11 10 3
+f 11 6 10
+f 12 9 5
+f 12 5 4
+f 12 4 9
+f 13 2 5
+f 13 5 9
+f 13 9 8
+f 13 8 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1605710821f66de12859c967f79f8d5d3053fb50
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_23.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.03680473 0.01924172 0.02589004
+v -0.03150166 0.02758472 -0.01956666
+v -0.03772619 0.13611227 0.02467459
+v -0.09900064 0.14013661 0.02271892
+v -0.09345094 0.05559000 0.02375080
+v -0.03742333 0.12785638 -0.01369097
+v -0.08848558 0.06087230 -0.00921989
+v -0.09972400 0.13741444 0.00947834
+v -0.09570945 0.10594465 -0.00684684
+v -0.09477483 0.07969679 -0.00787200
+v -0.09820565 0.13438198 -0.00409154
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 9 6 2
+f 10 9 2
+f 10 2 7
+f 10 7 5
+f 10 5 8
+f 11 8 6
+f 11 6 9
+f 11 10 8
+f 11 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9add25e9971ce21dcf103f8822ad34728356997
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00079198 0.00409718 0.01854056
+v 0.00770484 0.00540206 0.00035151
+v 0.00560350 0.00333512 0.00516302
+v 0.00940135 0.07041870 0.02666262
+v 0.00457349 0.06414305 0.02760418
+v 0.00430543 0.04899526 0.02687428
+v 0.01691235 0.06659165 0.00351363
+v 0.00526459 0.05124311 0.02666262
+v 0.01387126 0.06263170 0.00821129
+f 1 3 4
+f 3 2 4
+f 5 2 3
+f 5 3 1
+f 6 5 1
+f 6 4 5
+f 7 5 4
+f 7 4 2
+f 8 6 1
+f 8 1 4
+f 8 4 6
+f 9 7 2
+f 9 2 5
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..920650dfc1414fe79ba794a081e5926766cccb6f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.47591696 -0.05976835 0.02666262
+v 0.49254743 -0.05520307 0.02666260
+v 0.47246473 0.06526703 0.02666262
+v 0.46770523 -0.05846774 0.00383139
+v 0.48482300 -0.05637940 0.00916483
+v 0.46465718 0.06403046 0.00495518
+v 0.48872442 0.06304282 0.02666260
+v 0.48850087 0.03030465 0.01410772
+v 0.49143620 0.04592107 0.02666260
+v 0.48944178 -0.03955967 0.01370238
+v 0.48189998 0.06196194 0.01042408
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 7 6 3
+f 9 8 7
+f 9 7 3
+f 9 1 2
+f 9 3 1
+f 10 2 5
+f 10 5 8
+f 10 9 2
+f 10 8 9
+f 11 8 5
+f 11 5 6
+f 11 6 7
+f 11 7 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a130a6f410ebfcc1e9db1e3d41c7e8ae0299f6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_26.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.31087600 0.21684830 0.00526180
+v 0.31209513 0.22454557 0.02666262
+v 0.18741422 0.22764339 0.02666262
+v 0.19197951 0.24427384 0.02666260
+v 0.30987088 0.24080525 0.02666260
+v 0.18869080 0.21958341 0.00425338
+v 0.19077170 0.23674813 0.00963769
+v 0.27715556 0.24072615 0.01445128
+v 0.20759144 0.24136692 0.01417524
+v 0.29274911 0.24351707 0.02666260
+v 0.30894325 0.23399763 0.01080257
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 6 3
+f 7 3 4
+f 7 1 6
+f 9 8 7
+f 9 7 4
+f 10 5 8
+f 10 2 5
+f 10 3 2
+f 10 4 3
+f 10 9 4
+f 10 8 9
+f 11 8 5
+f 11 5 1
+f 11 1 7
+f 11 7 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8698d1f6e8b4b3f3c4dd9863f68c90c4e2a25652
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_27.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.27809651 -0.25577313 0.01189190
+v 0.31060606 -0.22424999 -0.03198861
+v 0.31418744 -0.23127884 0.00301748
+v 0.18939394 -0.22424999 -0.03198861
+v 0.27723397 -0.23665631 -0.03165773
+v 0.18770959 -0.23488451 0.00196929
+v 0.30975381 -0.24917217 0.00820828
+v 0.20645109 -0.25133851 -0.00009206
+v 0.30920904 -0.23103942 -0.03196009
+v 0.20665048 -0.25641392 0.01161584
+v 0.30804596 -0.23838922 -0.01744940
+v 0.27724258 -0.25038165 -0.00093694
+v 0.19249687 -0.23496191 -0.03080572
+v 0.18983074 -0.25179513 0.00707829
+f 3 2 4
+f 6 3 4
+f 7 3 1
+f 9 5 4
+f 9 4 2
+f 9 2 3
+f 9 3 7
+f 10 1 3
+f 10 3 6
+f 11 9 7
+f 11 5 9
+f 12 8 5
+f 12 10 8
+f 12 1 10
+f 12 5 11
+f 12 11 7
+f 12 7 1
+f 13 4 5
+f 13 5 8
+f 14 13 8
+f 14 8 10
+f 14 10 6
+f 14 6 4
+f 14 4 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f30e8a914fd12e95d927dc8bb4c44997abcaf97
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.01212877 -0.02069417
+v 0.26515151 -0.01212877 -0.03198861
+v 0.26515151 0.16968941 -0.02069417
+v 0.14393939 0.16968941 -0.02069417
+v 0.14412577 -0.01270239 -0.03033583
+v 0.26515151 0.16968941 -0.03198861
+v 0.14393939 -0.01212877 -0.02069417
+v 0.14393939 0.16968941 -0.03198861
+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 8 4 6
+f 8 7 4
+f 8 5 7
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..333ca8ebb12c0adf10402d5454bba0a28cdd1aa5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.14849241 -0.02069417
+v 0.40151515 -0.14849241 -0.03198861
+v 0.40151515 -0.01212877 -0.02069417
+v 0.14393939 -0.01212877 -0.02069417
+v 0.14393939 -0.14849241 -0.03198861
+v 0.40151515 -0.01212877 -0.03198861
+v 0.14393939 -0.14849241 -0.02069417
+v 0.14412577 -0.01270239 -0.03033583
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d9d11e28e7c8c91abbda63ba1ec40577f63888d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_3.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.14681001 -0.24891912 0.02666260
+v 0.15737540 -0.22761686 0.00451414
+v 0.13555614 -0.22555151 0.02666262
+v 0.02313732 -0.14828348 0.02666260
+v 0.09915537 -0.20778250 -0.00863289
+v 0.05375813 -0.16291609 0.02666262
+v 0.15516378 -0.23195740 0.01789167
+v 0.14998325 -0.24305901 0.01140410
+v 0.09256639 -0.22128061 0.02666260
+v 0.06016946 -0.15650476 0.00176388
+v 0.15196407 -0.22308567 0.00017360
+v 0.13726010 -0.23792534 0.01383073
+v 0.03507261 -0.16645010 0.02666260
+v 0.02974253 -0.14491796 0.00924033
+v 0.08419862 -0.20863982 0.01538654
+v 0.03847192 -0.16305079 0.01536452
+v 0.09417646 -0.20882417 -0.00113931
+v 0.09025347 -0.20235402 -0.00515838
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 7 1
+f 8 2 7
+f 9 1 3
+f 9 3 6
+f 10 4 6
+f 10 6 2
+f 11 8 5
+f 11 2 8
+f 11 10 2
+f 11 5 10
+f 12 8 1
+f 12 5 8
+f 12 9 5
+f 12 1 9
+f 13 9 6
+f 13 6 4
+f 14 10 5
+f 14 4 10
+f 15 9 13
+f 16 13 4
+f 16 4 14
+f 17 5 9
+f 17 9 15
+f 17 15 13
+f 17 13 16
+f 18 16 14
+f 18 14 5
+f 18 17 16
+f 18 5 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f4770586379dbe034f8b171be35f304238a7df
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34090909 0.10908335 -0.02069417
+v 0.34090909 0.10908335 -0.03198861
+v 0.34090909 0.16968941 -0.03198861
+v 0.26515151 0.16968941 -0.02069417
+v 0.26515151 0.10908335 -0.03198861
+v 0.34090909 0.16968941 -0.02069417
+v 0.26515151 0.10908335 -0.02069417
+v 0.26515151 0.16968941 -0.03198861
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90b0d7b8b9779a801027a392bac5094f72ccaea
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.01212877 -0.02069417
+v 0.40151515 -0.01212877 -0.03198861
+v 0.40151515 0.10908335 -0.03198861
+v 0.26515151 0.10908335 -0.02069417
+v 0.26515151 -0.01212877 -0.03198861
+v 0.40151515 0.10908335 -0.02069417
+v 0.26515151 -0.01212877 -0.02069417
+v 0.26515151 0.10908335 -0.03198861
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6142e5103ab602957b999cfd560561244a806068
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_4.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15697694 0.09635283 0.02135174
+v -0.15810347 0.09986085 0.00222531
+v -0.16109137 0.14904579 0.02112723
+v -0.31360513 0.20727373 0.02015169
+v -0.30703942 0.13870220 -0.00502011
+v -0.31469745 0.20466470 -0.00632476
+v -0.30754328 0.13618406 0.02031762
+v -0.16233781 0.14732831 0.00134372
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ec1ee892e93e8d6976b3e23855479be2ea76795
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_5.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.05303030 0.06362880 -0.02069417
+v 0.08393980 0.10952397 -0.02821814
+v 0.08333333 0.10908335 -0.02069417
+v 0.05990004 0.14766814 0.01677665
+v 0.00643188 0.12314808 -0.02061709
+v 0.08333333 0.13938638 -0.02069417
+v 0.00457349 0.06414305 0.02760418
+v 0.00962540 0.06413512 -0.03042618
+v 0.08387717 0.13978150 -0.02938982
+v 0.04977870 0.14263798 0.02666262
+v 0.05279214 0.06289582 -0.03110281
+v 0.05236513 0.12725322 -0.02712779
+v 0.00940135 0.07041870 0.02666262
+v 0.00748727 0.13314277 0.02611764
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 7 5
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 10 3 4
+f 11 2 1
+f 11 1 7
+f 11 7 8
+f 11 9 2
+f 11 8 9
+f 12 9 8
+f 12 8 5
+f 12 5 9
+f 13 10 7
+f 13 7 3
+f 13 3 10
+f 14 10 4
+f 14 4 5
+f 14 5 7
+f 14 7 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..382a2483f28be61c9947b3b46a543989883bc02e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_6.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.44370672 -0.13939840 0.02666262
+v 0.49217665 -0.05754410 0.02666260
+v 0.47591696 -0.05976835 0.02666262
+v 0.40151515 -0.08788635 -0.03198861
+v 0.44241169 -0.12329839 -0.03015208
+v 0.44696970 -0.05758332 -0.03198861
+v 0.40151515 -0.08788635 -0.02069417
+v 0.46707432 -0.12814455 0.02666260
+v 0.40151515 -0.13334090 -0.03198861
+v 0.47943153 -0.05552548 -0.00366402
+v 0.46744413 -0.05602662 -0.03130541
+v 0.40151515 -0.13334090 -0.02069417
+v 0.47245146 -0.09286123 0.00027667
+v 0.45775724 -0.09309423 -0.03024474
+v 0.47632608 -0.10998696 0.02666260
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 8 1 5
+f 9 5 1
+f 9 4 6
+f 9 7 4
+f 10 6 3
+f 10 3 2
+f 11 9 6
+f 11 5 9
+f 11 6 10
+f 11 10 2
+f 12 9 1
+f 12 1 7
+f 12 7 9
+f 13 11 2
+f 14 5 11
+f 14 11 13
+f 14 8 5
+f 15 13 2
+f 15 14 13
+f 15 8 14
+f 15 2 3
+f 15 3 1
+f 15 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc36d40c6b104e61420f1b42a45f7295e8880f56
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_7.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.30754328 0.13618406 0.02031762
+v -0.30703942 0.13870220 -0.00502011
+v -0.31360513 0.20727373 0.02015169
+v -0.47311908 0.26817426 0.01913136
+v -0.50000001 0.18544226 0.01913136
+v -0.46200520 0.26009994 -0.01373896
+v -0.49325513 0.22802728 0.01913136
+v -0.31038049 0.20304013 -0.00610748
+v -0.48626298 0.18544234 -0.01373896
+v -0.47420218 0.23616228 -0.01373896
+v -0.31179336 0.15472594 -0.00835137
+v -0.48016232 0.25435086 0.01913136
+v -0.49072746 0.22762693 0.01293125
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 8 6 4
+f 8 4 3
+f 9 2 5
+f 10 4 6
+f 10 6 9
+f 11 8 2
+f 11 6 8
+f 11 9 6
+f 11 2 9
+f 12 4 10
+f 12 7 3
+f 12 3 4
+f 13 10 9
+f 13 12 10
+f 13 7 12
+f 13 9 5
+f 13 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..107dfa2d410c8fb6861a3cc9291e7e1c6eb6d5a5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_8.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.18983074 -0.25179513 0.00707829
+v 0.19023754 -0.23407523 -0.03198861
+v 0.18939394 -0.14849241 -0.02069417
+v 0.02455315 -0.13241056 0.00676213
+v 0.07743246 -0.19974036 0.01159061
+v 0.04210833 -0.13118584 -0.03130541
+v 0.03481419 -0.15720758 0.01173264
+v 0.19162103 -0.24049174 -0.01812644
+v 0.16539139 -0.23769476 -0.01666693
+v 0.18939394 -0.14849241 -0.03198861
+v 0.03428060 -0.12745418 -0.01889554
+v 0.14998325 -0.24305901 0.01140410
+v 0.09806032 -0.19474537 -0.03083274
+v 0.08333333 -0.13334090 -0.03198861
+v 0.08333333 -0.13334090 -0.02069417
+v 0.05104026 -0.14868142 -0.02940111
+v 0.15220877 -0.22366405 -0.03146496
+v 0.11956333 -0.22776917 0.01144520
+v 0.03926828 -0.15397150 -0.00104705
+v 0.12204152 -0.22290546 -0.00138365
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 10 8 2
+f 10 3 8
+f 11 7 4
+f 12 7 5
+f 12 1 7
+f 12 9 1
+f 14 10 2
+f 14 2 6
+f 14 6 11
+f 14 3 10
+f 15 11 4
+f 15 4 3
+f 15 14 11
+f 15 3 14
+f 16 6 13
+f 16 13 5
+f 17 13 6
+f 17 6 2
+f 17 2 9
+f 18 12 5
+f 18 5 13
+f 18 9 12
+f 19 6 16
+f 19 11 6
+f 19 7 11
+f 19 16 5
+f 19 5 7
+f 20 18 13
+f 20 13 17
+f 20 17 9
+f 20 9 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9efd464d99a5eb744557bd07e9e2ab26c66fae3c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/collision/model_normalized_collision_9.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.02191136 0.12825226 0.00829283
+v 0.18869080 0.21958341 0.00425338
+v 0.05735445 0.15021374 0.02666262
+v 0.18963847 0.24390306 0.02666260
+v 0.09182264 0.19848276 0.01384674
+v 0.18741422 0.22764339 0.02666262
+v 0.07180745 0.15091225 -0.00004556
+v 0.15249355 0.22917900 0.01369427
+v 0.02255842 0.13215294 0.02659866
+v 0.19077170 0.23674813 0.00963769
+v 0.03662608 0.14272629 0.02672872
+v 0.13769081 0.22797402 0.02666260
+v 0.17179971 0.21541511 0.00020393
+v 0.10750455 0.21259332 0.02666260
+f 6 3 2
+f 7 2 3
+f 7 1 5
+f 9 5 1
+f 9 7 3
+f 9 1 7
+f 10 6 2
+f 10 4 6
+f 10 8 4
+f 11 6 4
+f 11 3 6
+f 11 9 3
+f 12 8 5
+f 12 4 8
+f 12 11 4
+f 13 7 5
+f 13 5 8
+f 13 8 10
+f 13 10 2
+f 13 2 7
+f 14 12 5
+f 14 5 9
+f 14 9 11
+f 14 11 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_20/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..258e0e6a1c851298f07c4078e689c96d3da07e3e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_33">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="0.5956993044924334 0.0 0.0 -0.8032075314806449"/>
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+    <material name="aiStandardSurface3.001" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
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+  <default>
+    <default class="region">
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+    <body>
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_20/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b69ee017d934c5b09e3ee53e590b4276cccd4fc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_20/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_20/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd805b128ab19e2ed0ac5859a241e23d15953ddf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_20/visual/model_normalized_0.obj
@@ -0,0 +1,3055 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..161e0ff894d92ef16bebd014b270e91c9b404483
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_0.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.26157940 -0.06150633 -0.01239042
+v -0.23632660 -0.05303035 -0.02302458
+v -0.30237821 -0.05759988 0.01895108
+v -0.35310672 0.05464384 0.01895350
+v -0.33275280 0.04138556 -0.01868462
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+v -0.23632660 -0.05303035 -0.01889962
+v -0.30028885 -0.04313313 -0.01506713
+v -0.26662965 0.03787878 -0.02302458
+v -0.31517717 -0.04291225 -0.00390220
+v -0.35567453 0.05370882 0.01510590
+v -0.26662965 0.03787878 -0.01889962
+v -0.23632660 -0.00757579 -0.02302458
+v -0.31142886 -0.03211726 -0.01362673
+v -0.34765315 0.04147699 -0.00483612
+v -0.32497069 -0.03153981 0.01750353
+v -0.32728697 -0.01723105 -0.00390220
+v -0.31723170 -0.04463524 0.01750333
+v -0.35133411 0.04977397 0.01895337
+v -0.34135170 0.01346727 0.01750353
+v -0.32315723 -0.03087941 0.00230076
+v -0.34366872 0.02777574 -0.00390220
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641941879c545951e4daddf02898e2a9b4f3c9ae
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_1.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.22731614 -0.12370764 0.01581387
+v 0.32973373 0.05656002 -0.00503809
+v 0.33327131 0.05527232 0.01750046
+v 0.27882512 0.05303030 -0.01889962
+v 0.22897935 -0.09480034 -0.01868462
+v 0.31502484 0.05639891 -0.01868462
+v 0.24852208 0.03787878 -0.01889962
+v 0.29408554 -0.04040839 -0.00390220
+v 0.27882512 0.05303030 -0.02302458
+v 0.32395004 0.04763581 0.01556988
+v 0.23337056 -0.00757579 -0.01889962
+v 0.32107102 0.02941007 -0.00390220
+v 0.29607813 -0.04207993 0.01750046
+v 0.22592733 -0.12254226 0.00088248
+v 0.29350619 -0.01704116 -0.01382938
+v 0.23370566 -0.11635535 0.01720269
+v 0.23337056 -0.00757579 -0.02302458
+v 0.30715085 -0.01649291 0.01750046
+v 0.23737521 -0.08913178 -0.01592097
+v 0.28070234 -0.04189215 -0.01311951
+v 0.26003212 -0.08027769 0.01894513
+v 0.24852208 0.03787878 -0.02302458
+v 0.30538670 -0.01585081 0.00216382
+v 0.26863609 -0.07478367 0.01750046
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+f 15 5 6
+f 15 12 8
+f 15 6 2
+f 15 2 12
+f 16 10 7
+f 16 7 1
+f 16 3 10
+f 17 9 5
+f 17 14 11
+f 17 5 14
+f 17 11 7
+f 18 12 3
+f 18 13 8
+f 19 14 5
+f 19 8 14
+f 20 15 8
+f 20 5 15
+f 20 19 5
+f 20 8 19
+f 21 3 16
+f 21 18 3
+f 21 13 18
+f 22 17 7
+f 22 7 9
+f 22 9 17
+f 23 18 8
+f 23 8 12
+f 23 12 18
+f 24 21 16
+f 24 13 21
+f 24 16 1
+f 24 14 13
+f 24 1 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6d37005eaaf78e808aed6add934aa36c81744fc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_10.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.11615861 -0.19405002 0.02302460
+v 0.26749285 -0.07138674 0.01894513
+v 0.11176647 -0.18871498 0.01557124
+v 0.26419228 -0.06861712 0.01423485
+v 0.22226383 -0.14678992 0.01547360
+v 0.22227664 -0.14553195 0.02149265
+v 0.16332016 -0.17303532 0.01718660
+v 0.13200078 -0.16721609 0.00627436
+v 0.16348070 -0.17331340 0.01978705
+v 0.11533917 -0.17975198 0.00903639
+v 0.25388138 -0.07267906 0.00845456
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 7 1 3
+f 9 6 1
+f 9 5 6
+f 9 7 5
+f 9 1 7
+f 10 3 4
+f 10 7 3
+f 10 8 5
+f 10 5 7
+f 11 4 5
+f 11 5 8
+f 11 10 4
+f 11 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17c221104279bd4568bf035002cf3f72d99425d1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.34168865 0.15909095 0.01644874
+v 0.33917199 0.15909095 -0.00390220
+v 0.33917199 0.20284181 -0.00390220
+v 0.28587666 0.33167485 0.01895149
+v 0.27882512 0.15909095 -0.01889962
+v 0.33802488 0.21367040 0.01706122
+v 0.32595418 0.15909095 -0.01700449
+v 0.29686598 0.31908017 -0.00390220
+v 0.33167071 0.22238713 0.01895108
+v 0.29918597 0.32054018 0.01750353
+v 0.28296182 0.31651534 -0.01609329
+v 0.33143447 0.23193830 0.01750121
+v 0.32408957 0.21411311 -0.01412926
+v 0.27882512 0.15909095 -0.02302458
+v 0.27469892 0.32229546 -0.01868462
+v 0.30832861 0.25934585 -0.01347495
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 7 3 2
+f 7 2 5
+f 8 6 3
+f 9 4 1
+f 9 1 6
+f 10 8 4
+f 10 4 9
+f 12 10 9
+f 12 9 6
+f 12 6 8
+f 12 8 10
+f 13 8 3
+f 13 3 7
+f 14 7 5
+f 15 5 4
+f 15 4 8
+f 15 8 11
+f 15 14 5
+f 15 7 14
+f 15 13 7
+f 15 11 13
+f 16 13 11
+f 16 11 8
+f 16 8 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af560615a7858938cf8b57d98273e23143adec6b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.17337060 -0.17017173 0.01894927
+v -0.17176971 -0.16739931 -0.00747810
+v -0.19087204 -0.06818187 -0.01889962
+v -0.23632660 -0.06818187 -0.01889962
+v -0.23850787 -0.13256559 0.01895103
+v -0.17267810 -0.15382134 -0.01868462
+v -0.19762298 -0.15969228 0.01750046
+v -0.24488155 -0.10566368 0.00461291
+v -0.17572052 -0.11363643 -0.02302458
+v -0.22758228 -0.12879375 -0.01295767
+v -0.23632660 -0.06818187 -0.02302458
+v -0.17572052 -0.11363643 -0.01889962
+v -0.22596977 -0.14115243 0.00226163
+v -0.19087204 -0.06818187 -0.02302458
+v -0.22691106 -0.14278280 0.01750046
+v -0.19630084 -0.15740176 -0.00390220
+f 5 1 3
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 3 4
+f 10 5 8
+f 11 9 6
+f 11 4 3
+f 11 6 10
+f 11 10 8
+f 11 8 4
+f 12 9 3
+f 12 3 1
+f 12 1 2
+f 12 2 6
+f 12 6 9
+f 13 5 10
+f 14 11 3
+f 14 3 9
+f 14 9 11
+f 15 13 7
+f 15 7 5
+f 15 5 13
+f 16 13 10
+f 16 2 7
+f 16 7 13
+f 16 10 6
+f 16 6 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db27d911ff8153a417dfd027ce4ece935eecb73
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.11215839 0.35606073 -0.01889962
+v 0.11215839 0.35606073 -0.02302458
+v 0.06707435 0.44907133 -0.01741193
+v -0.10016911 0.44813935 -0.01654203
+v -0.16056900 0.35606073 -0.01889962
+v -0.09996291 0.44696985 -0.02302458
+v 0.11215839 0.41666681 -0.02302458
+v -0.16056900 0.41666681 -0.02302458
+v 0.11215839 0.41666681 -0.01889962
+v 0.06670382 0.44696985 -0.02302458
+v -0.16056900 0.41666681 -0.01889962
+v -0.16056900 0.35606073 -0.02302458
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 2 6
+f 8 4 6
+f 8 6 2
+f 9 7 3
+f 9 3 1
+f 9 1 7
+f 10 7 6
+f 10 6 3
+f 10 3 7
+f 11 5 4
+f 11 4 8
+f 12 8 2
+f 12 2 5
+f 12 11 8
+f 12 5 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d02c3db91db8241a6d4f0be5b68d3bf25871a3df
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.09905379 -0.19938781 0.01891686
+v -0.09854176 -0.19648625 -0.00719287
+v -0.09996291 -0.12878796 -0.01889962
+v -0.17572052 -0.11363643 -0.01889962
+v -0.17993132 -0.16638399 0.01894945
+v -0.09911998 -0.18461341 -0.01868462
+v -0.13772419 -0.19121999 -0.00390220
+v -0.14541748 -0.11363643 -0.01889962
+v -0.09996291 -0.12878796 -0.02302458
+v -0.15041045 -0.18695043 0.01750046
+v -0.16798220 -0.16083925 -0.01498740
+v -0.17572052 -0.11363643 -0.02302458
+v -0.10163351 -0.19886746 0.01894739
+v -0.16701251 -0.17431088 -0.00390220
+v -0.13818197 -0.17686140 -0.01600277
+v -0.14541748 -0.11363643 -0.02302458
+v -0.16833489 -0.17660175 0.01750046
+f 1 2 3
+f 5 1 3
+f 7 2 1
+f 7 6 2
+f 8 5 3
+f 8 4 5
+f 9 3 2
+f 9 2 6
+f 12 9 6
+f 12 4 8
+f 12 11 5
+f 12 5 4
+f 13 10 7
+f 13 7 1
+f 13 1 5
+f 13 5 10
+f 14 7 10
+f 14 5 11
+f 15 6 7
+f 15 14 11
+f 15 7 14
+f 15 12 6
+f 15 11 12
+f 16 12 8
+f 16 9 12
+f 16 8 3
+f 16 3 9
+f 17 14 10
+f 17 10 5
+f 17 5 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751de8bced584acc0304448dab700fcd46403e4c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_15.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.15556767 0.41312411 -0.02302458
+v 0.16394695 0.42763789 0.00321031
+v 0.06670382 0.41666681 -0.01889962
+v 0.05089346 0.48868782 0.01534660
+v 0.10923816 0.47586387 -0.00390220
+v 0.16416504 0.44316718 0.01796090
+v 0.05046146 0.47108647 -0.01868462
+v 0.06960397 0.47856818 0.01464106
+v 0.11716735 0.47485766 0.01750643
+v 0.15164140 0.45177832 -0.00390220
+v 0.10603738 0.46418316 -0.01585699
+v 0.05155230 0.44696985 -0.02302458
+v 0.05000827 0.48366826 -0.00647945
+v 0.06563680 0.48637286 0.01750660
+v 0.15123077 0.43591572 -0.01772412
+v 0.15301622 0.45416024 0.01750541
+v 0.11620730 0.47319407 0.00255536
+v 0.13371695 0.46212697 -0.00390220
+v 0.06670382 0.41666681 -0.02302458
+f 1 2 3
+f 6 3 2
+f 8 4 3
+f 8 3 6
+f 10 6 2
+f 11 1 7
+f 12 7 1
+f 12 3 4
+f 13 4 5
+f 13 11 7
+f 13 5 11
+f 13 12 4
+f 13 7 12
+f 14 8 6
+f 14 4 8
+f 14 6 9
+f 14 9 5
+f 14 5 4
+f 15 10 2
+f 15 2 1
+f 15 11 10
+f 15 1 11
+f 16 9 6
+f 16 6 10
+f 17 5 9
+f 17 9 16
+f 18 11 5
+f 18 10 11
+f 18 5 17
+f 18 17 16
+f 18 16 10
+f 19 12 1
+f 19 1 3
+f 19 3 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be90e64de188ce713cd6ce93137236cfe46d4d2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.18791599 0.35606073 -0.01889962
+v 0.18791599 0.35606073 -0.02302458
+v 0.16017258 0.42110037 -0.00500269
+v 0.14707423 0.42465667 -0.00877705
+v 0.11215839 0.35606073 -0.02302458
+v 0.15556767 0.41312411 -0.02302458
+v 0.18791599 0.37121225 -0.02302458
+v 0.11215839 0.35606073 -0.01889962
+v 0.11215839 0.41666681 -0.02302458
+v 0.18791599 0.37121225 -0.01889962
+v 0.16372889 0.41210876 -0.01154029
+v 0.11215839 0.41666681 -0.01889962
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 1 2
+f 7 2 6
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 9 6 5
+f 9 4 6
+f 10 7 3
+f 10 3 1
+f 10 1 7
+f 11 7 6
+f 11 6 3
+f 11 3 7
+f 12 8 4
+f 12 4 9
+f 12 9 5
+f 12 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b73a41d486fe2d044d11975daba727fc30540aa2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02150455 -0.17569034 -0.01679358
+v 0.02124926 -0.17424252 -0.02302458
+v 0.02124926 -0.12878796 -0.01889962
+v -0.09996291 -0.12878796 -0.01889962
+v -0.10061752 -0.17795511 -0.00374750
+v 0.02124926 -0.12878796 -0.02302458
+v -0.05590879 -0.18218506 -0.00767849
+v -0.09883448 -0.16784195 -0.02302458
+v -0.10202751 -0.17080025 -0.01117898
+v -0.09996291 -0.12878796 -0.02302458
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 3
+f 7 3 5
+f 8 7 5
+f 8 2 7
+f 8 6 2
+f 9 8 5
+f 9 5 4
+f 10 4 6
+f 10 6 8
+f 10 9 4
+f 10 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42695a58ca581428c98803cc6b8507bbe0d0670f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_18.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.05155230 0.44696985 -0.02302458
+v 0.05348116 0.45790943 -0.01051656
+v -0.06965987 0.44696985 -0.02302458
+v -0.05190470 0.49280997 0.01681208
+v 0.01847937 0.49186796 -0.00390220
+v -0.07158002 0.47301205 0.00467385
+v 0.05000827 0.48366826 -0.00647945
+v 0.05046146 0.47108647 -0.01868462
+v -0.06687643 0.47663886 -0.01443041
+v 0.05338889 0.47253673 0.00512415
+v -0.05143479 0.49014590 -0.00390220
+v -0.06915463 0.48955910 0.01523414
+v -0.07167154 0.45837939 -0.01096259
+v 0.03376772 0.47749171 -0.01530503
+v 0.05089346 0.48868782 0.01534660
+v 0.03330719 0.49003228 0.00201311
+v 0.03364312 0.49193614 0.01691512
+f 1 2 3
+f 8 1 3
+f 8 5 7
+f 8 2 1
+f 9 8 3
+f 10 6 3
+f 10 3 2
+f 10 8 7
+f 10 2 8
+f 11 4 5
+f 11 5 9
+f 12 9 6
+f 12 11 9
+f 12 4 11
+f 12 6 10
+f 13 9 3
+f 13 3 6
+f 13 6 9
+f 14 9 5
+f 14 5 8
+f 14 8 9
+f 15 10 7
+f 15 12 10
+f 16 15 7
+f 16 7 5
+f 16 5 15
+f 17 15 5
+f 17 5 4
+f 17 4 12
+f 17 12 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b99861a8564335ae5df2936771c91a77bced550
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23337468 -0.13882659 0.01759290
+v -0.23081053 -0.12025883 -0.01868462
+v -0.23632660 -0.05303035 -0.01889962
+v -0.30863877 -0.05013916 0.01895108
+v -0.24054393 -0.13185877 -0.00390220
+v -0.29123319 -0.04824803 -0.01868462
+v -0.23136999 -0.13535431 -0.00544830
+v -0.24235522 -0.13386610 0.01750046
+v -0.23632660 -0.05303035 -0.02302458
+v -0.30145646 -0.05926434 -0.00390220
+v -0.30609206 -0.04800247 -0.00755780
+v -0.29604973 -0.06987795 0.01750252
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 2 5
+f 11 10 4
+f 11 4 6
+f 11 6 2
+f 11 2 10
+f 12 8 4
+f 12 4 10
+f 12 10 5
+f 12 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a251ae8da8d43ce8a12240f5e3867a0eb0fda798
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_2.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.29918597 0.32054018 0.01750353
+v 0.29744066 0.31944183 0.00140019
+v 0.21021762 0.41795943 -0.00390220
+v 0.15301622 0.45416024 0.01750541
+v 0.18791599 0.32575768 -0.01889962
+v 0.19366790 0.43068991 0.01750425
+v 0.27746274 0.34220374 -0.00390220
+v 0.16416504 0.44316718 0.01796090
+v 0.15123077 0.43591572 -0.01772412
+v 0.29326410 0.32759750 0.01750353
+v 0.27469892 0.32229546 -0.01868462
+v 0.15761295 0.37121225 -0.01889962
+v 0.15164140 0.45177832 -0.00390220
+v 0.18791599 0.32575768 -0.02302458
+v 0.19430481 0.41664106 -0.01292134
+v 0.25037969 0.36005757 -0.01309161
+v 0.15761295 0.37121225 -0.02302458
+f 5 2 1
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 10 3 6
+f 10 7 3
+f 10 1 2
+f 10 2 7
+f 10 8 1
+f 10 6 8
+f 11 7 2
+f 12 5 4
+f 12 4 9
+f 13 9 4
+f 13 3 9
+f 13 6 3
+f 13 4 6
+f 14 11 2
+f 14 2 5
+f 14 5 12
+f 15 11 9
+f 15 9 3
+f 16 3 7
+f 16 7 11
+f 16 15 3
+f 16 11 15
+f 17 14 12
+f 17 12 9
+f 17 9 11
+f 17 11 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4031be2b7f9c3c099199ec82537cec5f24bac5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.29693269 0.23484855 -0.01889962
+v -0.29693269 0.23484855 -0.02302458
+v -0.29693269 0.28030312 -0.02302458
+v -0.33312668 0.28244709 0.01895722
+v -0.35232461 0.23295090 0.01842411
+v -0.30559946 0.28345766 -0.00878303
+v -0.34912736 0.23178694 -0.00641874
+v -0.32624741 0.27442852 -0.01327373
+v -0.33572734 0.23242447 -0.01868462
+v -0.33949497 0.27373564 0.01734659
+v -0.34177345 0.25941327 -0.00390220
+v -0.33951448 0.27374275 0.01750660
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 1 5
+f 8 6 3
+f 8 4 6
+f 9 2 1
+f 9 1 7
+f 9 3 2
+f 9 8 3
+f 9 7 8
+f 10 4 8
+f 11 7 5
+f 11 10 8
+f 11 8 7
+f 12 5 4
+f 12 4 10
+f 12 11 5
+f 12 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5e5c07b621c7a04426ae793b18aa9adf722819
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_21.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.27882512 0.23484855 -0.01889962
+v 0.27882512 0.23484855 -0.02302458
+v 0.28513547 0.31590092 0.00729047
+v 0.27076036 0.33170389 0.00635984
+v 0.24852208 0.23484855 -0.02302458
+v 0.27469892 0.32229546 -0.01868462
+v 0.28769555 0.26838026 -0.00895438
+v 0.24852208 0.23484855 -0.01889962
+v 0.28108767 0.32765610 0.01214227
+v 0.24852208 0.32575768 -0.02302458
+v 0.25465062 0.33089989 -0.00764313
+v 0.24852208 0.29545464 -0.01889962
+f 5 2 1
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 8 5 1
+f 9 6 4
+f 9 3 6
+f 9 4 8
+f 9 8 1
+f 9 7 3
+f 9 1 7
+f 10 5 8
+f 10 6 2
+f 10 2 5
+f 11 4 6
+f 11 6 10
+f 11 8 4
+f 12 11 10
+f 12 10 8
+f 12 8 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..268c29f7880b65ee48d2e8fae91cea3b519f7670
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.34520771 -0.50000023 0.00348739
+v 0.36032171 -0.49127375 0.00348739
+v 0.35610769 -0.46822480 0.00514179
+v 0.26360668 -0.34079335 0.00705494
+v 0.26367171 -0.34090598 -0.00007683
+v 0.31023909 -0.45091732 0.00554894
+v 0.35614348 -0.46830313 0.00183697
+v 0.29787894 -0.34622863 0.00668010
+v 0.27947861 -0.40586272 0.00093663
+v 0.29793572 -0.34634530 0.00029754
+v 0.31027741 -0.45097344 0.00142894
+v 0.27944027 -0.40580657 0.00603917
+v 0.32145774 -0.39491695 0.00593496
+v 0.30679679 -0.36455179 0.00064372
+v 0.30674001 -0.36443511 0.00633351
+v 0.32148720 -0.39497822 0.00104128
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 3 2
+f 8 5 4
+f 8 4 3
+f 9 4 5
+f 10 7 5
+f 10 5 8
+f 11 1 6
+f 11 6 9
+f 11 7 1
+f 11 9 5
+f 11 5 7
+f 12 9 6
+f 12 6 4
+f 12 4 9
+f 13 8 3
+f 15 8 13
+f 15 13 14
+f 15 14 10
+f 15 10 8
+f 16 14 13
+f 16 7 10
+f 16 10 14
+f 16 13 3
+f 16 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d3c6b327171a37e9f1c0939f05792e162893735
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_23.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.06402291 -0.20449457 0.01750046
+v 0.07904265 -0.18859481 -0.01426222
+v 0.08185534 -0.14393948 -0.01889962
+v 0.02124926 -0.14393948 -0.01889962
+v 0.01937366 -0.20906060 -0.00455402
+v 0.01948950 -0.19456517 -0.01868462
+v 0.08336860 -0.19797554 0.01894513
+v 0.06369207 -0.20261751 0.00180877
+v 0.01993927 -0.21226856 0.01750046
+v 0.08185534 -0.14393948 -0.02302458
+v 0.04887704 -0.20452573 -0.00390220
+v 0.08091734 -0.19922627 0.01856460
+v 0.02402496 -0.20513470 0.01538617
+v 0.02124926 -0.14393948 -0.02302458
+v 0.06867402 -0.20056678 0.01894513
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 9 4 5
+f 9 1 7
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 10 4 3
+f 11 5 2
+f 11 2 8
+f 11 9 5
+f 11 8 1
+f 11 1 9
+f 12 7 1
+f 12 1 8
+f 12 8 2
+f 12 2 7
+f 13 4 9
+f 14 10 6
+f 14 6 4
+f 14 4 10
+f 15 13 9
+f 15 9 7
+f 15 7 4
+f 15 4 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86dd09f22337005a4b9c8cd732d8888d045428f3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.16056900 0.34090920 -0.01889962
+v -0.16056900 0.34090920 -0.02302458
+v -0.16056900 0.40151529 -0.02302458
+v -0.19562419 0.40974629 -0.00904856
+v -0.22117508 0.34090920 -0.01889962
+v -0.16056900 0.40151529 -0.01889962
+v -0.22182740 0.40264514 -0.00149856
+v -0.22117508 0.34090920 -0.02302458
+v -0.22260810 0.40399740 -0.01809328
+v -0.22720718 0.39142526 -0.00754637
+f 1 2 3
+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 1
+f 8 1 5
+f 9 4 3
+f 9 3 8
+f 9 7 4
+f 10 9 8
+f 10 8 5
+f 10 5 7
+f 10 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791c04dc90b4f369dd0f147533c1aebf970e32dc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06688960 0.47832647 0.01386997
+v 0.06770237 0.48293568 0.01895722
+v -0.10066172 0.48123640 0.01895722
+v -0.09859545 0.48466919 0.01750660
+v 0.03364312 0.49193614 0.01691512
+v -0.09998617 0.47740483 0.01473090
+v 0.06559569 0.48613973 0.01568237
+v 0.03365645 0.49201173 0.01750660
+v -0.09855924 0.48446384 0.01590974
+v 0.06563680 0.48637286 0.01750660
+v -0.06661509 0.49030821 0.01750660
+v -0.06660700 0.49026234 0.01714988
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 9 6 3
+f 9 3 4
+f 9 5 1
+f 9 1 6
+f 10 8 2
+f 10 2 7
+f 10 7 5
+f 10 5 8
+f 11 8 5
+f 11 4 3
+f 11 3 8
+f 11 9 4
+f 12 11 5
+f 12 5 9
+f 12 9 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dca4ebfe6109ad3d2821543cde0f2ee73829b9c3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.15189940 -0.17949746 0.01626524
+v 0.19507472 -0.12603537 0.00176214
+v 0.18120306 -0.16261489 0.01651205
+v 0.15761295 -0.08333339 -0.01889962
+v 0.15329954 -0.15162012 -0.01868462
+v 0.16332016 -0.17303532 0.01718660
+v 0.15097829 -0.17790247 0.00133991
+v 0.18791599 -0.08333339 -0.02302458
+v 0.17945456 -0.15958738 -0.00314684
+v 0.15761295 -0.08333339 -0.02302458
+v 0.18791599 -0.08333339 -0.01889962
+v 0.16239873 -0.17144005 0.00226061
+v 0.17904464 -0.14372532 -0.01270122
+f 3 2 4
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 7 6 1
+f 7 3 6
+f 9 2 3
+f 9 7 5
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 11 4 2
+f 11 2 8
+f 11 10 4
+f 11 8 10
+f 12 9 3
+f 12 3 7
+f 12 7 9
+f 13 8 2
+f 13 2 9
+f 13 9 5
+f 13 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db7fb587d5e6d270142d7443422ad5d071f45d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_27.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.31685896 0.05021664 0.00732476
+v 0.33745276 0.07441685 -0.00390220
+v 0.34168865 0.15909095 0.01644874
+v 0.27882512 0.15909095 -0.01889962
+v 0.27882512 0.05303030 -0.02302458
+v 0.32595418 0.15909095 -0.01700449
+v 0.33982999 0.07355139 0.01677601
+v 0.31502484 0.05639891 -0.01868462
+v 0.27882512 0.05303030 -0.01889962
+v 0.33917199 0.15909095 -0.00390220
+v 0.27882512 0.15909095 -0.02302458
+v 0.33306235 0.05534838 0.01568387
+v 0.32502868 0.07342411 -0.01513850
+v 0.32973373 0.05656002 -0.00503809
+f 1 3 4
+f 6 4 3
+f 7 2 3
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 4 6
+f 11 9 4
+f 11 5 9
+f 11 8 5
+f 11 6 8
+f 12 2 7
+f 12 7 3
+f 12 3 1
+f 13 8 6
+f 13 6 2
+f 13 2 8
+f 14 8 2
+f 14 2 12
+f 14 12 1
+f 14 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..128bedc383cd408181a2341e38ae25d33594293e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.32862719 0.05144819 0.01894746
+v 0.33982999 0.07355139 0.01677601
+v 0.33991332 0.07352106 0.01750046
+v 0.32680113 0.23576628 0.01895108
+v 0.32472979 0.05286648 0.01441584
+v 0.33807648 0.21368957 0.01750073
+v 0.33327131 0.05527232 0.01750046
+v 0.32373149 0.23464903 0.01538925
+v 0.33306235 0.05534838 0.01568387
+v 0.33125137 0.23187130 0.01594451
+v 0.33143447 0.23193830 0.01750121
+v 0.33802488 0.21367040 0.01706122
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 9 2 7
+f 9 7 1
+f 9 1 5
+f 10 8 4
+f 10 5 8
+f 10 9 5
+f 10 2 9
+f 11 10 4
+f 11 4 6
+f 12 6 2
+f 12 2 10
+f 12 11 6
+f 12 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4193040f1334be4b90162b6b9bc6dec8b44712e9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.24107599 -0.22103770 0.01111833
+v 0.24093049 -0.22142651 -0.00209705
+v 0.23361612 -0.19107585 0.01523502
+v 0.22749022 -0.18507892 0.01581309
+v 0.23408520 -0.21505201 0.01082937
+v 0.22728008 -0.18671010 -0.00284083
+v 0.23081852 -0.19912884 0.01371553
+v 0.23347293 -0.19309822 -0.00266798
+v 0.23485641 -0.21497046 -0.00226978
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 2 5
+f 9 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20de2bb11660e11e1900224e6c996ae28d0a2feb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.25147813 0.28030312 -0.01889962
+v -0.22117508 0.34090920 -0.02302458
+v -0.22117508 0.34090920 -0.01889962
+v -0.21844845 0.42709564 0.01864506
+v -0.32539171 0.30442006 -0.00390220
+v -0.21683023 0.42429260 -0.00668282
+v -0.31934570 0.27743129 -0.01868462
+v -0.33693859 0.27831995 0.01791671
+v -0.21733762 0.41001999 -0.01868462
+v -0.24235811 0.41603007 0.01750660
+v -0.25147813 0.28030312 -0.02302458
+v -0.33336612 0.27701957 -0.00576418
+v -0.29884968 0.32980437 -0.01317242
+v -0.31441599 0.33015246 0.01750660
+v -0.31289977 0.30538814 -0.01521025
+v -0.24054393 0.41384078 -0.00390220
+v -0.32800277 0.30537058 0.01750660
+v -0.22956851 0.40496110 -0.01696548
+v -0.31227355 0.32835474 -0.00390220
+f 1 3 4
+f 6 4 3
+f 8 1 4
+f 9 6 3
+f 9 3 2
+f 9 2 7
+f 10 4 6
+f 11 7 2
+f 11 1 7
+f 11 2 3
+f 11 3 1
+f 12 7 1
+f 12 1 8
+f 12 8 5
+f 14 8 4
+f 14 4 10
+f 15 12 5
+f 15 7 12
+f 16 6 9
+f 16 10 6
+f 17 5 8
+f 17 8 14
+f 18 15 13
+f 18 9 7
+f 18 7 15
+f 18 16 9
+f 18 13 16
+f 19 15 5
+f 19 13 15
+f 19 16 13
+f 19 14 10
+f 19 10 16
+f 19 17 14
+f 19 5 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f41eb9c10b92e9cc42ab0f05b3177bac33cbfa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01993927 -0.21226856 0.01750046
+v 0.01948950 -0.19456517 -0.01868462
+v 0.02124926 -0.17424252 -0.02302458
+v -0.09883448 -0.16784195 -0.02302458
+v -0.08183246 -0.20280367 -0.00390220
+v -0.10163351 -0.19886746 0.01894739
+v 0.02199903 -0.20879743 0.01894513
+v 0.01937366 -0.20906060 -0.00455402
+v -0.09722635 -0.18902532 -0.01470327
+v -0.10192785 -0.18538660 0.00449777
+v -0.09698145 -0.20279069 0.01750046
+v 0.02281485 -0.18312146 -0.00854422
+v -0.09665324 -0.20092801 0.00203502
+f 3 2 4
+f 7 6 1
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 9 4 2
+f 9 2 5
+f 10 9 6
+f 10 4 9
+f 11 5 1
+f 11 1 6
+f 12 2 3
+f 12 3 4
+f 12 4 10
+f 12 10 6
+f 12 6 7
+f 12 8 2
+f 12 7 8
+f 13 9 5
+f 13 5 11
+f 13 11 6
+f 13 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38a81c78b5df43e91d6c0b78b705abd3b25b6bdb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17689894 -0.26010381 0.01087646
+v 0.17730382 -0.26020179 -0.00206135
+v 0.13987074 -0.18490692 0.02247944
+v 0.13856286 -0.18264174 -0.00380833
+v 0.10995811 -0.18558314 -0.01100998
+v 0.12232247 -0.20743388 0.02098887
+v 0.12402946 -0.20739154 -0.00352337
+v 0.11615861 -0.19405002 0.02302460
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 5 3 4
+f 6 2 1
+f 7 6 5
+f 7 5 2
+f 7 2 6
+f 8 3 5
+f 8 5 6
+f 8 6 1
+f 8 1 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0027544e2f634d598e4f1974cb9caeb8ceb15aa7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_4.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.16056900 0.40151529 -0.01889962
+v -0.06965987 0.44696985 -0.02302458
+v -0.09996291 0.41666681 -0.01889962
+v -0.09859545 0.48466919 0.01750660
+v -0.13691629 0.46254812 -0.01344942
+v -0.06915463 0.48955910 0.01523414
+v -0.22468408 0.42274459 0.01895722
+v -0.16056900 0.40151529 -0.02302458
+v -0.07158002 0.47301205 0.00467385
+v -0.12749898 0.47673300 -0.00390220
+v -0.22560240 0.40918365 0.00670115
+v -0.09996291 0.41666681 -0.02302458
+v -0.22260810 0.40399740 -0.01809328
+v -0.13657238 0.47710385 0.01750660
+v -0.06872227 0.47195557 -0.01868462
+v -0.21167198 0.43050951 -0.00390220
+v -0.06819177 0.48409885 -0.00692106
+v -0.21304258 0.41773200 -0.01419253
+v -0.13557553 0.47537722 0.00228013
+v -0.21307349 0.43293710 0.01750660
+f 7 6 4
+f 7 3 6
+f 8 3 1
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 4 6
+f 11 1 3
+f 11 3 7
+f 12 8 2
+f 12 2 3
+f 12 3 8
+f 13 2 8
+f 13 8 1
+f 13 1 11
+f 13 11 7
+f 14 7 4
+f 14 4 10
+f 15 5 10
+f 15 13 5
+f 15 2 13
+f 16 10 5
+f 16 13 7
+f 17 15 10
+f 17 10 6
+f 17 6 2
+f 17 2 15
+f 18 16 5
+f 18 5 13
+f 18 13 16
+f 19 16 14
+f 19 14 10
+f 19 10 16
+f 20 16 7
+f 20 7 14
+f 20 14 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bd8df8b0ced7c688cd77cbd2d5356444711e181
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.11215839 -0.14393948 -0.01889962
+v 0.27882512 0.03787878 -0.02302458
+v 0.24886819 0.32604809 -0.01586368
+v -0.25147813 0.34090920 -0.01889962
+v -0.23632660 -0.06818187 -0.02302458
+v 0.18791599 0.35606073 -0.02302458
+v -0.31270992 0.03765103 -0.01606020
+v 0.15777857 -0.12907483 -0.01575175
+v 0.11215839 -0.14393948 -0.02302458
+v 0.27882512 0.23484855 -0.02302458
+v 0.18791599 0.35606073 -0.01889962
+v -0.25147813 0.34090920 -0.02302458
+v -0.29850523 0.28087549 -0.01698851
+v 0.27882512 0.03787878 -0.01889962
+v -0.19087204 -0.11363643 -0.01889962
+v 0.23337056 -0.05303035 -0.02302458
+v 0.24852208 0.32575768 -0.02302458
+v -0.16056900 0.35606073 -0.01889962
+v -0.31208421 0.03787878 -0.02302458
+v 0.27882512 0.23484855 -0.01889962
+v -0.23632660 -0.06818187 -0.01889962
+v -0.14541748 -0.12878796 -0.01889962
+v 0.15761295 -0.12878796 -0.02302458
+v 0.23337056 -0.05303035 -0.01889962
+v -0.16056900 0.35606073 -0.02302458
+v -0.31208421 0.23484855 -0.02302458
+v 0.02124926 -0.14393948 -0.01889962
+v -0.19087204 -0.11363643 -0.02302458
+v -0.29693269 0.28030312 -0.02302458
+v -0.31432293 0.23566341 -0.01764077
+v 0.02124926 -0.14393948 -0.02302458
+v -0.14541748 -0.12878796 -0.02302458
+f 6 2 5
+f 8 3 7
+f 9 5 2
+f 9 8 1
+f 10 2 6
+f 11 3 6
+f 12 6 5
+f 13 7 3
+f 13 4 12
+f 14 3 8
+f 14 2 10
+f 15 8 7
+f 16 9 2
+f 17 10 6
+f 17 6 3
+f 17 3 10
+f 18 3 11
+f 18 13 3
+f 18 4 13
+f 18 12 4
+f 19 12 5
+f 19 5 7
+f 20 14 10
+f 20 10 3
+f 20 3 14
+f 21 15 7
+f 21 7 5
+f 22 8 15
+f 23 16 8
+f 23 8 9
+f 23 9 16
+f 24 14 8
+f 24 8 16
+f 24 16 2
+f 24 2 14
+f 25 6 12
+f 25 12 18
+f 25 18 11
+f 25 11 6
+f 26 12 19
+f 27 1 8
+f 27 8 22
+f 27 9 1
+f 28 22 15
+f 28 5 9
+f 28 21 5
+f 28 15 21
+f 29 13 12
+f 29 12 26
+f 30 26 19
+f 30 19 7
+f 30 7 13
+f 30 29 26
+f 30 13 29
+f 31 27 22
+f 31 9 27
+f 31 28 9
+f 32 31 22
+f 32 22 28
+f 32 28 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ef52cbb451356de2afe8fc3496a9ef51f161d2a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_6.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.23237559 -0.18768019 0.01572911
+v 0.23249131 -0.18936944 -0.00274312
+v 0.24185331 -0.06014794 -0.01042498
+v 0.18791599 -0.05303035 -0.01889962
+v 0.18102125 -0.16230071 0.02095823
+v 0.23337056 -0.05303035 -0.02302458
+v 0.22669069 -0.18704063 0.01372008
+v 0.18258743 -0.13471035 -0.01868462
+v 0.23950854 -0.08848400 0.00752472
+v 0.21821904 -0.05303035 -0.01889962
+v 0.18120306 -0.16261489 0.01651205
+v 0.18791599 -0.05303035 -0.02302458
+v 0.22227664 -0.14553195 0.02149265
+v 0.19167486 -0.15044990 0.02302460
+v 0.22728008 -0.18671010 -0.00284083
+v 0.18577503 -0.15538286 -0.00380833
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 6 2
+f 9 1 3
+f 9 3 4
+f 10 4 3
+f 10 3 6
+f 11 7 5
+f 11 5 8
+f 12 8 4
+f 12 6 8
+f 12 10 6
+f 12 4 10
+f 13 1 9
+f 14 9 4
+f 14 4 5
+f 14 13 9
+f 14 5 1
+f 14 1 13
+f 15 2 7
+f 15 7 11
+f 15 8 2
+f 16 15 11
+f 16 11 8
+f 16 8 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b85a6aae7bab195da73f4d524667b86a11dea0e7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26535494 -0.38505268 0.00638221
+v 0.29793572 -0.34634530 0.00029754
+v 0.29787894 -0.34622863 0.00668010
+v 0.23543217 -0.21860463 0.01080794
+v 0.16514163 -0.24211212 -0.00249917
+v 0.24107599 -0.22103770 0.01111833
+v 0.26542759 -0.38516019 0.00059508
+v 0.16562974 -0.24162524 0.01223537
+v 0.24093049 -0.22142651 -0.00209705
+v 0.23587198 -0.21875862 -0.00219324
+f 6 3 2
+f 7 5 2
+f 7 1 5
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 3
+f 8 3 6
+f 9 6 2
+f 10 5 4
+f 10 4 6
+f 10 6 9
+f 10 9 2
+f 10 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33a152712c6659975a37b40e737d7b949629c62c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_8.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.11530766 -0.20066412 0.02228864
+v 0.16175146 -0.15110737 0.00728561
+v 0.08336860 -0.19797554 0.01894513
+v 0.11215839 -0.12878796 -0.01889962
+v 0.11645686 -0.19988492 -0.00373119
+v 0.11911187 -0.18628672 0.01728742
+v 0.15189940 -0.17949746 0.01626524
+v 0.15761295 -0.12878796 -0.02302458
+v 0.08091734 -0.19922627 0.01856460
+v 0.08085918 -0.18374434 -0.01868462
+v 0.16155128 -0.13560957 -0.00750073
+v 0.14992631 -0.17608083 -0.00380833
+v 0.08185534 -0.14393948 -0.01889962
+v 0.11944426 -0.17577066 -0.01473217
+v 0.08035818 -0.19605519 -0.00675225
+v 0.12730991 -0.12878796 -0.01889962
+v 0.11215839 -0.12878796 -0.02302458
+v 0.14924413 -0.15974765 -0.01371708
+v 0.08185534 -0.14393948 -0.02302458
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 9 5 1
+f 9 1 3
+f 11 4 2
+f 12 7 5
+f 12 2 7
+f 12 11 2
+f 12 8 11
+f 13 9 3
+f 13 3 4
+f 14 10 8
+f 14 5 10
+f 15 10 5
+f 15 5 9
+f 15 9 13
+f 16 11 8
+f 16 4 11
+f 17 13 4
+f 17 16 8
+f 17 4 16
+f 18 12 5
+f 18 5 14
+f 18 14 8
+f 18 8 12
+f 19 15 13
+f 19 10 15
+f 19 13 17
+f 19 17 8
+f 19 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca53b8b76375d551fb6302ec759384c8efa0a9b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.33478810 0.03512994 0.00747468
+v -0.31208421 0.03787878 -0.02302458
+v -0.32141715 0.23824557 -0.00943528
+v -0.34950681 0.23743967 0.01895722
+v -0.35518072 0.05940350 -0.00390220
+v -0.31980291 0.03506932 -0.00783915
+v -0.34765315 0.04147699 -0.00483612
+v -0.35773270 0.05847434 0.01750353
+v -0.34200878 0.22919589 -0.01392811
+v -0.31208421 0.23484855 -0.02302458
+v -0.33275280 0.04138556 -0.01868462
+v -0.35133411 0.04977397 0.01895337
+v -0.35815520 0.21440649 -0.00390220
+v -0.35088210 0.04030157 0.01575288
+v -0.35589584 0.22873581 0.01750660
+v -0.34294811 0.05834107 -0.01493652
+v -0.35403896 0.22805977 0.00227799
+f 1 3 4
+f 6 3 1
+f 7 6 1
+f 9 4 3
+f 10 6 2
+f 10 3 6
+f 10 9 3
+f 11 7 5
+f 11 2 6
+f 11 6 7
+f 11 10 2
+f 11 9 10
+f 12 1 4
+f 12 4 8
+f 13 5 8
+f 14 8 5
+f 14 5 7
+f 14 12 8
+f 14 7 1
+f 14 1 12
+f 15 13 8
+f 15 8 4
+f 16 11 5
+f 16 5 13
+f 16 13 9
+f 16 9 11
+f 17 15 4
+f 17 4 9
+f 17 9 13
+f 17 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_21/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6d34bde3b65ee6194f14b8685b88e9def4a64111
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_26">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="0.9669764710448502 3.4060360880938494e-19 -2.7753485671831552e-17 0.25486565960451407"/>
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_21/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_21/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_21/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0d461b8495480f10d37196216fc55f760d9e19
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_21/visual/model_normalized_0.obj
@@ -0,0 +1,1593 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 229/229/229 228/228/228 200/200/200
+f 199/199/199 230/230/230 225/225/225
+f 225/225/225 229/229/229 199/199/199
+f 232/232/232 207/207/207 235/235/235
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+f 236/236/236 235/235/235 207/207/207
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+f 239/239/239 240/240/240 237/237/237
+f 241/241/241 242/242/242 243/243/243
+f 243/243/243 244/244/244 241/241/241
+f 251/251/251 252/252/252 253/253/253
+f 253/253/253 254/254/254 251/251/251
+f 261/261/261 262/262/262 263/263/263
+f 264/264/264 265/265/265 266/266/266
+f 267/267/267 268/268/268 269/269/269
+f 269/269/269 270/270/270 267/267/267
+f 271/271/271 272/272/272 273/273/273
+f 273/273/273 274/274/274 271/271/271
+f 281/281/281 282/282/282 283/283/283
+f 283/283/283 284/284/284 281/281/281
+f 214/214/214 213/213/213 285/285/285
+f 285/285/285 286/286/286 214/214/214
+f 216/216/216 215/215/215 287/287/287
+f 218/218/218 217/217/217 288/288/288
+f 288/288/288 289/289/289 218/218/218
+f 220/220/220 219/219/219 290/290/290
+f 290/290/290 291/291/291 220/220/220
+f 292/292/292 286/286/286 285/285/285
+f 285/285/285 293/293/293 292/292/292
+f 294/294/294 289/289/289 288/288/288
+f 288/288/288 295/295/295 294/294/294
+f 296/296/296 291/291/291 290/290/290
+f 297/297/297 298/298/298 299/299/299
+f 297/297/297 299/299/299 300/300/300
+f 297/297/297 300/300/300 301/301/301
+f 302/302/302 303/303/303 304/304/304
+f 302/302/302 304/304/304 305/305/305
+f 302/302/302 305/305/305 306/306/306
+f 307/307/307 308/308/308 309/309/309
+f 309/309/309 310/310/310 307/307/307
+f 311/311/311 312/312/312 313/313/313
+f 313/313/313 314/314/314 311/311/311
+f 314/314/314 313/313/313 315/315/315
+f 315/315/315 316/316/316 314/314/314
+f 316/316/316 315/315/315 317/317/317
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+f 399/399/399 400/400/400 401/401/401
+f 401/401/401 402/402/402 399/399/399
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..618fffdebd74b0f0ddc2a73bd700eddbffea5e1f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_0.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.22401420 0.35686078 0.08729937
+v 0.20818467 0.35027554 -0.13634870
+v 0.17553130 0.41787094 -0.03203286
+v 0.12446300 0.46637126 0.08280558
+v 0.13137099 0.35617353 -0.15141525
+v 0.20740305 0.39278937 0.08228387
+v 0.19731118 0.35016304 -0.15472503
+v 0.12522127 0.43710224 -0.15059981
+v 0.13587580 0.46020183 0.08084552
+v 0.20613383 0.38576968 0.08714915
+v 0.20372123 0.37509457 -0.07749606
+v 0.13085706 0.35584922 -0.16242896
+v 0.18908634 0.37574807 -0.15037117
+v 0.14754858 0.44580486 -0.00174552
+v 0.21300692 0.38107152 0.08632342
+v 0.20402381 0.39047293 0.01338746
+v 0.12411981 0.45058650 -0.09337523
+v 0.12669099 0.42428903 -0.15769424
+v 0.19540744 0.36452657 -0.15077695
+v 0.19010335 0.38684188 -0.11970276
+v 0.21980285 0.36408272 0.08726856
+v 0.12427333 0.46598861 0.05755205
+v 0.14725467 0.43043528 -0.11965920
+v 0.13545700 0.43090870 -0.15058042
+v 0.20308318 0.35955149 -0.13456719
+v 0.19045164 0.40258473 -0.01686901
+v 0.13530031 0.45925548 0.05793440
+v 0.13517094 0.44389281 -0.09266223
+v 0.16194115 0.42989298 -0.03193092
+v 0.13860184 0.42295525 -0.15336538
+f 5 1 4
+f 7 2 1
+f 7 1 5
+f 10 4 1
+f 10 9 4
+f 11 1 2
+f 12 5 4
+f 12 7 5
+f 14 9 6
+f 14 6 3
+f 15 6 9
+f 15 9 10
+f 16 3 6
+f 16 6 15
+f 16 15 1
+f 16 1 11
+f 17 12 4
+f 17 8 12
+f 18 12 8
+f 18 7 12
+f 18 13 7
+f 19 13 2
+f 19 2 7
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+f 20 11 2
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+f 24 8 17
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+f 24 23 20
+f 24 20 13
+f 25 20 2
+f 25 2 13
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+f 26 20 3
+f 26 3 16
+f 26 16 20
+f 27 22 9
+f 27 9 14
+f 27 14 22
+f 28 23 17
+f 28 17 14
+f 28 14 23
+f 29 23 14
+f 29 14 3
+f 29 3 23
+f 30 24 13
+f 30 13 18
+f 30 18 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cd2f8cc41b9320f4ed42d7c7acc554f369d27f2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_1.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.23303707 0.14567697 0.08606221
+v 0.23360869 0.19408151 -0.10789371
+v 0.25102036 0.20566157 0.04326706
+v 0.24765882 0.28114938 0.08728298
+v 0.22378356 0.28070773 -0.12523908
+v 0.25139973 0.20579538 0.08304282
+v 0.23400842 0.15167309 0.02847425
+v 0.23754786 0.28400626 0.01000826
+v 0.23469487 0.27889469 -0.12053208
+v 0.24053821 0.16398861 0.08627396
+v 0.25261893 0.27921893 0.08085256
+v 0.23396271 0.16661820 -0.03208423
+v 0.22244884 0.15892034 -0.01888774
+v 0.23317270 0.15434377 0.08450046
+v 0.23666137 0.23611023 -0.12120965
+v 0.23611672 0.15070101 0.08248076
+v 0.24775676 0.27993511 0.08728246
+v 0.25087167 0.27894247 0.04328059
+v 0.23186500 0.17558497 -0.07891917
+v 0.22234988 0.18933372 -0.10980750
+v 0.23161972 0.14630566 0.02717918
+v 0.23607120 0.15956559 0.08719800
+v 0.25072821 0.26377925 0.02814215
+v 0.22229929 0.17420101 -0.07947442
+v 0.22581902 0.23455476 -0.12561997
+v 0.23167879 0.16136419 -0.03341991
+v 0.25066633 0.22083699 0.02814782
+f 9 5 8
+f 10 3 6
+f 10 7 3
+f 11 6 3
+f 11 8 4
+f 12 3 7
+f 13 8 5
+f 14 1 4
+f 14 4 8
+f 14 13 1
+f 14 8 13
+f 15 3 2
+f 15 5 9
+f 16 10 1
+f 16 7 10
+f 17 10 6
+f 17 11 4
+f 17 6 11
+f 18 9 8
+f 18 8 11
+f 19 2 3
+f 19 3 12
+f 20 13 5
+f 20 2 19
+f 21 1 13
+f 21 16 1
+f 21 7 16
+f 22 17 4
+f 22 4 1
+f 22 1 10
+f 22 10 17
+f 23 15 9
+f 23 9 18
+f 23 18 11
+f 24 20 19
+f 24 13 20
+f 25 15 2
+f 25 2 20
+f 25 20 5
+f 25 5 15
+f 26 19 12
+f 26 12 7
+f 26 7 21
+f 26 24 19
+f 26 21 13
+f 26 13 24
+f 27 3 15
+f 27 15 23
+f 27 23 11
+f 27 11 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f13946c37ea0e0c4f8184fb3d274d71e86f75e6b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.12773692 0.02832323 0.02720122
+v 0.19194333 0.11353977 -0.07946821
+v 0.17650705 0.06845026 -0.00171859
+v 0.19976523 0.10855550 0.02577500
+v 0.13917114 0.05880559 -0.08055761
+v 0.17751249 0.08029743 -0.07775343
+v 0.17933315 0.06563789 0.08637398
+v 0.14529321 0.05161729 0.02465565
+v 0.19855093 0.09272909 0.08729393
+v 0.16960657 0.07533912 -0.10884205
+v 0.16327718 0.05359320 0.02846884
+v 0.15169079 0.04661932 0.08718567
+v 0.14606443 0.06850097 -0.10967538
+v 0.12946836 0.04068013 -0.07915405
+v 0.13875137 0.03503602 0.02791255
+v 0.14509201 0.05448811 -0.10958144
+v 0.19216182 0.08524686 0.08728602
+v 0.12419845 0.03412497 -0.04793558
+v 0.13977354 0.04852896 -0.09347533
+v 0.15913265 0.05277723 0.08720954
+f 5 4 2
+f 6 2 4
+f 8 5 1
+f 8 4 5
+f 9 6 4
+f 9 3 6
+f 9 7 3
+f 10 2 6
+f 10 6 3
+f 11 3 7
+f 12 9 4
+f 12 4 8
+f 12 8 1
+f 13 5 2
+f 13 2 10
+f 14 5 13
+f 15 11 7
+f 15 12 1
+f 15 7 12
+f 16 10 3
+f 16 3 11
+f 16 14 13
+f 16 13 10
+f 17 7 9
+f 17 9 12
+f 18 1 5
+f 18 5 14
+f 19 14 16
+f 19 15 1
+f 19 18 14
+f 19 1 18
+f 19 16 11
+f 19 11 15
+f 20 17 12
+f 20 12 7
+f 20 7 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9af864a4434c20df5a92e0319c70384e68054a13
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.22824441 0.18682720 -0.03502003
+v -0.21794485 0.18927169 -0.12502994
+v -0.21469464 0.34612606 -0.02009199
+v -0.20668045 0.34279388 -0.11070264
+v -0.23080434 0.29186736 -0.12096510
+v -0.22951097 0.19306295 -0.12064846
+v -0.21921482 0.29591338 -0.12522916
+v -0.24590781 0.23497421 -0.01867139
+v -0.22036439 0.33590066 -0.10855920
+v -0.23594800 0.23456341 -0.01920928
+v -0.23932533 0.19107025 -0.03313972
+v -0.23036588 0.33369751 -0.01712239
+v -0.23019427 0.31961625 -0.07774394
+v -0.23009607 0.30686374 -0.10800082
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 4 2
+f 7 2 5
+f 8 5 6
+f 9 3 4
+f 9 7 5
+f 9 4 7
+f 10 1 3
+f 11 8 6
+f 11 6 1
+f 11 10 8
+f 11 1 10
+f 12 3 9
+f 12 10 3
+f 12 8 10
+f 13 12 9
+f 13 8 12
+f 14 13 9
+f 14 9 5
+f 14 5 8
+f 14 8 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c2911b89db2ab1b46e8e3cfcb46230b44a70c9f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_12.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.25151460 0.27940774 0.08396522
+v -0.16735074 0.42656589 -0.01821704
+v -0.23378568 0.28371874 -0.02046179
+v -0.16411089 0.43789937 0.08356794
+v -0.21684546 0.37657856 0.08217290
+v -0.24474745 0.28127159 0.08248124
+v -0.23324140 0.33251088 0.08722089
+v -0.18582572 0.41809762 0.07301434
+v -0.23036588 0.33369751 -0.01712239
+v -0.24424563 0.28012269 -0.01851793
+v -0.20480479 0.39367265 0.08657457
+v -0.16956682 0.42915189 0.08691433
+v -0.17280278 0.43023623 0.05789132
+v -0.20032748 0.39044793 -0.01701176
+v -0.23132996 0.34946714 0.08241363
+v -0.24736020 0.27947597 0.01296270
+v -0.18606941 0.41832673 0.08079297
+v -0.18436855 0.41233867 0.08725108
+v -0.23988891 0.31232276 0.08721537
+v -0.16397830 0.43769559 0.05745444
+v -0.17509416 0.42004832 -0.01731793
+v -0.21614174 0.37637694 0.05765206
+v -0.18265142 0.39576698 -0.02017574
+v -0.23561091 0.33605417 0.08652090
+v -0.24485975 0.30633835 0.04345740
+v -0.17342664 0.43105483 0.08083556
+v -0.17905007 0.42402252 0.08640147
+v -0.22885278 0.34821595 0.02848348
+v -0.24417436 0.30976365 0.08648808
+v -0.24551608 0.29152292 0.01313097
+v -0.21441522 0.37532045 0.02851952
+v -0.24613720 0.30645748 0.08227508
+f 3 2 4
+f 6 3 4
+f 10 3 6
+f 10 9 3
+f 12 6 4
+f 15 11 5
+f 16 10 6
+f 16 6 1
+f 17 8 11
+f 18 11 7
+f 19 1 6
+f 19 6 12
+f 19 18 7
+f 19 12 18
+f 20 4 2
+f 20 2 13
+f 21 13 2
+f 21 8 13
+f 21 14 8
+f 21 2 14
+f 22 11 8
+f 22 8 14
+f 22 5 11
+f 22 15 5
+f 23 14 2
+f 23 2 3
+f 23 3 9
+f 23 9 14
+f 24 7 11
+f 24 11 15
+f 24 19 7
+f 26 13 8
+f 26 8 17
+f 26 20 13
+f 26 4 20
+f 27 12 4
+f 27 26 17
+f 27 4 26
+f 27 17 11
+f 27 18 12
+f 27 11 18
+f 28 14 9
+f 28 15 22
+f 28 25 15
+f 28 9 25
+f 29 1 19
+f 29 19 24
+f 30 16 1
+f 30 1 25
+f 30 10 16
+f 30 25 9
+f 30 9 10
+f 31 28 22
+f 31 22 14
+f 31 14 28
+f 32 25 1
+f 32 1 29
+f 32 15 25
+f 32 29 24
+f 32 24 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18faa56d13962459d1143976d8207c6c40707880
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_13.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09083978 0.47444875 0.08205702
+v 0.08657885 0.46416681 -0.03419507
+v 0.05110563 0.48955524 0.01314003
+v -0.03438064 0.49561535 0.08657508
+v -0.03557390 0.47853757 -0.03410893
+v 0.06640550 0.49020852 0.08271556
+v -0.03664578 0.49187834 0.08726582
+v 0.00863866 0.49062866 -0.03245366
+v -0.00430373 0.49822033 0.08669783
+v 0.07969224 0.47785184 -0.03256499
+v -0.03514035 0.48832808 -0.03362045
+v 0.06626137 0.48957213 0.05780777
+v 0.08254182 0.48498252 0.08516988
+v 0.04380044 0.47667597 -0.03532493
+v -0.00386408 0.49096916 -0.03248478
+v -0.03412811 0.49130730 -0.00219602
+v -0.00536209 0.49428627 0.08718171
+f 5 2 1
+f 7 5 1
+f 9 4 7
+f 9 3 8
+f 10 1 2
+f 10 8 3
+f 11 7 4
+f 11 5 7
+f 12 9 6
+f 12 3 9
+f 12 10 3
+f 13 7 1
+f 13 6 9
+f 13 12 6
+f 13 1 10
+f 13 10 12
+f 14 10 2
+f 14 8 10
+f 14 11 8
+f 14 2 5
+f 14 5 11
+f 15 9 8
+f 15 8 11
+f 16 11 4
+f 16 4 9
+f 16 15 11
+f 16 9 15
+f 17 13 9
+f 17 9 7
+f 17 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebae1ce7644f0c863c6ad9baebf5aba6f680f74c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.03399827 -0.05465032 0.05049387
+v 0.06792478 -0.00147335 -0.01823142
+v 0.03993796 -0.00611749 0.08665971
+v -0.04965592 -0.00346835 0.08596225
+v -0.06298179 -0.00257005 -0.04787516
+v 0.06811897 0.00278968 0.02756946
+v -0.03278965 -0.05455787 0.05055731
+v 0.00958048 -0.00665069 -0.07916610
+v -0.06362863 0.00207342 0.02749586
+v -0.01978812 -0.00256583 -0.07872122
+v 0.03161061 -0.04497217 0.02211618
+v 0.00630099 -0.00782832 -0.07799500
+v -0.05984188 -0.00471367 -0.04709336
+v -0.03342751 -0.04275420 0.02291889
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 10 6 2
+f 10 9 6
+f 10 5 9
+f 10 2 8
+f 11 8 2
+f 11 2 1
+f 11 1 7
+f 12 10 8
+f 12 7 10
+f 12 11 7
+f 12 8 11
+f 13 7 5
+f 13 5 10
+f 14 13 10
+f 14 10 7
+f 14 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..152f4d133a69279eaa2e49f7367e519d94dbebc6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_15.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.09138506 0.46060482 -0.05046500
+v 0.08912978 0.45516587 -0.11144880
+v 0.06631753 0.47457536 -0.10808396
+v -0.03514035 0.48832808 -0.03362045
+v -0.03690852 0.46802477 -0.12608918
+v 0.07969224 0.47785184 -0.03256499
+v -0.03925899 0.47773800 -0.03540576
+v 0.05579948 0.46365525 -0.12520853
+v -0.03435009 0.47883811 -0.12159291
+v 0.05140449 0.47556827 -0.12051125
+v 0.08239431 0.46922031 -0.10896368
+v 0.08657885 0.46416681 -0.03419507
+v 0.07812451 0.47406877 -0.07764756
+f 5 2 1
+f 7 5 1
+f 8 2 5
+f 9 7 4
+f 9 5 7
+f 10 6 3
+f 10 4 6
+f 10 9 4
+f 10 8 5
+f 10 5 9
+f 11 6 1
+f 11 1 2
+f 11 10 3
+f 11 2 8
+f 11 8 10
+f 12 6 4
+f 12 4 7
+f 12 7 1
+f 12 1 6
+f 13 11 3
+f 13 3 6
+f 13 6 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e5a1aba5b26e6dc11d560a679efe60e2c302f8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_16.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.17200906 0.15903392 -0.15103336
+v -0.17148919 0.15921418 -0.16140110
+v -0.17199469 0.34100102 -0.15095834
+v -0.20668045 0.34279388 -0.11070264
+v -0.23256372 0.20783995 -0.12188628
+v -0.20503204 0.15789560 -0.14065283
+v -0.21692524 0.18659608 -0.12772255
+v -0.22081396 0.29275710 -0.15288426
+v -0.23236401 0.29543602 -0.10974671
+v -0.22817705 0.19026066 -0.12390095
+v -0.17151145 0.34070500 -0.16120697
+v -0.22030692 0.19232399 -0.15245573
+v -0.23004590 0.27936439 -0.13638841
+v -0.21500660 0.33359010 -0.13570872
+v -0.19804044 0.16079296 -0.16040735
+v -0.22973832 0.20831862 -0.13647489
+v -0.23307232 0.27952620 -0.12186954
+v -0.22036439 0.33590066 -0.10855920
+v -0.21723050 0.31936962 -0.15071790
+v -0.20639156 0.33628953 -0.15302949
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 6 1
+f 10 6 7
+f 10 9 5
+f 10 7 4
+f 10 4 9
+f 11 3 2
+f 11 4 3
+f 12 6 10
+f 15 11 2
+f 15 8 11
+f 15 12 8
+f 15 2 6
+f 15 6 12
+f 16 12 10
+f 16 10 5
+f 16 13 8
+f 16 8 12
+f 17 5 9
+f 17 9 13
+f 17 16 5
+f 17 13 16
+f 18 9 4
+f 19 13 9
+f 19 18 14
+f 19 9 18
+f 19 8 13
+f 20 4 11
+f 20 19 14
+f 20 11 8
+f 20 8 19
+f 20 18 4
+f 20 14 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..168b52157d88d44149d6273ccdb3171d92edc799
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_17.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.10809736 0.01527272 0.08505233
+v -0.10817680 0.02995697 -0.09388940
+v -0.11579822 0.04564001 -0.09537580
+v -0.22130827 0.12051680 0.08401333
+v -0.17260954 0.06947542 -0.03198185
+v -0.11772478 0.02729026 0.08241540
+v -0.10544706 0.02125115 -0.01749482
+v -0.14777480 0.03728499 0.08213368
+v -0.20559759 0.12079957 -0.09335998
+v -0.21502797 0.10915752 0.08170970
+v -0.11876310 0.01988073 0.08344473
+v -0.14444723 0.05232845 -0.09292894
+v -0.11533921 0.02593365 -0.01689618
+v -0.18293798 0.10440414 -0.09587496
+v -0.20091249 0.09749067 -0.00172895
+v -0.22098925 0.12065732 0.05757816
+v -0.14533981 0.04114378 0.01336980
+v -0.19890577 0.10974451 -0.09264863
+v -0.21425304 0.10960949 0.05794738
+v -0.15761215 0.05467256 -0.01689965
+v -0.13031224 0.04138167 -0.07747074
+v -0.11845233 0.03591360 -0.09320312
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 3
+f 7 3 1
+f 8 1 4
+f 10 8 4
+f 11 7 1
+f 11 1 8
+f 12 3 2
+f 13 2 7
+f 13 7 11
+f 14 9 4
+f 14 4 3
+f 14 3 12
+f 15 5 8
+f 15 8 10
+f 16 10 4
+f 16 4 9
+f 16 9 15
+f 17 13 11
+f 17 11 8
+f 18 12 5
+f 18 14 12
+f 18 9 14
+f 18 15 9
+f 18 5 15
+f 19 16 15
+f 19 15 10
+f 19 10 16
+f 20 17 8
+f 20 8 5
+f 20 5 12
+f 20 12 17
+f 21 17 12
+f 21 13 17
+f 22 21 12
+f 22 12 2
+f 22 2 13
+f 22 13 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57a0b483295e9028e164bf2d9feac4755a52e517
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_18.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01890063 -0.49459372 0.15019910
+v 0.03020805 -0.48336498 0.14715910
+v 0.02825449 -0.35985228 0.13289578
+v -0.02762036 -0.14607361 0.07870725
+v 0.03913325 -0.13273107 0.03898881
+v -0.02730738 -0.44302646 0.14770691
+v 0.02860368 -0.48317402 0.15787687
+v 0.02824615 -0.39726003 0.11786967
+v 0.03102004 -0.14669505 0.07632970
+v -0.02692365 -0.35980204 0.13297059
+v -0.02881141 -0.14191565 0.04908533
+v -0.01987833 -0.49163741 0.15713427
+v 0.02862749 -0.17828405 0.08646676
+v 0.02910361 -0.44349895 0.14782712
+v -0.02710336 -0.35110250 0.10531922
+v 0.01791590 -0.49294902 0.15852273
+v -0.02799782 -0.18438316 0.06007648
+v -0.02664408 -0.48467649 0.14644858
+v -0.02118729 -0.49228034 0.14951983
+f 7 1 2
+f 7 2 5
+f 8 5 2
+f 8 2 1
+f 9 5 4
+f 10 3 4
+f 10 4 6
+f 10 7 3
+f 11 6 4
+f 11 4 5
+f 12 10 6
+f 12 7 10
+f 13 9 4
+f 13 4 3
+f 13 3 9
+f 14 7 5
+f 14 5 9
+f 14 9 3
+f 14 3 7
+f 15 5 8
+f 16 12 1
+f 16 1 7
+f 16 7 12
+f 17 15 11
+f 17 11 5
+f 17 5 15
+f 18 15 8
+f 18 8 1
+f 18 12 6
+f 18 6 11
+f 18 11 15
+f 19 18 1
+f 19 1 12
+f 19 12 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f649a3946b6f4040ed39621c0bd7561f560ffb51
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_19.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.18597855 0.07309282 0.08531214
+v 0.23186500 0.17558497 -0.07891917
+v 0.21853568 0.12505884 -0.00164493
+v 0.23607120 0.15956559 0.08719800
+v 0.21962621 0.16813231 -0.08093645
+v 0.23746641 0.17418751 -0.01886812
+v 0.22225473 0.12314127 0.08628020
+v 0.19106869 0.08396669 0.08728467
+v 0.18492610 0.08915867 -0.07863549
+v 0.21848186 0.13667930 -0.06239678
+v 0.22531883 0.16538985 -0.02099651
+v 0.20528126 0.09575398 0.04368269
+v 0.20682626 0.10408885 0.08728986
+v 0.20546046 0.13538940 -0.08090596
+v 0.22241776 0.14999408 -0.07791314
+v 0.20591800 0.09528278 0.08190486
+v 0.18378368 0.07503174 0.01242309
+v 0.20409120 0.10965386 -0.04720548
+v 0.23372481 0.15408419 0.08720824
+v 0.19955205 0.08955771 0.08633928
+v 0.19139804 0.09663037 -0.07757646
+v 0.19288722 0.08010183 0.08235880
+f 6 2 5
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 9 1 5
+f 10 6 3
+f 11 6 5
+f 11 4 6
+f 11 8 4
+f 11 5 8
+f 12 3 7
+f 13 4 8
+f 14 9 5
+f 14 5 2
+f 15 2 6
+f 15 6 10
+f 15 14 2
+f 15 9 14
+f 16 12 7
+f 17 1 9
+f 17 9 12
+f 18 10 3
+f 18 3 12
+f 19 13 7
+f 19 7 4
+f 19 4 13
+f 20 13 8
+f 20 8 1
+f 20 7 13
+f 20 16 7
+f 20 1 16
+f 21 15 10
+f 21 9 15
+f 21 10 18
+f 21 18 12
+f 21 12 9
+f 22 16 1
+f 22 12 16
+f 22 17 12
+f 22 1 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..340e702ea16b955023129437797134499f420ac6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.22290276 0.33695254 -0.07850740
+v -0.06563254 0.41630116 -0.16188165
+v -0.06585989 0.41684977 -0.15120862
+v -0.06577037 0.47721534 -0.07944695
+v -0.16150325 0.40642907 -0.15081295
+v -0.06310841 0.46541759 -0.15068159
+v -0.07320641 0.46516309 -0.08119631
+v -0.15684605 0.34100278 -0.15116691
+v -0.13231806 0.44689920 -0.07783593
+v -0.06402960 0.45398506 -0.15819266
+v -0.19527724 0.33806319 -0.15969067
+v -0.20203387 0.37710965 -0.07781962
+v -0.10507355 0.46250813 -0.07799940
+v -0.11479745 0.44295601 -0.14963023
+v -0.15637997 0.34071728 -0.16175738
+v -0.11973131 0.43592794 -0.15266117
+v -0.15795166 0.41585675 -0.13462351
+v -0.19847156 0.35978202 -0.15003620
+v -0.21758871 0.34990197 -0.07798146
+v -0.10315278 0.45790718 -0.11968066
+v -0.07432118 0.46215337 -0.15069820
+v -0.21808224 0.33495468 -0.12126536
+v -0.14195563 0.42974309 -0.13442237
+v -0.19177099 0.36495913 -0.15266158
+v -0.18528483 0.38643650 -0.13475327
+v -0.12978293 0.44271391 -0.11927032
+v -0.09106675 0.45116227 -0.15276596
+v -0.20957045 0.33765865 -0.15066399
+v -0.21300207 0.34800093 -0.11997783
+v -0.19785412 0.37457793 -0.11958158
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 3
+f 8 3 1
+f 10 6 2
+f 11 10 2
+f 13 9 12
+f 15 11 2
+f 15 2 8
+f 16 11 5
+f 16 10 11
+f 16 5 14
+f 17 12 9
+f 19 1 4
+f 19 4 13
+f 19 13 12
+f 20 13 4
+f 21 6 10
+f 21 14 20
+f 21 20 4
+f 21 4 6
+f 22 15 8
+f 22 8 1
+f 22 11 15
+f 23 14 5
+f 23 5 17
+f 24 18 5
+f 24 5 11
+f 25 17 5
+f 25 5 18
+f 25 12 17
+f 26 9 13
+f 26 13 20
+f 26 20 14
+f 26 14 23
+f 26 23 17
+f 26 17 9
+f 27 16 14
+f 27 14 21
+f 27 21 10
+f 27 10 16
+f 28 11 22
+f 28 24 11
+f 28 18 24
+f 29 22 1
+f 29 1 19
+f 29 28 22
+f 29 18 28
+f 30 25 18
+f 30 18 29
+f 30 12 25
+f 30 29 19
+f 30 19 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56dbe80dd65268a8ce570349c5af158ad2ae1e14
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_20.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.03102004 -0.14669505 0.07632970
+v 0.05479126 -0.12018725 0.03682613
+v 0.01877556 -0.09848505 0.10861214
+v -0.02957180 -0.08154032 0.03309863
+v -0.02747715 -0.13355743 0.00979063
+v 0.03177315 -0.08119374 0.03434564
+v 0.05582802 -0.11397411 0.07469983
+v 0.03159913 -0.13319207 0.01094489
+v -0.02762036 -0.14607361 0.07870725
+v 0.05337534 -0.12356350 0.03418847
+v 0.03390648 -0.10547790 0.10243021
+v 0.05597181 -0.11496209 0.04914695
+v 0.03388543 -0.12615788 0.01203402
+v -0.04982377 -0.10675070 0.08118026
+v 0.04274949 -0.13034069 0.02022149
+v 0.05221331 -0.10710724 0.08002873
+v -0.03015644 -0.12644417 0.01108381
+v -0.03001062 -0.10522990 0.10364861
+v -0.05086735 -0.12517772 0.03345792
+v 0.03388560 -0.09992655 0.09898997
+v -0.04394677 -0.11081881 0.08988831
+v -0.02647062 -0.09985276 0.10400833
+v -0.03975819 -0.13083740 0.01886371
+v -0.05336228 -0.11359096 0.07602561
+v 0.03250963 -0.10283388 0.10290729
+v -0.05245396 -0.12049654 0.03573707
+v -0.05411621 -0.11509660 0.04870112
+f 6 4 3
+f 8 1 5
+f 9 5 1
+f 9 1 3
+f 10 7 1
+f 10 2 7
+f 11 3 1
+f 11 1 7
+f 12 7 2
+f 12 2 6
+f 13 6 2
+f 13 4 6
+f 13 8 5
+f 15 10 1
+f 15 1 8
+f 15 8 13
+f 15 13 2
+f 15 2 10
+f 16 11 7
+f 16 12 6
+f 16 7 12
+f 17 13 5
+f 17 4 13
+f 18 9 3
+f 20 16 6
+f 20 6 3
+f 21 18 14
+f 21 9 18
+f 22 18 3
+f 22 3 4
+f 22 4 14
+f 22 14 18
+f 23 5 9
+f 23 9 19
+f 23 17 5
+f 24 19 9
+f 24 21 14
+f 24 9 21
+f 25 20 3
+f 25 3 11
+f 25 11 16
+f 25 16 20
+f 26 23 19
+f 26 4 17
+f 26 17 23
+f 27 24 14
+f 27 14 4
+f 27 4 26
+f 27 26 19
+f 27 19 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..413bf79d4bc28955e2eaf2da56047b6876ec1799
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_21.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.08229706 0.01166966 -0.07780548
+v 0.15454109 0.07373329 -0.09574223
+v 0.14799844 0.06623787 -0.07968288
+v 0.08575609 0.09825760 -0.15158585
+v 0.10542332 0.04044577 -0.15034902
+v 0.08873543 0.03063794 -0.08015016
+v 0.14048487 0.04737476 -0.07844612
+v 0.05532416 0.03831211 -0.16048307
+v 0.14592976 0.09874553 -0.16081362
+v 0.09475960 0.02235917 -0.07799961
+v 0.13801157 0.06262793 -0.15172735
+v 0.12017252 0.04068678 -0.11973617
+v 0.08237645 0.03054295 -0.15067883
+v 0.05547158 0.05284910 -0.15093087
+v 0.14651270 0.09837851 -0.15081990
+v 0.08573114 0.09848485 -0.16278570
+v 0.12277231 0.03645132 -0.07799087
+v 0.13621123 0.05478760 -0.13541964
+v 0.10976156 0.04811856 -0.15353884
+v 0.09285679 0.02695343 -0.11975876
+v 0.07963546 0.02185343 -0.12125788
+v 0.05633272 0.03410809 -0.14607757
+v 0.05534687 0.05344822 -0.16114804
+f 3 2 4
+f 6 3 4
+f 7 2 3
+f 10 6 1
+f 10 3 6
+f 11 9 2
+f 12 1 5
+f 14 6 4
+f 14 1 6
+f 15 9 4
+f 15 4 2
+f 15 2 9
+f 16 9 8
+f 16 4 9
+f 17 7 3
+f 17 3 10
+f 17 10 1
+f 17 12 7
+f 17 1 12
+f 18 11 2
+f 18 2 7
+f 18 7 12
+f 18 12 5
+f 18 5 11
+f 19 11 5
+f 19 8 9
+f 19 9 11
+f 19 13 8
+f 19 5 13
+f 20 13 5
+f 20 5 1
+f 20 1 13
+f 21 13 1
+f 21 8 13
+f 22 14 8
+f 22 1 14
+f 22 21 1
+f 22 8 21
+f 23 14 4
+f 23 4 16
+f 23 16 8
+f 23 8 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ee713a357665d4ba7bbf2988ab81da14823605c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.24069369 0.18741656 0.08393828
+v -0.22824441 0.18682720 -0.03502003
+v -0.23223528 0.18589132 0.01006179
+v -0.24474745 0.28127159 0.08248124
+v -0.24614882 0.23608060 -0.01713211
+v -0.23437193 0.28039535 -0.01903010
+v -0.23932533 0.19107025 -0.03313972
+v -0.24849831 0.19289377 0.08282837
+v -0.24424563 0.28012269 -0.01851793
+v -0.25151460 0.27940774 0.08396522
+v -0.24554455 0.20580943 -0.00194507
+v -0.24436853 0.23508843 -0.03366400
+v -0.24589613 0.27939731 -0.00204558
+v -0.24451809 0.19394742 0.01316093
+v -0.24536590 0.26384462 -0.01705155
+v -0.23303455 0.21857906 -0.03559017
+v -0.23440242 0.23468939 -0.03420038
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 7 1
+f 9 4 6
+f 10 8 1
+f 10 1 4
+f 10 5 8
+f 10 4 9
+f 11 8 5
+f 12 11 5
+f 12 7 11
+f 12 9 6
+f 13 10 9
+f 14 11 7
+f 14 7 8
+f 14 8 11
+f 15 12 5
+f 15 9 12
+f 15 13 9
+f 15 5 10
+f 15 10 13
+f 16 2 7
+f 16 7 12
+f 17 16 12
+f 17 12 6
+f 17 6 2
+f 17 2 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..291189b28cb1f078f0418988c9b3245536a59b73
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_23.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.08015228 0.00597705 0.02793106
+v 0.08282101 0.04490119 -0.15971254
+v 0.09133379 0.02445793 -0.00499693
+v 0.08702711 0.01962284 0.02630703
+v 0.01028372 0.00364617 0.02625685
+v 0.07403147 0.00924774 -0.08917648
+v 0.08098702 0.03359757 -0.15296665
+v 0.00987456 -0.00637945 0.02671727
+v 0.07831031 0.02495730 -0.13561613
+v 0.01025808 0.01911982 -0.12559752
+v 0.00903747 0.00342784 -0.11654150
+v 0.05532416 0.03831211 -0.16048307
+v 0.05213008 0.02121092 -0.15078284
+v 0.06644701 0.02466755 -0.15076344
+v 0.05335065 0.03138682 -0.15727930
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 3 1
+f 7 2 3
+f 8 6 1
+f 8 1 5
+f 9 7 3
+f 9 3 6
+f 11 8 5
+f 11 5 10
+f 11 6 8
+f 12 10 5
+f 12 5 2
+f 13 6 11
+f 14 9 6
+f 14 6 13
+f 14 7 9
+f 14 2 7
+f 15 13 11
+f 15 11 10
+f 15 10 12
+f 15 14 13
+f 15 12 2
+f 15 2 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ec67b778dc364767a8bbb1f1d23017787de0ec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_24.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.10817680 0.02995697 -0.09388940
+v -0.10566729 0.04697342 -0.15455627
+v -0.11144520 0.11355181 -0.15155271
+v -0.19406732 0.12448191 -0.11133187
+v -0.18554681 0.09785967 -0.11973822
+v -0.18293798 0.10440414 -0.09587496
+v -0.10547225 0.03664411 -0.13665557
+v -0.17949101 0.11803127 -0.15755782
+v -0.12251592 0.04990349 -0.09651307
+v -0.20137761 0.11410775 -0.09452203
+v -0.11091553 0.11382877 -0.16271023
+v -0.13061037 0.05568428 -0.15049097
+v -0.14444723 0.05232845 -0.09292894
+v -0.18822407 0.09551191 -0.09289710
+v -0.19211185 0.11961340 -0.15070292
+v -0.19167604 0.12592108 -0.12596620
+v -0.11947012 0.04912101 -0.15090131
+v -0.14190210 0.05477909 -0.11964655
+v -0.11845233 0.03591360 -0.09320312
+v -0.18605098 0.10942850 -0.15063251
+v -0.11468079 0.04180012 -0.13500357
+v -0.17820989 0.10602224 -0.15329153
+f 7 3 1
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 3 4
+f 11 7 2
+f 11 3 7
+f 11 2 8
+f 12 8 2
+f 14 6 10
+f 14 10 5
+f 16 4 3
+f 16 3 11
+f 16 11 8
+f 16 8 15
+f 16 15 10
+f 16 10 4
+f 17 12 2
+f 17 2 7
+f 17 7 12
+f 18 7 1
+f 18 14 5
+f 18 13 14
+f 19 1 6
+f 19 6 14
+f 19 14 13
+f 19 18 1
+f 19 13 18
+f 20 5 10
+f 20 10 15
+f 20 18 5
+f 20 12 18
+f 20 15 8
+f 21 18 12
+f 21 12 7
+f 21 7 18
+f 22 20 8
+f 22 8 12
+f 22 12 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c875c28badc83788e28aa441743cbfadf3e7fcec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_25.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.08544243 0.00827712 0.02667669
+v 0.13917114 0.05880559 -0.08055761
+v 0.12277231 0.03645132 -0.07799087
+v 0.13600566 0.04512466 0.02577761
+v 0.08873543 0.03063794 -0.08015016
+v 0.14004572 0.05777869 -0.06552715
+v 0.12102414 0.02406386 0.02835542
+v 0.09237070 0.02197407 0.02506510
+v 0.12675435 0.05071394 -0.08127653
+v 0.08229706 0.01166966 -0.07780548
+v 0.08056386 0.00642295 -0.04735368
+v 0.08105139 0.00513178 -0.03285971
+v 0.08657022 0.00851010 -0.04711048
+f 6 3 2
+f 6 2 5
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 8 6 5
+f 8 4 6
+f 8 7 4
+f 8 1 7
+f 9 5 2
+f 9 2 3
+f 10 9 3
+f 10 5 9
+f 11 1 5
+f 11 5 10
+f 12 7 1
+f 12 1 11
+f 13 11 10
+f 13 10 3
+f 13 12 11
+f 13 3 7
+f 13 7 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c47c3b18dab623342003acb92f603d1fbcc04ef1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.17941929 0.40810611 0.04082793
+v -0.10717684 0.46754529 -0.01788904
+v -0.12136083 0.44839089 -0.02061856
+v -0.10961693 0.47332772 0.08614972
+v -0.16411089 0.43789937 0.08356794
+v -0.11956519 0.46084274 0.08159607
+v -0.15997307 0.43297284 -0.01719491
+v -0.13051625 0.45922173 0.02851090
+v -0.17530028 0.40443832 -0.01925115
+v -0.17621721 0.42047755 0.08503182
+v -0.14549248 0.44527502 -0.01702236
+v -0.13192611 0.46175148 0.08252793
+v -0.16891048 0.41184993 -0.02027763
+v -0.11737099 0.46238812 -0.01726570
+f 3 2 4
+f 6 3 4
+f 8 4 2
+f 9 6 1
+f 9 3 6
+f 9 1 7
+f 10 1 6
+f 10 7 1
+f 10 5 7
+f 10 6 4
+f 10 4 5
+f 11 2 3
+f 11 3 7
+f 11 7 5
+f 12 5 4
+f 12 4 8
+f 12 11 5
+f 12 8 11
+f 13 9 7
+f 13 7 3
+f 13 3 9
+f 14 11 8
+f 14 8 2
+f 14 2 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18a981ae4cbaec29a2c918841612d4d1ab23a2a5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_27.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.22799984 0.33904688 -0.01840115
+v -0.10559937 0.46376742 -0.06297181
+v -0.20960727 0.34401076 -0.08019297
+v -0.10717684 0.46754529 -0.01788904
+v -0.17121376 0.41616733 -0.07742287
+v -0.11864757 0.44374781 -0.08070869
+v -0.21469464 0.34612606 -0.02009199
+v -0.20032748 0.39044793 -0.01701176
+v -0.14549248 0.44527502 -0.01702236
+v -0.21758871 0.34990197 -0.07798146
+v -0.11008646 0.46021986 -0.07925046
+v -0.20203387 0.37710965 -0.07781962
+v -0.12136083 0.44839089 -0.02061856
+v -0.21755945 0.36218490 -0.01725357
+v -0.22290276 0.33695254 -0.07850740
+v -0.13231806 0.44689920 -0.07783593
+v -0.11737099 0.46238812 -0.01726570
+v -0.18506223 0.40207648 -0.06225572
+v -0.21403373 0.36004757 -0.06233101
+v -0.15725967 0.42992330 -0.06225855
+v -0.19922526 0.38964708 -0.03203976
+v -0.14469605 0.44417733 -0.03205149
+f 6 2 4
+f 7 1 3
+f 7 4 1
+f 9 5 8
+f 11 6 5
+f 11 2 6
+f 11 4 2
+f 12 6 3
+f 12 5 6
+f 13 6 4
+f 13 4 7
+f 13 7 3
+f 13 3 6
+f 14 10 1
+f 14 8 12
+f 15 3 1
+f 15 1 10
+f 15 12 3
+f 15 10 12
+f 16 11 5
+f 17 4 11
+f 17 9 8
+f 17 8 14
+f 17 14 1
+f 17 1 4
+f 17 16 9
+f 17 11 16
+f 18 8 5
+f 18 5 12
+f 19 14 12
+f 19 12 10
+f 19 10 14
+f 20 16 5
+f 20 5 9
+f 21 18 12
+f 21 12 8
+f 21 8 18
+f 22 20 9
+f 22 9 16
+f 22 16 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..483756b31c5449d5781d26450a9a90576a6c8bb4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_28.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.13483668 0.45292996 0.08451630
+v 0.13159467 0.43248583 -0.10990482
+v 0.12340682 0.44942256 -0.10840276
+v 0.08254182 0.48498252 0.08516988
+v 0.09083978 0.47444875 0.08205702
+v 0.08912978 0.45516587 -0.11144880
+v 0.12446300 0.46637126 0.08280558
+v 0.13805018 0.44302416 0.02543695
+v 0.10926948 0.44550931 -0.11281959
+v 0.08239431 0.46922031 -0.10896368
+v 0.08021481 0.47911287 -0.01753747
+v 0.10829270 0.45859106 -0.10791861
+v 0.10820318 0.47352739 0.04361779
+v 0.10893022 0.47528176 0.08085186
+v 0.12027811 0.45946662 -0.03210115
+f 5 1 4
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 8 2 3
+f 8 3 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 3 2
+f 9 2 6
+f 10 9 6
+f 11 10 6
+f 11 6 4
+f 12 3 9
+f 12 9 10
+f 12 10 11
+f 13 11 4
+f 13 12 11
+f 14 13 4
+f 14 4 7
+f 14 7 13
+f 15 13 7
+f 15 7 3
+f 15 3 12
+f 15 12 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad4149e3a5edcad063503741580cb98f3d654ca3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00997020 -0.00751610 0.08669327
+v 0.17069416 0.06002264 0.02743614
+v 0.09422113 0.00849623 0.08198205
+v 0.17172847 0.05865852 0.08534307
+v 0.01028372 0.00364617 0.02625685
+v 0.15015806 0.03835404 0.08162541
+v 0.01077251 -0.00255445 0.08328696
+v 0.09312615 0.01126721 0.02844741
+v 0.16473612 0.05137173 0.08203221
+v 0.12492724 0.03844403 0.02507568
+v 0.00987456 -0.00637945 0.02671727
+v 0.12102414 0.02406386 0.02835542
+v 0.04392409 0.00733712 0.02519212
+v 0.14912763 0.03976176 0.04366379
+v 0.16327718 0.05359320 0.02846884
+f 1 3 4
+f 5 4 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 9 6 2
+f 9 2 4
+f 9 4 6
+f 10 5 2
+f 11 8 3
+f 11 3 1
+f 11 1 5
+f 12 6 3
+f 12 3 8
+f 12 10 2
+f 12 8 10
+f 13 10 8
+f 13 8 11
+f 13 11 5
+f 13 5 10
+f 14 2 6
+f 14 6 12
+f 15 14 12
+f 15 12 2
+f 15 2 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba9a62b92a9866a4c2b605fa524268d143c75703
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00997020 -0.00751610 0.08669327
+v 0.00903747 0.00342784 -0.11654150
+v -0.06561698 0.05343337 -0.16103119
+v -0.11772478 0.02729026 0.08241540
+v -0.08348910 0.00958660 -0.06232960
+v 0.01077251 -0.00255445 0.08328696
+v -0.07143403 0.00895417 -0.09033201
+v -0.09001406 0.00709322 0.08251061
+v -0.10788700 0.05850144 -0.16040729
+v -0.06585786 0.05285211 -0.15088379
+v 0.01125194 0.00653042 -0.00514314
+v -0.10809736 0.01527272 0.08505233
+v -0.10331395 0.02628805 -0.07760310
+v -0.06548612 0.03912050 -0.16040735
+v 0.01025808 0.01911982 -0.12559752
+v -0.11860490 0.04109096 -0.03524490
+v -0.10566729 0.04697342 -0.15455627
+v -0.04595284 0.01264824 -0.12006139
+v -0.08848798 0.02551200 -0.12035981
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 10 4 6
+f 10 9 4
+f 10 3 9
+f 11 6 1
+f 11 1 2
+f 11 10 6
+f 12 8 1
+f 12 1 4
+f 12 5 8
+f 13 12 4
+f 13 5 12
+f 14 9 3
+f 15 11 2
+f 15 3 10
+f 15 10 11
+f 15 14 3
+f 15 2 14
+f 16 13 4
+f 16 4 9
+f 17 9 14
+f 17 16 9
+f 17 13 16
+f 18 14 2
+f 18 2 7
+f 18 17 14
+f 19 7 5
+f 19 5 13
+f 19 13 17
+f 19 18 7
+f 19 17 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61e61cd52f67d1efda9b724272395e06d02bf00
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_30.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.05367863 0.01501758 -0.12310908
+v 0.05532416 0.03831211 -0.16048307
+v 0.05808929 0.02678611 -0.12709666
+v -0.11160672 0.03727909 -0.12506585
+v -0.01926494 0.01939001 -0.15286696
+v -0.10671876 0.03363570 -0.12223965
+v 0.05213008 0.02121092 -0.15078284
+v -0.09279983 0.04581194 -0.15763599
+v -0.07552309 0.02035086 -0.12166824
+v 0.02420834 0.01942244 -0.15281887
+v 0.04017431 0.03830513 -0.16064219
+v -0.10424888 0.03959667 -0.15080385
+v 0.05335065 0.03138682 -0.15727930
+v -0.10856324 0.04223070 -0.15079919
+v -0.07304935 0.02660887 -0.15055608
+v -0.09112330 0.03470645 -0.15114582
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 8 4 2
+f 9 5 1
+f 9 1 6
+f 10 7 1
+f 10 1 5
+f 11 8 2
+f 11 5 8
+f 11 10 5
+f 11 2 10
+f 12 6 4
+f 12 9 6
+f 13 10 2
+f 13 2 7
+f 13 7 10
+f 14 12 4
+f 14 4 8
+f 14 8 12
+f 15 8 5
+f 15 5 9
+f 15 9 12
+f 16 15 12
+f 16 12 8
+f 16 8 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..024d7dfa8a94d9dcfdb13e57e0ebf25a21bb0a47
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.03092860 -0.08611622 0.06107065
+v 0.03177315 -0.08119374 0.03434564
+v 0.03161061 -0.04497217 0.02211618
+v -0.02912705 -0.04583579 0.02149322
+v -0.02957180 -0.08154032 0.03309863
+v -0.02786051 -0.05704438 0.05614995
+v 0.00963111 -0.07837418 0.02944928
+v 0.02887617 -0.05723856 0.05551408
+v -0.02777242 -0.08551419 0.06337378
+v 0.03038402 -0.06366769 0.02797258
+v -0.01794803 -0.07824750 0.02998241
+f 1 2 3
+f 5 2 1
+f 6 3 4
+f 6 4 5
+f 7 2 5
+f 7 4 3
+f 8 1 3
+f 8 3 6
+f 9 6 5
+f 9 5 1
+f 9 8 6
+f 9 1 8
+f 10 7 3
+f 10 3 2
+f 10 2 7
+f 11 7 5
+f 11 5 4
+f 11 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f34fa5e9b0a482969576071ea6d6abe87f105dff
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_4.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.14509201 0.05448811 -0.10958144
+v 0.23451182 0.20764133 -0.12064324
+v 0.23539097 0.18985681 -0.07926854
+v 0.22245496 0.28402024 -0.12795797
+v 0.14038199 0.07509595 -0.15709349
+v 0.23373815 0.28002394 -0.12403996
+v 0.14799844 0.06623787 -0.07968288
+v 0.20518880 0.13994613 -0.15058993
+v 0.23912351 0.23591100 -0.10850305
+v 0.19139804 0.09663037 -0.07757646
+v 0.22455195 0.18523821 -0.08122623
+v 0.13897341 0.06156721 -0.15075127
+v 0.14650959 0.17418211 -0.15150455
+v 0.21761663 0.15194978 -0.11942209
+v 0.22544227 0.22067389 -0.15281637
+v 0.23685316 0.20726864 -0.10826695
+v 0.17751249 0.08029743 -0.07775343
+v 0.17498488 0.09691201 -0.15004595
+v 0.14602986 0.17435003 -0.16264735
+v 0.21946822 0.17919404 -0.15014063
+v 0.20398383 0.12469672 -0.11933710
+v 0.22241776 0.14999408 -0.07791314
+v 0.23666137 0.23611023 -0.12120965
+v 0.21457019 0.27870336 -0.15962362
+v 0.15347853 0.07741580 -0.15243338
+v 0.18055416 0.10814474 -0.15189603
+v 0.17543331 0.08206157 -0.10780908
+v 0.21056329 0.16303429 -0.15244127
+v 0.22726341 0.27935360 -0.15052998
+v 0.20656609 0.28021255 -0.16066082
+v 0.14774741 0.06897417 -0.15025286
+v 0.15390442 0.06190960 -0.10869584
+v 0.19030047 0.09745435 -0.09262373
+v 0.22544653 0.26393406 -0.15282269
+f 6 4 3
+f 9 6 3
+f 11 7 3
+f 11 3 4
+f 11 4 7
+f 12 1 7
+f 13 7 4
+f 13 12 7
+f 16 9 3
+f 16 2 9
+f 16 14 2
+f 16 3 14
+f 17 7 1
+f 19 5 12
+f 19 12 13
+f 20 14 8
+f 20 2 14
+f 20 15 2
+f 21 8 14
+f 21 18 8
+f 22 14 3
+f 22 21 14
+f 22 10 21
+f 22 17 10
+f 22 3 7
+f 22 7 17
+f 23 9 2
+f 23 2 15
+f 23 6 9
+f 24 5 19
+f 25 12 5
+f 26 5 8
+f 26 8 18
+f 26 25 5
+f 26 18 25
+f 27 10 17
+f 27 18 21
+f 28 20 8
+f 28 15 20
+f 28 24 15
+f 28 8 5
+f 28 5 24
+f 29 23 15
+f 29 6 23
+f 29 4 6
+f 30 24 19
+f 30 19 13
+f 30 13 4
+f 30 29 24
+f 30 4 29
+f 31 25 18
+f 31 12 25
+f 31 18 27
+f 31 1 12
+f 32 27 17
+f 32 17 1
+f 32 31 27
+f 32 1 31
+f 33 27 21
+f 33 21 10
+f 33 10 27
+f 34 29 15
+f 34 15 24
+f 34 24 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77a871f8649061b835fe030b010158cc76647e49
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_5.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.05633272 0.03410809 -0.14607757
+v 0.21139047 0.17239878 -0.14101574
+v -0.17196458 0.38646613 -0.14008816
+v -0.11137815 0.41689454 -0.15087781
+v 0.20585617 0.31034527 -0.16040735
+v -0.17131693 0.11408720 -0.16040735
+v -0.11188589 0.05197452 -0.14029830
+v 0.14592976 0.09874553 -0.16081362
+v 0.19298854 0.35679373 -0.14032976
+v -0.16618079 0.38147584 -0.16033700
+v -0.06548612 0.03912050 -0.16040735
+v -0.17436417 0.11148522 -0.14520107
+v 0.20444605 0.17527804 -0.16040726
+v 0.08768606 0.04831291 -0.14798488
+v 0.21004344 0.31134981 -0.14500722
+v 0.13080549 0.41622166 -0.16041189
+v 0.13337282 0.41922661 -0.14528490
+v -0.11092766 0.41619672 -0.16102671
+v -0.10788700 0.05850144 -0.16040729
+v -0.06651688 0.03482395 -0.14493484
+v 0.05532416 0.03831211 -0.16048307
+v 0.14651270 0.09837851 -0.15081990
+v 0.18647310 0.35280424 -0.16040514
+v 0.08555773 0.05344876 -0.16068230
+f 7 1 2
+f 9 7 2
+f 9 3 7
+f 10 6 3
+f 12 7 3
+f 12 3 6
+f 12 6 7
+f 13 8 5
+f 13 5 2
+f 13 2 8
+f 14 2 1
+f 15 9 2
+f 15 2 5
+f 15 5 9
+f 17 4 3
+f 17 3 9
+f 17 9 16
+f 18 10 3
+f 18 3 4
+f 18 17 16
+f 18 4 17
+f 18 6 10
+f 19 11 7
+f 19 7 6
+f 19 6 18
+f 20 11 1
+f 20 1 7
+f 20 7 11
+f 21 1 11
+f 21 14 1
+f 22 14 8
+f 22 8 2
+f 22 2 14
+f 23 16 9
+f 23 9 5
+f 23 18 16
+f 23 5 8
+f 23 8 18
+f 24 11 19
+f 24 21 11
+f 24 8 14
+f 24 14 21
+f 24 19 18
+f 24 18 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d28eae585784d0f25b9d8c9f8c846f6e45ed58
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_6.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.25261893 0.27921893 0.08085256
+v 0.23709912 0.27908612 -0.10836813
+v 0.21930110 0.36020578 -0.01693561
+v 0.20301088 0.37812545 0.04057933
+v 0.19194715 0.31067046 -0.15086853
+v 0.22365094 0.36323179 0.08617872
+v 0.23384856 0.33332451 0.01327503
+v 0.20656609 0.28021255 -0.16066082
+v 0.24775676 0.27993511 0.08728246
+v 0.20507628 0.34871941 -0.15045061
+v 0.25025127 0.29111142 0.07287547
+v 0.23749788 0.33484362 0.08174560
+v 0.21457019 0.27870336 -0.15962362
+v 0.21727605 0.36809169 0.08724648
+v 0.18647310 0.35280424 -0.16040514
+v 0.21947041 0.33351629 -0.12016621
+v 0.19842595 0.37530017 -0.01954432
+v 0.25227778 0.27917786 0.07276112
+v 0.23396439 0.30619761 -0.07773906
+v 0.25038873 0.29113441 0.08148469
+v 0.24084975 0.32286883 0.08612683
+v 0.22726341 0.27935360 -0.15052998
+v 0.19143392 0.31045673 -0.16096234
+v 0.21847030 0.31766316 -0.15042888
+v 0.21873511 0.34849159 -0.07763779
+v 0.23472157 0.29122718 -0.10811247
+v 0.24765882 0.28114938 0.08728298
+v 0.24015936 0.31485781 0.08729282
+v 0.21008686 0.33556201 -0.15097612
+v 0.19731118 0.35016304 -0.15472503
+f 6 3 4
+f 9 4 5
+f 9 5 8
+f 12 7 3
+f 12 3 6
+f 12 11 7
+f 13 9 8
+f 13 1 9
+f 14 6 4
+f 14 4 9
+f 15 5 4
+f 15 13 8
+f 17 4 3
+f 17 3 10
+f 17 15 4
+f 17 10 15
+f 18 11 1
+f 18 2 11
+f 18 13 2
+f 18 1 13
+f 19 7 11
+f 20 1 11
+f 20 11 12
+f 21 12 6
+f 21 20 12
+f 22 2 13
+f 23 15 8
+f 23 8 5
+f 23 5 15
+f 24 13 15
+f 24 22 13
+f 24 10 16
+f 25 16 10
+f 25 10 3
+f 25 3 7
+f 25 19 16
+f 25 7 19
+f 26 19 11
+f 26 11 2
+f 26 16 19
+f 26 24 16
+f 26 2 22
+f 26 22 24
+f 27 9 1
+f 27 1 20
+f 27 20 21
+f 28 21 6
+f 28 6 14
+f 28 27 21
+f 28 14 9
+f 28 9 27
+f 29 24 15
+f 29 10 24
+f 30 29 15
+f 30 15 10
+f 30 10 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dc5e438814e6ee17dbf354db175c44d3eb9613f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_7.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.11824474 0.45857309 0.05555830
+v -0.03456875 0.48145461 -0.10874479
+v -0.03757641 0.47078680 -0.11149080
+v -0.03456813 0.49630063 0.08399812
+v -0.10341574 0.47367370 0.02845176
+v -0.03548643 0.49196758 0.08726270
+v -0.10463531 0.47631328 0.08274007
+v -0.06146419 0.48973803 0.04342575
+v -0.11191077 0.44805206 -0.07956635
+v -0.03412811 0.49130730 -0.00219602
+v -0.03987861 0.48029926 -0.00533364
+v -0.04981653 0.48940586 0.08714322
+v -0.11364222 0.46612531 0.08539314
+v -0.07468358 0.47521572 -0.07778653
+v -0.06184147 0.49105343 0.08238498
+v -0.06175146 0.47546189 -0.10815482
+v -0.10507355 0.46250813 -0.07799940
+v -0.04625596 0.48916652 -0.00195769
+v -0.03664578 0.49187834 0.08726582
+v -0.05319153 0.48826507 0.08718852
+v -0.06626655 0.46411674 -0.11015503
+f 6 3 2
+f 8 5 7
+f 9 3 1
+f 10 6 2
+f 10 4 6
+f 10 8 4
+f 11 6 1
+f 11 1 3
+f 11 3 6
+f 13 1 6
+f 13 7 5
+f 13 5 1
+f 14 5 8
+f 15 8 7
+f 15 4 8
+f 15 12 4
+f 16 2 3
+f 17 9 1
+f 17 1 5
+f 17 5 14
+f 17 14 16
+f 18 10 2
+f 18 8 10
+f 18 2 16
+f 18 16 14
+f 18 14 8
+f 19 6 4
+f 19 4 12
+f 20 7 13
+f 20 15 7
+f 20 12 15
+f 20 19 12
+f 20 13 6
+f 20 6 19
+f 21 16 3
+f 21 3 9
+f 21 17 16
+f 21 9 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533c2244bbde347b753fbe7aea53caf60f587467
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_8.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.20797313 0.11006783 0.08457402
+v -0.17131693 0.11408720 -0.16040735
+v -0.17200906 0.15903392 -0.15103336
+v -0.24849831 0.19289377 0.08282837
+v -0.21352685 0.13644520 -0.10790594
+v -0.24069369 0.18741656 0.08393828
+v -0.19806083 0.10683137 0.02545599
+v -0.23028517 0.13596368 0.08089984
+v -0.22287837 0.19170429 -0.15061036
+v -0.20177288 0.18948345 -0.16064433
+v -0.22130827 0.12051680 0.08401333
+v -0.17911908 0.10742483 -0.12675347
+v -0.24437385 0.17865230 0.05802404
+v -0.19108023 0.12011730 -0.15148059
+v -0.20983032 0.19118509 -0.15939046
+v -0.17148919 0.15921418 -0.16140110
+v -0.24555078 0.17836991 0.08124803
+v -0.21446575 0.12464598 -0.03208599
+v -0.22856484 0.15164641 -0.01698477
+v -0.23185775 0.19258266 -0.10812309
+v -0.21541196 0.16624855 -0.15059522
+v -0.24794908 0.19309026 0.05764939
+v -0.22912933 0.13626687 0.05789966
+v -0.19923274 0.12442149 -0.13512790
+v -0.22894014 0.17802205 -0.10782061
+v -0.20558400 0.14889411 -0.15220028
+v -0.21351385 0.15189417 -0.13503131
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 10 6 3
+f 10 4 6
+f 11 6 4
+f 11 1 6
+f 11 7 1
+f 12 2 7
+f 14 2 12
+f 15 4 10
+f 15 10 2
+f 16 10 3
+f 16 3 2
+f 16 2 10
+f 17 11 4
+f 17 8 11
+f 18 7 11
+f 18 12 7
+f 20 15 9
+f 21 9 15
+f 22 17 4
+f 22 13 17
+f 22 4 15
+f 22 15 20
+f 23 18 11
+f 23 11 8
+f 23 5 18
+f 23 19 5
+f 23 13 19
+f 23 17 13
+f 23 8 17
+f 24 18 5
+f 24 14 12
+f 24 12 18
+f 24 21 14
+f 25 19 13
+f 25 22 20
+f 25 13 22
+f 25 5 19
+f 25 20 9
+f 25 9 21
+f 26 21 15
+f 26 15 2
+f 26 2 14
+f 26 14 21
+f 27 24 5
+f 27 21 24
+f 27 25 21
+f 27 5 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eacc91c16726bc3fcb1de8d1c6ac87e25185985
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.13927489 0.42619413 -0.11217853
+v 0.13080549 0.41622166 -0.16041189
+v 0.07881397 0.46001169 -0.15028958
+v -0.03456875 0.48145461 -0.10874479
+v -0.06585989 0.41684977 -0.15120862
+v 0.09534350 0.46390569 -0.10844114
+v -0.07194875 0.46195655 -0.11290673
+v -0.06402960 0.45398506 -0.15819266
+v 0.03727532 0.47880845 -0.12157293
+v -0.06175146 0.47546189 -0.10815482
+v 0.12453068 0.43582177 -0.15160594
+v 0.05214023 0.46515923 -0.15231814
+v -0.06563254 0.41630116 -0.16188165
+v 0.12340682 0.44942256 -0.10840276
+v -0.06310841 0.46541759 -0.15068159
+v 0.09623285 0.45025605 -0.15220380
+v 0.03674365 0.47541700 -0.13590202
+v 0.12040869 0.44432615 -0.13510831
+v -0.06122094 0.47321096 -0.12010856
+v -0.00362674 0.47442049 -0.15056491
+v 0.09323860 0.45820583 -0.13507452
+v -0.04603004 0.47304511 -0.13521866
+v 0.00854671 0.47408996 -0.15060498
+v -0.04809761 0.46551710 -0.15277921
+f 5 2 1
+f 7 5 1
+f 9 6 3
+f 9 4 6
+f 10 6 4
+f 10 7 1
+f 11 1 2
+f 12 2 8
+f 13 8 2
+f 13 2 5
+f 13 5 7
+f 13 7 8
+f 14 10 1
+f 14 6 10
+f 14 1 11
+f 15 8 7
+f 15 7 10
+f 16 11 2
+f 16 12 3
+f 16 2 12
+f 17 9 3
+f 17 3 12
+f 18 14 11
+f 18 6 14
+f 18 16 3
+f 18 11 16
+f 19 15 10
+f 19 10 4
+f 20 4 9
+f 21 18 3
+f 21 3 6
+f 21 6 18
+f 22 19 4
+f 22 15 19
+f 22 20 15
+f 22 4 20
+f 23 12 8
+f 23 8 20
+f 23 17 12
+f 23 20 9
+f 23 9 17
+f 24 20 8
+f 24 8 15
+f 24 15 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_22/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5423340dbd2caafb497accd24116ea346b5843dd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_45">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.21000000000000002 0.21000000000000002 0.21000000000000002" refquat="1.0 0.0 0.0 0.0"/>
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+    <material name="saucepan_mat" texture="image0" specular="0.5" shininess="0.25"/>
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+    <default class="region">
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+  </default>
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_22/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_22/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_22/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db40810bddb85ca3054fbe2826df6777976af174
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_22/visual/model_normalized_0.obj
@@ -0,0 +1,8035 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4068f4bf23e06a76d021256c4da2491d3ec8409
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
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+v -0.04996781 -0.08551019 -0.15757577
+v -0.36038522 -0.09792746 -0.17786109
+v -0.07473042 -0.10513437 -0.19135772
+v -0.06003680 -0.09098018 -0.17656799
+v -0.35787916 -0.07995684 -0.16007129
+v -0.35257264 -0.10273422 -0.19370426
+v -0.07358738 -0.11143454 -0.19511249
+v -0.05543410 -0.06420200 -0.14880425
+v -0.35517298 -0.06278009 -0.15210464
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 5 1
+f 9 6 2
+f 10 7 1
+f 10 1 4
+f 10 4 7
+f 11 5 7
+f 11 9 8
+f 12 2 5
+f 12 11 8
+f 12 5 11
+f 12 9 2
+f 12 8 9
+f 13 3 6
+f 13 6 9
+f 13 9 11
+f 14 11 7
+f 14 7 4
+f 14 13 11
+f 14 4 3
+f 14 3 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc929185a1243535b597c7a5578db503476abdd2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_1.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.05279862 -0.07585719 -0.15037980
+v -0.05179198 -0.06840967 -0.14184841
+v -0.35630936 -0.03923856 -0.10987476
+v -0.35584273 -0.02233943 -0.09958854
+v -0.09989705 -0.04943244 -0.13578333
+v -0.09849651 -0.02196277 -0.09965292
+v -0.05319899 -0.06360803 -0.14778929
+v -0.35613542 -0.06111230 -0.14985943
+v -0.09826021 -0.03892195 -0.11002569
+v -0.33951176 -0.04929569 -0.13588192
+v -0.05292443 -0.06163648 -0.13440089
+v -0.09858694 -0.02927458 -0.10949313
+v -0.35776069 -0.06576395 -0.14378365
+v -0.35667189 -0.07326125 -0.15264584
+v -0.35592792 -0.02930778 -0.10940500
+f 1 2 3
+f 6 4 3
+f 7 2 1
+f 8 5 7
+f 9 6 3
+f 10 5 8
+f 11 7 6
+f 11 2 7
+f 11 6 9
+f 11 9 3
+f 11 3 2
+f 12 7 5
+f 12 6 7
+f 12 5 10
+f 13 3 4
+f 14 8 7
+f 14 7 1
+f 14 13 8
+f 14 1 3
+f 14 3 13
+f 15 10 8
+f 15 12 10
+f 15 4 6
+f 15 6 12
+f 15 13 4
+f 15 8 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c77fae72fe8de3185fb2204d023e6a674bd4ac12
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_10.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.41591787 -0.09311175 -0.16284778
+v -0.41166641 -0.07207274 -0.15122417
+v -0.41722054 -0.00857495 -0.06424563
+v -0.49751126 -0.01457303 0.00156330
+v -0.47626216 -0.02636313 -0.07595777
+v -0.45984680 -0.08846664 -0.10079023
+v -0.44610675 -0.06986235 -0.13247356
+v -0.41390724 -0.03157884 -0.10642571
+v -0.49198016 -0.02210902 -0.05154938
+v -0.42359215 -0.08854299 -0.14483308
+v -0.49533995 -0.02134642 -0.00426788
+v -0.43791200 -0.04652220 -0.11786258
+v -0.42517603 -0.07490328 -0.14799079
+v -0.44602700 -0.08981352 -0.13627825
+v -0.42842159 -0.03371439 -0.10540709
+v -0.49317193 -0.01354492 -0.00076390
+v -0.47510692 -0.04275865 -0.08802818
+v -0.48147728 -0.06344012 -0.06322462
+v -0.46357410 -0.04494727 -0.10198468
+v -0.43412098 -0.08371132 -0.14719958
+v -0.43754726 -0.06225380 -0.13237615
+v -0.43449121 -0.09247781 -0.15011151
+v -0.47267980 -0.07044283 -0.09701360
+v -0.46993166 -0.08014353 -0.08662222
+v -0.49039093 -0.04344812 -0.05540802
+v -0.46830548 -0.03321176 -0.08750594
+v -0.46128327 -0.08574319 -0.11175136
+v -0.47270698 -0.07673852 -0.08185213
+v -0.48985458 -0.04589542 -0.03865023
+v -0.48895925 -0.04797134 -0.04155790
+v -0.49358438 -0.03277589 -0.02027466
+f 1 2 3
+f 8 3 2
+f 9 3 5
+f 10 6 1
+f 10 1 3
+f 10 3 6
+f 11 6 3
+f 12 8 2
+f 13 2 1
+f 15 5 3
+f 15 3 8
+f 15 12 5
+f 15 8 12
+f 16 9 4
+f 16 3 9
+f 16 11 3
+f 16 4 11
+f 17 9 5
+f 19 17 5
+f 19 7 17
+f 20 13 1
+f 20 7 13
+f 21 12 2
+f 21 2 13
+f 21 13 7
+f 21 19 12
+f 21 7 19
+f 22 1 6
+f 22 6 14
+f 22 20 1
+f 22 14 7
+f 22 7 20
+f 23 17 7
+f 23 7 14
+f 23 9 17
+f 24 6 11
+f 25 4 9
+f 25 23 18
+f 25 9 23
+f 26 19 5
+f 26 5 12
+f 26 12 19
+f 27 23 14
+f 27 14 6
+f 27 24 23
+f 27 6 24
+f 28 18 23
+f 28 23 24
+f 28 24 11
+f 30 29 25
+f 30 25 18
+f 30 18 29
+f 31 11 4
+f 31 4 25
+f 31 25 29
+f 31 28 11
+f 31 29 18
+f 31 18 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda865ef1b8029d4c7d8554af8050359e1756475
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01477893 -0.07759519 -0.10869389
+v 0.00030458 -0.08106837 -0.13964994
+v 0.00789016 -0.00031171 -0.05919341
+v -0.09847770 -0.00126493 -0.05834698
+v -0.09837595 -0.06059149 -0.15028685
+v 0.01376531 -0.02029134 -0.06852772
+v -0.03918534 -0.08028087 -0.16053664
+v -0.09794122 -0.05185414 -0.12660280
+v -0.09910083 -0.01691836 -0.09268896
+v -0.00192062 -0.06258712 -0.13137182
+v -0.04062237 -0.07116159 -0.15421407
+v -0.03919118 -0.01860555 -0.09098441
+v -0.09911329 -0.05497388 -0.14303863
+v 0.00516317 -0.01456903 -0.07749263
+v -0.01553435 -0.08122047 -0.15204290
+v -0.02599381 -0.01904919 -0.08996121
+v -0.09836570 -0.03130855 -0.09996193
+v -0.00132483 -0.04743004 -0.11732872
+v -0.01479234 -0.07563075 -0.14761156
+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 4 3
+f 10 6 1
+f 10 1 2
+f 11 7 5
+f 12 9 3
+f 13 4 9
+f 13 5 8
+f 13 12 5
+f 13 9 12
+f 14 3 6
+f 15 10 2
+f 15 2 7
+f 16 11 5
+f 16 5 12
+f 16 14 11
+f 16 12 3
+f 16 3 14
+f 17 13 8
+f 17 8 4
+f 17 4 13
+f 18 14 6
+f 18 6 10
+f 18 10 11
+f 18 11 14
+f 19 11 10
+f 19 10 15
+f 19 15 7
+f 19 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00d8f0fe0d0df4b97bfd6c693dd56a265e250408
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_12.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.46053748 0.06575595 0.11773032
+v -0.35638009 0.12231433 0.12224124
+v -0.35360510 0.12738887 0.20405621
+v -0.35080118 0.15210239 0.18263908
+v -0.42392660 0.11807576 0.12635290
+v -0.34893036 0.14222191 0.20160158
+v -0.37268793 0.11696314 0.11651353
+v -0.35434603 0.13633883 0.13099099
+v -0.38835498 0.13482133 0.17359187
+v -0.45118864 0.09671853 0.11915794
+v -0.36580712 0.14608146 0.15913717
+v -0.38263261 0.13285833 0.13154651
+v -0.36378805 0.14685456 0.18188257
+v -0.41209762 0.10227124 0.16887477
+v -0.41535975 0.11852413 0.15873176
+v -0.35274131 0.14849095 0.15768898
+v -0.35889887 0.13961726 0.19673094
+v -0.44687829 0.09539322 0.13146360
+v -0.38763496 0.12541632 0.18313632
+v -0.45106672 0.07490543 0.13054823
+v -0.37448259 0.12004643 0.19377471
+v -0.39404658 0.11162548 0.18197700
+v -0.36473255 0.12349993 0.19861068
+v -0.40377773 0.10665192 0.17501057
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 2 7
+f 8 6 2
+f 8 4 6
+f 10 7 1
+f 10 5 7
+f 12 8 7
+f 12 7 5
+f 12 5 11
+f 13 6 4
+f 13 4 11
+f 13 11 5
+f 13 5 9
+f 15 9 5
+f 15 5 10
+f 16 11 4
+f 16 4 8
+f 16 12 11
+f 16 8 12
+f 17 13 9
+f 17 6 13
+f 17 3 6
+f 18 10 1
+f 18 15 10
+f 18 14 15
+f 19 15 14
+f 19 17 9
+f 19 9 15
+f 20 18 1
+f 20 14 18
+f 20 1 3
+f 21 17 19
+f 21 14 20
+f 22 21 19
+f 23 3 17
+f 23 17 21
+f 23 21 20
+f 23 20 3
+f 24 22 19
+f 24 19 14
+f 24 14 21
+f 24 21 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fed0dd94813991b520a8f6d62df7dbe4592d965e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_13.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.27841098 -0.16878964 -0.21078218
+v -0.27563671 -0.15839086 -0.22399812
+v -0.28043005 -0.10634030 -0.19575054
+v -0.35702425 -0.10496666 -0.18361408
+v -0.35448003 -0.15219925 -0.18754502
+v -0.29284949 -0.13106002 -0.22259903
+v -0.27592391 -0.16861391 -0.21377909
+v -0.31100934 -0.10011846 -0.18644141
+v -0.27889377 -0.11439659 -0.21477078
+v -0.34801583 -0.13308226 -0.20698343
+v -0.34650806 -0.15200541 -0.19643003
+v -0.27828007 -0.13151335 -0.22483007
+v -0.35369716 -0.11359540 -0.20020211
+v -0.28989962 -0.15632232 -0.22110066
+v -0.33019801 -0.15917242 -0.19731494
+v -0.33742849 -0.11881630 -0.20705861
+v -0.29018678 -0.16654544 -0.21088149
+v -0.34914348 -0.12633610 -0.20549989
+v -0.29266713 -0.16671370 -0.20787445
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 1 3
+f 8 4 5
+f 9 3 2
+f 9 8 3
+f 11 5 10
+f 12 9 2
+f 12 2 6
+f 12 6 9
+f 13 4 8
+f 13 8 9
+f 13 10 5
+f 13 5 4
+f 14 10 6
+f 14 6 2
+f 14 11 10
+f 14 2 7
+f 15 5 11
+f 16 13 9
+f 16 9 6
+f 17 7 1
+f 17 14 7
+f 17 15 11
+f 17 11 14
+f 18 16 6
+f 18 6 10
+f 18 10 13
+f 18 13 16
+f 19 17 1
+f 19 15 17
+f 19 1 5
+f 19 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a426222a42d8d1c21cbf1dc64f19c8829a04e4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_14.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.04634700 0.11095275 0.18103451
+v -0.03534306 0.11264669 0.12085592
+v -0.05189705 0.13383521 0.17286961
+v -0.11838389 0.15386334 0.20626788
+v -0.12826726 0.13152442 0.13261625
+v -0.08117926 0.13903772 0.19577066
+v -0.04337405 0.13211067 0.14452686
+v -0.09797859 0.12349738 0.12152744
+v -0.11044448 0.13367612 0.21286549
+v -0.05266655 0.12482980 0.18207548
+v -0.07595715 0.14596661 0.18176668
+v -0.05172009 0.11554659 0.11750025
+v -0.09955002 0.13727409 0.13011416
+v -0.12850680 0.14109678 0.15071533
+v -0.10691739 0.14995753 0.20351502
+v -0.07533445 0.12283285 0.19767778
+v -0.04059326 0.12539521 0.12689226
+v -0.07376631 0.14543186 0.15930318
+v -0.12877510 0.13484772 0.13886531
+v -0.06581929 0.11933443 0.19277720
+v -0.05810722 0.13211642 0.13050615
+v -0.11477936 0.14727502 0.14791351
+v -0.10006304 0.14644015 0.14827254
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 9 5 1
+f 10 1 3
+f 10 3 6
+f 11 6 3
+f 11 3 7
+f 12 2 1
+f 12 1 8
+f 13 8 5
+f 13 12 8
+f 14 9 4
+f 15 9 6
+f 15 4 9
+f 15 11 4
+f 15 6 11
+f 16 6 9
+f 17 7 2
+f 17 2 12
+f 17 12 13
+f 18 11 7
+f 18 4 11
+f 19 5 9
+f 19 9 14
+f 20 10 6
+f 20 6 16
+f 20 1 10
+f 20 16 9
+f 20 9 1
+f 21 17 13
+f 21 18 7
+f 21 7 17
+f 22 14 4
+f 22 19 14
+f 22 13 5
+f 22 5 19
+f 23 22 4
+f 23 4 18
+f 23 18 21
+f 23 21 13
+f 23 13 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95da27a786a27294e0c25340c7e8d980ba926095
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_15.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.48477861 0.04374589 0.07497850
+v -0.35609007 0.06086044 0.01636742
+v -0.35603524 0.10362875 0.07881688
+v -0.45555962 0.08970616 0.08525874
+v -0.48686054 0.03914055 0.02020878
+v -0.45485894 0.06958378 0.04291957
+v -0.47561062 0.04769284 0.08144283
+v -0.41698384 0.04829149 0.01466671
+v -0.47768134 0.06728620 0.07671016
+v -0.41360839 0.08710471 0.05929002
+v -0.47895288 0.05681927 0.04055291
+v -0.35624997 0.07652968 0.05135646
+v -0.46781578 0.05533388 0.02721742
+v -0.35548970 0.09030674 0.05813220
+v -0.45330198 0.08470313 0.07246141
+v -0.48352498 0.04611516 0.02555842
+v -0.35668261 0.08864492 0.06892081
+v -0.35590303 0.06590049 0.02354566
+f 7 3 4
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 7 4
+f 9 1 7
+f 10 2 6
+f 10 4 3
+f 11 9 4
+f 12 7 2
+f 13 6 2
+f 13 2 8
+f 13 8 5
+f 13 11 6
+f 14 10 3
+f 14 2 10
+f 14 3 12
+f 15 10 6
+f 15 4 10
+f 15 11 4
+f 15 6 11
+f 16 5 9
+f 16 9 11
+f 16 13 5
+f 16 11 13
+f 17 12 3
+f 17 3 7
+f 17 7 12
+f 18 14 12
+f 18 12 2
+f 18 2 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..185eea189741ad4185c3701c70a46f52419b5043
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.38274305 -0.10058673 -0.18303191
+v -0.35488136 -0.09610752 -0.18898312
+v -0.35611764 -0.01372502 -0.07541479
+v -0.41596039 -0.01179397 -0.08062099
+v -0.41082419 -0.08885017 -0.16422248
+v -0.35587624 -0.01671188 -0.09203061
+v -0.35787916 -0.07995684 -0.16007129
+v -0.38060914 -0.09007012 -0.17638436
+v -0.42359215 -0.08854299 -0.14483308
+v -0.35450412 -0.08976079 -0.18262402
+v -0.35590360 -0.00983407 -0.08251675
+v -0.38421575 -0.06383268 -0.14883918
+v -0.40992812 -0.09619557 -0.16764968
+v -0.41681585 -0.01608424 -0.07382988
+v -0.41433750 -0.01901723 -0.09032058
+v -0.35517298 -0.06278009 -0.15210464
+v -0.41827198 -0.02225097 -0.08101979
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 9 7 3
+f 9 1 7
+f 10 3 2
+f 11 6 4
+f 11 4 3
+f 11 3 10
+f 12 8 5
+f 12 10 2
+f 12 2 8
+f 13 9 5
+f 13 5 1
+f 13 1 9
+f 14 9 3
+f 14 3 4
+f 15 9 4
+f 15 5 9
+f 15 12 5
+f 15 4 6
+f 16 11 10
+f 16 6 11
+f 16 10 12
+f 16 15 6
+f 16 12 15
+f 17 14 4
+f 17 4 9
+f 17 9 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56cab4f2eb4013dc7f243880954f8c97e7160bec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_17.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01067683 -0.09852609 -0.11236853
+v 0.08295131 -0.00580833 -0.01255267
+v 0.05351916 -0.02117594 -0.00426504
+v 0.00557944 0.04934733 0.00922872
+v 0.00206910 -0.05615118 -0.12356601
+v 0.08327417 0.01141348 0.00340647
+v 0.03981150 -0.06296809 -0.06256346
+v 0.00807956 -0.08045967 -0.13327795
+v 0.00148310 -0.10364954 -0.13116736
+v 0.08336539 -0.00544335 -0.00241916
+v 0.02028812 0.04725218 0.01068605
+v 0.02856558 -0.03384672 -0.08690017
+v 0.03542038 -0.06925318 -0.08392605
+v 0.05168630 -0.03255694 -0.01997108
+v -0.00090644 -0.09116117 -0.14214429
+v 0.04409760 0.03382491 0.00834744
+v 0.01945000 -0.00329135 -0.05988259
+v 0.08277459 0.00010647 -0.01191972
+v 0.01189494 -0.05719824 -0.11914663
+v 0.02844479 -0.07956796 -0.08581569
+v 0.02002159 -0.08494217 -0.11096047
+v 0.04804950 -0.04554433 -0.03815846
+v 0.00428005 0.04247396 -0.00071836
+v 0.00030458 -0.08106837 -0.13964994
+v 0.00511784 -0.08948084 -0.13492200
+v 0.01903575 0.04051414 0.00069570
+v 0.02769499 -0.01917767 -0.07234821
+v 0.02847671 0.02565323 -0.01505473
+v 0.03122018 -0.07616286 -0.08104559
+v 0.00697467 -0.09904286 -0.12565113
+v 0.01470087 -0.09463741 -0.10692284
+v 0.04715417 -0.04762024 -0.04106613
+v 0.00454014 -0.00116366 -0.06106519
+v 0.04264420 -0.00363255 -0.04431004
+f 1 3 4
+f 9 1 4
+f 10 6 3
+f 10 2 6
+f 11 4 3
+f 14 3 1
+f 14 10 3
+f 16 11 3
+f 16 3 6
+f 16 6 11
+f 18 6 2
+f 18 2 8
+f 18 17 6
+f 19 5 12
+f 19 18 8
+f 19 12 18
+f 21 8 2
+f 21 2 13
+f 22 10 14
+f 22 14 1
+f 23 15 9
+f 23 9 4
+f 23 5 15
+f 24 15 5
+f 24 8 15
+f 24 19 8
+f 24 5 19
+f 25 15 8
+f 25 9 15
+f 25 8 21
+f 26 4 11
+f 26 11 17
+f 26 23 4
+f 26 17 23
+f 27 12 5
+f 27 5 17
+f 27 18 12
+f 28 17 11
+f 28 11 6
+f 28 6 17
+f 29 10 7
+f 29 7 1
+f 29 2 10
+f 29 20 13
+f 29 13 2
+f 30 1 9
+f 30 25 21
+f 30 9 25
+f 31 30 21
+f 31 1 30
+f 31 29 1
+f 31 20 29
+f 31 21 13
+f 31 13 20
+f 32 7 10
+f 32 10 22
+f 32 22 1
+f 32 1 7
+f 33 23 17
+f 33 17 5
+f 33 5 23
+f 34 27 17
+f 34 17 18
+f 34 18 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f00d52fb4242ba5f0891027d881a5933d13b6f5e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09826021 -0.03892195 -0.11002569
+v -0.35624378 -0.00655844 -0.06538621
+v -0.35601403 0.00986140 -0.05535286
+v -0.09910083 -0.01691836 -0.09268896
+v -0.09852960 0.00996828 -0.05543182
+v -0.35630936 -0.03923856 -0.10987476
+v -0.09829803 -0.00641113 -0.06549055
+v -0.12891013 -0.01655418 -0.09255225
+v -0.35664660 -0.03132604 -0.09956430
+v -0.35587624 -0.01671188 -0.09203061
+f 5 3 2
+f 5 1 4
+f 7 6 1
+f 7 2 6
+f 7 5 2
+f 7 1 5
+f 8 5 4
+f 8 3 5
+f 8 4 1
+f 8 1 6
+f 9 6 2
+f 9 2 3
+f 10 8 6
+f 10 3 8
+f 10 9 3
+f 10 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd6e2b50c51bc7e6cb63884ea27c37aebd604a65
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_19.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00778889 0.04483435 0.01697652
+v 0.01367990 0.05767480 0.04059971
+v -0.09822140 0.06933082 0.04048469
+v -0.09849724 0.10401939 0.07856744
+v 0.00032388 0.08876615 0.07089719
+v 0.01789751 0.07166610 0.07511939
+v -0.09845356 0.06098174 0.01628275
+v 0.00512223 0.06053590 0.02637246
+v -0.09810881 0.08894527 0.06882007
+v 0.00301032 0.09333502 0.08305252
+v -0.03752156 0.04887890 0.01426962
+v -0.09863907 0.06606365 0.02342975
+v -0.02605618 0.08673018 0.05945566
+v 0.00466569 0.07155513 0.04389273
+v -0.09859820 0.09025522 0.05780057
+f 6 1 2
+f 8 2 1
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 5 4
+f 10 4 6
+f 11 6 3
+f 11 1 6
+f 11 3 7
+f 11 8 1
+f 11 7 8
+f 12 7 3
+f 13 4 5
+f 13 8 7
+f 13 7 12
+f 14 6 2
+f 14 2 8
+f 14 10 6
+f 14 5 10
+f 14 13 5
+f 14 8 13
+f 15 12 3
+f 15 3 4
+f 15 13 12
+f 15 4 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7452d339870c5909424875dcce0b65e9837955a3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_2.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.10967115 -0.15859788 -0.19650791
+v -0.05507857 -0.13984372 -0.17024123
+v -0.27841098 -0.16878964 -0.21078218
+v -0.28043005 -0.10634030 -0.19575054
+v -0.10204863 -0.11903484 -0.20669740
+v -0.06636729 -0.13202763 -0.19116135
+v -0.06490667 -0.10009359 -0.17419640
+v -0.16391672 -0.15804138 -0.22350867
+v -0.09331679 -0.15126221 -0.19580797
+v -0.27889377 -0.11439659 -0.21477078
+v -0.04958631 -0.10578271 -0.17011277
+v -0.16361948 -0.16824656 -0.21331803
+v -0.10653197 -0.14710152 -0.20818604
+v -0.06504151 -0.14041362 -0.18359680
+v -0.08558326 -0.15155346 -0.18664319
+v -0.14674210 -0.13067147 -0.22205662
+v -0.27563671 -0.15839086 -0.22399812
+v -0.28191620 -0.11630723 -0.20503986
+v -0.06367515 -0.11188964 -0.18997526
+v -0.16113441 -0.16843859 -0.21029048
+v -0.12089827 -0.15501871 -0.20924103
+v -0.14825371 -0.14734034 -0.22348780
+v -0.27592391 -0.16861391 -0.21377909
+v -0.27828007 -0.13151335 -0.22483007
+f 3 2 4
+f 10 7 5
+f 10 4 7
+f 11 7 4
+f 11 4 2
+f 11 2 6
+f 13 5 6
+f 13 6 9
+f 14 9 6
+f 14 6 2
+f 15 2 1
+f 15 1 9
+f 15 14 2
+f 15 9 14
+f 16 10 5
+f 17 8 12
+f 18 3 4
+f 18 4 10
+f 19 11 6
+f 19 6 5
+f 19 5 7
+f 19 7 11
+f 20 12 1
+f 20 1 2
+f 20 2 3
+f 21 12 8
+f 21 1 12
+f 21 13 9
+f 21 9 1
+f 22 21 8
+f 22 13 21
+f 22 16 5
+f 22 5 13
+f 23 17 12
+f 23 3 17
+f 23 20 3
+f 23 12 20
+f 24 10 16
+f 24 16 22
+f 24 22 8
+f 24 8 17
+f 24 18 10
+f 24 17 3
+f 24 3 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..605b6cfcc02d4dd8372edd06402a78059357d2c6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_20.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.11742455 0.13651163 0.21552362
+v -0.11365682 0.13420005 0.13920605
+v -0.13129711 0.16309593 0.18861848
+v -0.30436987 0.16216196 0.20654900
+v -0.31062253 0.13493356 0.13881996
+v -0.16448209 0.16341399 0.21598791
+v -0.11477936 0.14727502 0.14791351
+v -0.30860052 0.13878382 0.22001954
+v -0.29272874 0.16246821 0.17325528
+v -0.12189355 0.15195591 0.21068784
+v -0.30803073 0.16343632 0.18818986
+v -0.26201338 0.15419242 0.22676643
+v -0.30957400 0.14809783 0.14767778
+v -0.14707991 0.16212388 0.17342414
+v -0.17744629 0.15403166 0.22642573
+v -0.13531153 0.16167309 0.20586515
+v -0.27518868 0.16389055 0.21631026
+v -0.17534448 0.14490175 0.22858464
+v -0.30434269 0.15522048 0.21526027
+v -0.26410056 0.14511152 0.22888095
+f 5 2 1
+f 7 1 2
+f 7 2 5
+f 8 5 1
+f 10 7 3
+f 10 1 7
+f 11 8 4
+f 11 5 8
+f 11 3 9
+f 13 7 5
+f 13 11 9
+f 13 5 11
+f 14 9 3
+f 14 3 7
+f 14 13 9
+f 14 7 13
+f 15 10 6
+f 15 1 10
+f 16 10 3
+f 16 3 6
+f 16 6 10
+f 17 11 4
+f 17 6 3
+f 17 3 11
+f 17 15 6
+f 17 12 15
+f 18 15 12
+f 18 8 1
+f 18 1 15
+f 19 17 4
+f 19 4 8
+f 19 8 12
+f 19 12 17
+f 20 18 12
+f 20 12 8
+f 20 8 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cb5288c2afdde9d904192df76f6c5ebf7560d21
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_21.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.46327797 0.07244231 0.11463366
+v -0.35616070 0.09312613 0.07583844
+v -0.44487246 0.08199897 0.13000710
+v -0.35581872 0.13277261 0.12486163
+v -0.45555962 0.08970616 0.08525874
+v -0.35796804 0.11836791 0.11564700
+v -0.47506783 0.07156366 0.07885678
+v -0.37073133 0.10768051 0.08600482
+v -0.42392660 0.11807576 0.12635290
+v -0.35692780 0.10673877 0.09693313
+v -0.41836063 0.08492701 0.07161085
+v -0.42875488 0.10250388 0.08860487
+v -0.35559777 0.10811799 0.08572152
+v -0.46011282 0.08370160 0.11508776
+v -0.46777297 0.07860874 0.08077864
+v -0.39928318 0.11529516 0.10385391
+v -0.43974315 0.10302820 0.10027346
+v -0.35515066 0.11981323 0.10323501
+v -0.42445687 0.11435558 0.11603362
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 9 3 4
+f 10 6 2
+f 10 2 4
+f 10 4 6
+f 11 2 7
+f 12 11 5
+f 12 8 11
+f 13 11 8
+f 13 2 11
+f 14 1 3
+f 14 3 9
+f 14 7 1
+f 15 9 5
+f 15 14 9
+f 15 7 14
+f 15 11 7
+f 15 5 11
+f 16 8 12
+f 17 12 5
+f 17 5 9
+f 18 13 8
+f 18 4 2
+f 18 2 13
+f 18 16 4
+f 18 8 16
+f 19 16 12
+f 19 9 4
+f 19 4 16
+f 19 17 9
+f 19 12 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8c8bb9be192bbfb38997b70a367cf299494af6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.35608513 -0.01498346 -0.08976266
+v -0.35590360 -0.00983407 -0.08251675
+v -0.49822194 -0.01697385 -0.02592318
+v -0.47276151 0.01985236 -0.02162261
+v -0.44347529 0.01112565 -0.04524594
+v -0.35588928 0.03436750 -0.02094526
+v -0.35624378 -0.00655844 -0.06538621
+v -0.47176653 -0.02631836 -0.07855986
+v -0.49397275 0.00368737 -0.02002931
+v -0.40079369 0.03342488 -0.01998026
+v -0.35575890 0.02712511 -0.03114052
+v -0.35641412 0.01293243 -0.03869293
+v -0.46749510 -0.01848355 -0.07297124
+v -0.49198016 -0.02210902 -0.05154938
+v -0.48251219 -0.00285202 -0.04492453
+v -0.40011949 0.02579723 -0.03076852
+v -0.46962465 0.01384666 -0.03258714
+v -0.49483246 -0.01869126 -0.03933638
+v -0.48930397 0.00037517 -0.03256732
+v -0.48934138 -0.01303175 -0.04675163
+f 7 1 2
+f 7 3 1
+f 8 1 3
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 11 2 1
+f 11 7 2
+f 12 6 3
+f 12 3 7
+f 12 11 6
+f 12 7 11
+f 13 5 1
+f 13 1 8
+f 14 8 3
+f 15 13 8
+f 16 1 5
+f 16 5 10
+f 16 11 1
+f 16 10 6
+f 16 6 11
+f 17 4 5
+f 17 5 13
+f 17 15 4
+f 17 13 15
+f 18 14 3
+f 18 3 9
+f 18 9 14
+f 19 9 4
+f 19 4 15
+f 19 14 9
+f 20 15 8
+f 20 8 14
+f 20 19 15
+f 20 14 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6458c2c60849bb8b7d48f506dcad7e89896622d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_23.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.49822194 -0.01697385 -0.02592318
+v -0.44879266 0.00827093 -0.03478520
+v -0.49409661 -0.00775748 0.01225447
+v -0.48021043 0.04502889 0.06320275
+v -0.48352498 0.04611516 0.02555842
+v -0.48730241 0.02461416 0.05828029
+v -0.48719143 -0.01465894 -0.03101917
+v -0.46829549 0.02671620 -0.01527140
+v -0.44649561 0.05627937 0.01934233
+v -0.48984892 0.04247066 0.05866406
+v -0.49397275 0.00368737 -0.02002931
+v -0.45849547 0.04084926 0.00046289
+v -0.44846833 0.05213079 0.02751577
+v -0.49521445 -0.00218024 0.02257503
+v -0.48185763 0.04006364 0.01448339
+v -0.49020137 0.02975665 0.01035037
+v -0.44441685 0.03035745 -0.01779146
+v -0.49525109 -0.00261264 0.02196939
+v -0.49188665 0.02155791 0.05258453
+v -0.44373999 0.04280915 -0.00095220
+f 6 3 2
+f 7 2 3
+f 7 3 1
+f 9 5 4
+f 10 6 4
+f 10 4 5
+f 11 7 1
+f 11 8 2
+f 11 2 7
+f 12 5 9
+f 13 6 2
+f 13 9 4
+f 13 4 6
+f 14 10 1
+f 15 8 11
+f 15 12 8
+f 15 5 12
+f 16 10 5
+f 16 15 11
+f 16 5 15
+f 16 11 1
+f 16 1 10
+f 17 2 8
+f 17 8 12
+f 18 14 1
+f 18 1 3
+f 18 3 6
+f 18 6 14
+f 19 14 6
+f 19 6 10
+f 19 10 14
+f 20 17 12
+f 20 12 9
+f 20 9 13
+f 20 13 2
+f 20 2 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1b9a3e7e6897bf8f2bfa8e939ca1cc06dca64a0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.48938182 0.02185667 0.05624606
+v -0.44873838 0.07847207 0.07614018
+v -0.48730241 0.02461416 0.05828029
+v -0.45045995 0.07615778 0.12486152
+v -0.47768134 0.06728620 0.07671016
+v -0.48883478 0.04340730 0.06232876
+v -0.46327797 0.07244231 0.11463366
+v -0.45294972 0.07410234 0.07072002
+v -0.47618651 0.06576691 0.08996722
+v -0.47963546 0.04576513 0.08644793
+v -0.48557890 0.03067443 0.06859644
+v -0.46527720 0.06457280 0.11277126
+v -0.45509111 0.07030667 0.12162012
+v -0.48084778 0.03934805 0.08074360
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 7 4 2
+f 7 2 5
+f 8 6 5
+f 8 5 2
+f 8 2 1
+f 8 1 6
+f 9 7 5
+f 9 5 6
+f 10 9 6
+f 11 10 6
+f 11 6 1
+f 12 7 9
+f 12 9 10
+f 13 1 4
+f 13 4 7
+f 13 7 12
+f 14 12 10
+f 14 10 11
+f 14 13 12
+f 14 11 1
+f 14 1 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..792610be81f893fe6219067245a3984b0b58d1bd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.03757795 0.09080056 0.07733836
+v -0.03586794 0.10394178 0.10026618
+v -0.09837820 0.09334992 0.07569492
+v -0.09855779 0.13405008 0.12414371
+v -0.03966806 0.10529238 0.08614044
+v -0.05195901 0.12331134 0.13760156
+v -0.05371520 0.10712610 0.08627962
+v -0.09769129 0.11895655 0.11428260
+v -0.04059326 0.12539521 0.12689226
+v -0.03534306 0.11264669 0.12085592
+v -0.09931916 0.10874322 0.08560056
+v -0.06587980 0.12696876 0.13630282
+v -0.03985029 0.12142719 0.11553585
+v -0.09928044 0.12029999 0.10282216
+f 5 2 1
+f 7 5 1
+f 7 1 3
+f 7 4 5
+f 8 3 6
+f 10 1 2
+f 10 9 6
+f 10 6 3
+f 10 3 1
+f 11 7 3
+f 12 8 6
+f 12 4 8
+f 12 9 4
+f 12 6 9
+f 13 5 4
+f 13 4 9
+f 13 9 10
+f 13 10 2
+f 13 2 5
+f 14 4 7
+f 14 7 11
+f 14 8 4
+f 14 11 3
+f 14 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0802fe1d310da355385cb1c87f48524f7454dcd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_26.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00014664 0.08242882 0.14108414
+v 0.00906848 0.07776147 0.07649609
+v -0.01678576 0.11733405 0.12531152
+v -0.04646650 0.12695761 0.17567394
+v -0.03570980 0.08623742 0.07064312
+v -0.00886779 0.10596792 0.14549046
+v -0.03676794 0.10591414 0.17397717
+v -0.01143199 0.10206939 0.08842164
+v -0.03985029 0.12142719 0.11553585
+v -0.02210459 0.12032337 0.14794826
+v -0.00028701 0.10233008 0.10092971
+v -0.03897901 0.12326288 0.17049901
+v -0.02844053 0.10153391 0.16784197
+v 0.00301032 0.09333502 0.08305252
+v -0.03966806 0.10529238 0.08614044
+v -0.02832067 0.11751778 0.11428918
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 10 9 4
+f 10 3 9
+f 11 6 1
+f 11 1 2
+f 11 10 6
+f 11 3 10
+f 11 8 3
+f 12 4 7
+f 12 10 4
+f 12 6 10
+f 13 7 1
+f 13 1 6
+f 13 12 7
+f 13 6 12
+f 14 2 5
+f 14 11 2
+f 14 8 11
+f 15 5 4
+f 15 4 9
+f 15 9 8
+f 15 14 5
+f 15 8 14
+f 16 9 3
+f 16 3 8
+f 16 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e697979b1769b7c6aa84d12652b924f8cbca8c4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_27.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.30860052 0.13878382 0.22001954
+v -0.31113038 0.13161034 0.13257095
+v -0.30434269 0.15522048 0.21526027
+v -0.34927060 0.15131888 0.19136240
+v -0.35360510 0.12738887 0.20405621
+v -0.30957400 0.14809783 0.14767778
+v -0.35708071 0.12870880 0.13381848
+v -0.33153597 0.14157207 0.21138600
+v -0.35274131 0.14849095 0.15768898
+v -0.35514263 0.14254713 0.14283460
+v -0.33434637 0.13552717 0.21217233
+v -0.31778026 0.15243206 0.21135438
+v -0.34893036 0.14222191 0.20160158
+v -0.33943141 0.14661538 0.14841054
+v -0.32941727 0.13425309 0.21367311
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 2 5
+f 8 1 3
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 10 6 2
+f 10 2 7
+f 10 7 5
+f 10 5 9
+f 11 1 8
+f 12 8 3
+f 12 3 4
+f 13 4 5
+f 13 11 8
+f 13 5 11
+f 13 12 4
+f 13 8 12
+f 14 10 9
+f 14 9 6
+f 14 6 10
+f 15 11 5
+f 15 5 1
+f 15 1 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f736e947cc6740dd6bb2e801e1b9e3313fae990
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_28.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.09844299 0.10499821 0.09307112
+v -0.09928044 0.12029999 0.10282216
+v -0.09903213 0.14331637 0.14223026
+v -0.35514263 0.14254713 0.14283460
+v -0.35607033 0.10444468 0.09343597
+v -0.32528089 0.13196140 0.11983997
+v -0.35708071 0.12870880 0.13381848
+v -0.09769129 0.11895655 0.11428260
+v -0.11414351 0.13190584 0.11976994
+v -0.35515066 0.11981323 0.10323501
+v -0.09764852 0.13009462 0.13344433
+v -0.09955002 0.13727409 0.13011416
+v -0.35434603 0.13633883 0.13099099
+v -0.35796804 0.11836791 0.11564700
+f 5 2 1
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 2 3
+f 9 2 6
+f 10 6 2
+f 10 2 5
+f 11 7 1
+f 11 1 8
+f 11 8 3
+f 11 3 7
+f 12 9 6
+f 12 6 3
+f 12 3 2
+f 12 2 9
+f 13 10 4
+f 13 4 6
+f 13 6 10
+f 14 7 4
+f 14 4 10
+f 14 10 5
+f 14 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9d6c52d2aa9d53a88140659331b1cab5bb76478
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_29.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.48982450 -0.01509625 -0.00480500
+v 0.49638491 -0.00939558 -0.00584493
+v 0.49434643 0.00452164 0.01002249
+v 0.40146468 0.01173240 0.01662939
+v 0.40133725 -0.01361403 -0.01685313
+v 0.40159439 -0.00561479 0.00904037
+v 0.49758114 -0.00548740 0.00658822
+v 0.48587826 -0.01087828 -0.01329750
+v 0.41712791 -0.01523435 -0.00546694
+v 0.40119379 0.00316873 -0.00463552
+v 0.49742243 0.00051448 -0.00129133
+v 0.48688096 -0.01581204 -0.00796889
+v 0.40132927 -0.00689123 -0.01605935
+v 0.48812941 -0.00702050 -0.01249132
+v 0.46164176 -0.01671254 -0.01311775
+v 0.41674186 -0.01680530 -0.01176334
+v 0.43182392 -0.01633629 -0.01407419
+f 7 1 2
+f 7 6 1
+f 7 3 4
+f 7 4 6
+f 9 6 5
+f 9 1 6
+f 10 6 4
+f 10 5 6
+f 11 7 2
+f 11 3 7
+f 11 10 4
+f 11 4 3
+f 12 8 2
+f 12 2 1
+f 13 8 5
+f 13 5 10
+f 14 11 2
+f 14 2 8
+f 14 8 13
+f 14 13 10
+f 14 10 11
+f 15 5 8
+f 15 8 12
+f 16 12 1
+f 16 1 9
+f 16 15 12
+f 16 9 5
+f 17 16 5
+f 17 5 15
+f 17 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adbdc0ceb78822f265345d4530df8ff9b19d7649
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.09838469 0.01842460 -0.03116938
+v -0.09828457 0.02548174 -0.02107124
+v -0.44939350 0.02748252 -0.00751724
+v -0.42969599 0.06269471 0.02466756
+v -0.09863907 0.06606365 0.02342975
+v -0.44441685 0.03035745 -0.01779146
+v -0.09865280 0.03451924 -0.02105553
+v -0.09829023 0.04520773 0.00635040
+v -0.44700734 0.01354607 -0.02779150
+v -0.44649561 0.05627937 0.01934233
+v -0.11383382 0.03478644 -0.02111282
+v -0.44901643 0.03995088 0.00980160
+v -0.43055890 0.05615033 0.01466683
+v -0.44373999 0.04280915 -0.00095220
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 11 7 1
+f 11 5 7
+f 11 9 6
+f 11 1 9
+f 12 8 5
+f 12 5 4
+f 12 4 10
+f 12 10 3
+f 12 3 8
+f 13 10 4
+f 13 11 6
+f 13 4 5
+f 13 5 11
+f 14 13 6
+f 14 6 10
+f 14 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f4f551c66cb109490e8698b9c6ad2bde42d3a87
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09847770 -0.00126493 -0.05834698
+v -0.09865880 0.01539100 -0.04816960
+v -0.09865280 0.03451924 -0.02105553
+v -0.35588928 0.03436750 -0.02094526
+v -0.35558531 0.01493666 -0.04855934
+v -0.09818322 0.01350580 -0.03826107
+v -0.12878786 0.01525734 -0.04849975
+v -0.35606637 -0.00137204 -0.05826897
+v -0.35641412 0.01293243 -0.03869293
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 3 2
+f 7 5 4
+f 7 4 3
+f 8 7 1
+f 8 5 7
+f 9 4 5
+f 9 5 8
+f 9 6 4
+f 9 8 1
+f 9 1 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f7c2a81d68c741e2e8d8b3de8fb672c10ce2145
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03752156 0.04887890 0.01426962
+v -0.03781327 0.05971913 0.01718529
+v -0.03776874 0.06059659 0.03175231
+v -0.41674450 0.06006822 0.03210658
+v -0.41698384 0.04829149 0.01466671
+v -0.03714156 0.05588411 0.02478015
+v -0.41668908 0.05910915 0.01759674
+v -0.41746175 0.05529901 0.02508119
+f 3 2 4
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 6 5 1
+f 7 4 2
+f 7 2 5
+f 8 7 5
+f 8 4 7
+f 8 5 6
+f 8 6 3
+f 8 3 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41c58434526730cca80f572117f498d116db1cf6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_4.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.09845356 0.06098174 0.01628275
+v -0.09863907 0.06606365 0.02342975
+v -0.09780344 0.10014663 0.08602156
+v -0.35580302 0.11522676 0.09630460
+v -0.35609007 0.06086044 0.01636742
+v -0.09877156 0.11573675 0.09603687
+v -0.35631890 0.06912440 0.04063411
+v -0.35633142 0.10000064 0.08659290
+v -0.33971747 0.10196064 0.07510575
+v -0.09897846 0.10145356 0.07460227
+v -0.09822140 0.06933082 0.04048469
+v -0.35668261 0.08864492 0.06892081
+v -0.35548970 0.09030674 0.05813220
+f 5 2 1
+f 6 3 1
+f 7 5 1
+f 8 6 4
+f 8 3 6
+f 9 4 6
+f 10 6 1
+f 10 1 2
+f 10 9 6
+f 11 7 1
+f 11 1 3
+f 11 8 7
+f 11 3 8
+f 12 8 4
+f 12 4 5
+f 12 5 7
+f 12 7 8
+f 13 5 4
+f 13 4 9
+f 13 2 5
+f 13 10 2
+f 13 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bbfede8af259dbc369fcc5252c84fef2443476a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.05507857 -0.13984372 -0.17024123
+v 0.01067683 -0.09852609 -0.11236853
+v -0.05192267 -0.05419061 -0.12587605
+v -0.00866251 -0.10434634 -0.14844670
+v -0.02485094 -0.12325479 -0.15387389
+v 0.00540792 -0.07010123 -0.11816718
+v -0.05682171 -0.10095011 -0.18251692
+v -0.00764724 -0.11069090 -0.14072984
+v -0.01485155 -0.11817126 -0.13988745
+v -0.06033801 -0.13179112 -0.18674160
+v 0.01477893 -0.07759519 -0.10869389
+v -0.00646361 -0.08432358 -0.14623206
+v -0.02963512 -0.12729352 -0.15266445
+v 0.00081224 -0.10680963 -0.12397171
+v -0.05020596 -0.13739663 -0.17011635
+v -0.05055072 -0.12758091 -0.18084454
+v -0.05997922 -0.14160948 -0.17601676
+v -0.05432190 -0.07109161 -0.15631014
+v -0.03677258 -0.05535798 -0.12477817
+v -0.04628575 -0.13605180 -0.16493175
+v -0.04723438 -0.09906851 -0.17779196
+v -0.04062237 -0.07116159 -0.15421407
+v -0.02922078 -0.08884674 -0.16347266
+f 1 2 3
+f 8 5 4
+f 8 4 2
+f 9 5 8
+f 11 3 2
+f 11 2 4
+f 12 11 4
+f 12 6 11
+f 13 5 9
+f 14 9 8
+f 14 8 2
+f 14 13 9
+f 14 2 1
+f 14 1 13
+f 15 5 13
+f 16 4 5
+f 16 5 15
+f 17 1 3
+f 17 3 10
+f 17 15 1
+f 17 16 15
+f 17 10 16
+f 18 10 3
+f 18 7 10
+f 19 11 6
+f 19 3 11
+f 20 15 13
+f 20 13 1
+f 20 1 15
+f 21 12 4
+f 21 4 16
+f 21 16 10
+f 21 10 7
+f 22 18 3
+f 22 3 19
+f 22 21 7
+f 22 7 18
+f 22 19 6
+f 22 6 12
+f 23 22 12
+f 23 12 21
+f 23 21 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa0bf6e926b751162ef4677721e8dc39ea3b39ee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_6.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.05144916 -0.01409653 -0.00023077
+v 0.06037049 -0.01157234 -0.00109351
+v 0.01381538 0.07036038 0.12418078
+v 0.00034554 0.09933040 0.13595569
+v 0.00557944 0.04934733 0.00922872
+v 0.05515113 0.03632142 0.04239247
+v 0.05152071 0.00869516 0.03755511
+v 0.00832208 0.03252691 -0.00032957
+v 0.03469925 0.06519121 0.08916099
+v 0.05777794 0.02789081 0.01293899
+v 0.05330651 -0.00268993 0.02186107
+v 0.00979117 0.07424807 0.12962729
+v 0.01883327 0.08304535 0.11416840
+v 0.03917569 0.03886647 0.08007070
+v 0.01560015 0.08891480 0.08550863
+v 0.02944807 0.04422650 0.01232748
+v 0.02377426 0.06396921 0.11198421
+v 0.00582772 0.09468738 0.13047472
+v 0.04466913 0.02824739 0.06519706
+v 0.03797871 0.05994836 0.05282345
+v 0.00301032 0.09333502 0.08305252
+v 0.04377382 0.03032333 0.06810467
+v 0.02881908 0.06958233 0.05770469
+v 0.00512223 0.06053590 0.02637246
+v 0.02793195 0.05484464 0.02801068
+f 7 2 6
+f 8 2 1
+f 8 4 5
+f 10 6 2
+f 10 2 8
+f 11 1 2
+f 11 2 7
+f 12 8 1
+f 12 4 8
+f 12 1 11
+f 14 6 9
+f 14 3 12
+f 15 13 9
+f 16 10 8
+f 16 8 5
+f 17 9 13
+f 17 14 9
+f 17 3 14
+f 17 12 3
+f 18 4 12
+f 18 17 13
+f 18 12 17
+f 18 15 4
+f 18 13 15
+f 19 7 6
+f 19 11 7
+f 19 14 12
+f 19 12 11
+f 20 15 9
+f 20 9 6
+f 20 6 10
+f 21 5 4
+f 21 4 15
+f 22 19 6
+f 22 6 14
+f 22 14 19
+f 23 15 20
+f 23 21 15
+f 23 20 10
+f 24 5 21
+f 25 21 23
+f 25 24 21
+f 25 16 5
+f 25 5 24
+f 25 23 10
+f 25 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd028d71632bec34ea7fedadaf8b59dc80fd7f28
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_7.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00842561 -0.01215934 -0.06172846
+v 0.00643834 -0.00758506 -0.06851180
+v 0.00703830 0.05594049 0.01954760
+v -0.09863907 0.06606365 0.02342975
+v -0.09849838 -0.00250437 -0.07260481
+v 0.00956883 0.03964970 0.01001186
+v -0.09829023 0.04520773 0.00635040
+v -0.03874060 0.00160927 -0.06424846
+v -0.00976074 0.06234980 0.02487252
+v 0.01060833 0.01496274 -0.02437225
+v -0.09818322 0.01350580 -0.03826107
+v -0.09884428 0.02719315 -0.03142916
+v -0.00895850 0.05600215 0.01469946
+v 0.00996294 -0.00464334 -0.05179912
+v -0.06762593 -0.00716925 -0.06562560
+v -0.09870074 0.05883538 0.01320183
+v -0.09869477 0.00262288 -0.06543833
+v -0.03909751 0.02579552 -0.03067966
+v 0.00400417 0.01067984 -0.04537467
+v 0.00454014 -0.00116366 -0.06106519
+v 0.00428005 0.04247396 -0.00071836
+f 5 2 1
+f 7 6 4
+f 7 1 6
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 10 6 1
+f 10 2 3
+f 10 3 6
+f 11 1 7
+f 12 11 7
+f 12 8 5
+f 13 4 9
+f 13 9 3
+f 14 10 1
+f 14 1 2
+f 14 2 10
+f 15 11 5
+f 15 5 1
+f 15 1 11
+f 16 12 7
+f 16 7 4
+f 17 12 5
+f 17 5 11
+f 17 11 12
+f 18 13 8
+f 18 4 13
+f 18 16 4
+f 18 8 12
+f 18 12 16
+f 19 8 13
+f 19 3 2
+f 20 19 2
+f 20 2 8
+f 20 8 19
+f 21 19 13
+f 21 13 3
+f 21 3 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b22f8b6e87c6878fb98d599de0d8d484ec038a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.49090776 -0.00007117 0.01475640
+v 0.48898809 0.00737469 0.01238054
+v 0.15962750 0.01679075 0.02113800
+v 0.06163335 0.01323550 0.01743456
+v 0.40133725 -0.01361403 -0.01685313
+v 0.05550401 -0.00832703 0.01085913
+v 0.48458418 0.00477500 0.01663109
+v 0.15975683 0.01276003 -0.00280941
+v 0.15966950 0.00610975 0.02001900
+v 0.40159439 -0.00561479 0.00904037
+v 0.37081794 0.01309546 0.01581837
+v 0.40132927 -0.00689123 -0.01605935
+v 0.06813439 0.01181749 0.00324581
+v 0.48741032 0.00142707 0.01618197
+v 0.32519061 0.01229912 0.01923021
+v 0.37088985 0.01247002 0.00972058
+v 0.08277459 0.00010647 -0.01191972
+v 0.35554230 -0.00123803 -0.01194349
+v 0.06037049 -0.01157234 -0.00109351
+v 0.24938987 0.01052411 -0.00138101
+v 0.08295131 -0.00580833 -0.01255267
+f 5 2 1
+f 7 1 2
+f 9 3 4
+f 9 4 6
+f 10 6 5
+f 10 5 1
+f 10 1 6
+f 11 7 2
+f 12 2 5
+f 13 4 3
+f 13 3 8
+f 13 6 4
+f 14 9 6
+f 14 6 1
+f 14 1 7
+f 15 3 9
+f 15 11 3
+f 15 7 11
+f 15 14 7
+f 15 9 14
+f 16 8 3
+f 16 3 11
+f 16 11 2
+f 17 12 5
+f 17 8 12
+f 17 13 8
+f 18 12 8
+f 18 16 2
+f 18 2 12
+f 19 5 6
+f 19 6 13
+f 19 13 17
+f 20 18 8
+f 20 8 16
+f 20 16 18
+f 21 19 17
+f 21 17 5
+f 21 5 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d137a06b88ebc6c78c9de993a33b938456be20b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/collision/model_normalized_collision_9.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.36306618 -0.14725523 -0.18273334
+v -0.35035675 -0.14531390 -0.20039627
+v -0.35677408 -0.08754990 -0.16871035
+v -0.46063543 -0.09097195 -0.10355510
+v -0.41614625 -0.11518680 -0.16348475
+v -0.39010255 -0.13810408 -0.17110689
+v -0.36519960 -0.10462440 -0.19172387
+v -0.37533619 -0.13181304 -0.19139454
+v -0.41089551 -0.12803829 -0.15370664
+v -0.35257264 -0.10273422 -0.19370426
+v -0.44602700 -0.08981352 -0.13627825
+v -0.36053368 -0.14138069 -0.19609660
+v -0.37629785 -0.11166994 -0.19100200
+v -0.39500323 -0.13634438 -0.16533729
+v -0.41671636 -0.12371094 -0.15382740
+v -0.41996700 -0.09819372 -0.16188918
+v -0.45597646 -0.09529493 -0.10784385
+v -0.44275093 -0.09772376 -0.13846494
+v -0.42594923 -0.11891191 -0.14092483
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 6 5
+f 10 3 2
+f 11 4 3
+f 12 8 2
+f 12 2 6
+f 12 6 8
+f 13 2 8
+f 13 10 2
+f 13 7 10
+f 14 6 1
+f 15 5 6
+f 15 14 9
+f 15 6 14
+f 16 10 7
+f 16 3 10
+f 16 11 3
+f 16 7 13
+f 16 5 11
+f 16 13 8
+f 16 8 5
+f 17 14 1
+f 17 1 4
+f 18 11 5
+f 18 5 15
+f 18 17 4
+f 18 4 11
+f 19 15 9
+f 19 9 14
+f 19 14 17
+f 19 18 15
+f 19 17 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_23/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..801d4aa4ae8ab11a2b0a19470c2340b88fb40935
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_42">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-0.6177513383942405 -0.32094459970594336 0.3298039495285394 -0.6376575904881091"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="PM3D_Cube3D_1" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0 -0.052 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_0_vis" conaffinity="0" contype="0" group="1" material="PM3D_Cube3D_1"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        </body>
+        <geom class="region" name="reg_bbox" type="box" pos="0.0016251745610712989 -0.052 -0.0029794153673282147" size="0.06770673228614801 0.11974460684111125 0.006848185729091551"/>
+        <geom rgba="0 0 0 0" size="0.063 0.001" pos="0 0 -0.004" type="cylinder" name="liquid" class="region"/>
+        <geom rgba="0 0 0 0 " size="0.061 0.003" pos="0 0 -0.001" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_23/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/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
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_23/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_23/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e77820bfbeb15c1f73f5c3057f181a9df190ba
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_23/visual/model_normalized_0.obj
@@ -0,0 +1,12126 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e10e8640e05e3b0543d63d8a18c0b00ec3341e9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_0.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.20045471 -0.13971174 -0.03003200
+v 0.19813525 -0.12273602 -0.01447224
+v 0.08418769 -0.14393938 -0.05742983
+v 0.14455191 -0.05334546 -0.01065354
+v 0.16218117 -0.08109745 -0.04072449
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+v 0.13848361 -0.06125376 -0.03721570
+v 0.17315042 -0.08130162 -0.01786633
+v 0.18347279 -0.13398673 -0.05285996
+v 0.08418769 -0.14393938 -0.06383292
+v 0.15349402 -0.08978459 -0.05142153
+f 1 2 3
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+f 15 10 3
+f 15 3 8
+f 15 8 10
+f 16 12 5
+f 16 8 12
+f 16 5 7
+f 16 7 14
+f 16 14 10
+f 16 10 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20af8b8e7ace65139022852efebd17d6acf606f7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_1.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.16732805 -0.42628837 0.03017508
+v 0.23173469 -0.30896234 -0.00919078
+v 0.22671618 -0.34346254 0.03218875
+v 0.22618155 -0.29619581 -0.01289883
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+v 0.20130061 -0.35950035 -0.03257859
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+v 0.22017238 -0.37444687 0.03156252
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+v 0.17448807 -0.38942215 -0.04072449
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+v 0.21925737 -0.29727901 -0.03111349
+v 0.19739776 -0.32244290 -0.05259535
+f 3 2 4
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+f 23 14 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad3064b17d2aeaea204d470bbbd319a1eee4e01
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_10.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.05383899 -0.47692579 -0.01067130
+v 0.17103614 -0.41355087 -0.00888184
+v 0.16573509 -0.41961791 -0.00503154
+v 0.05388466 -0.40151514 -0.05742983
+v 0.10737277 -0.44493642 -0.04072449
+v 0.05205815 -0.46339838 -0.04327403
+v 0.14033489 -0.39570429 -0.05549997
+v 0.14804445 -0.41630840 -0.04072449
+v 0.09411603 -0.46466290 -0.00568040
+v 0.06294563 -0.46256840 -0.04149103
+v 0.05286242 -0.44056530 -0.05727684
+v 0.16715046 -0.41043045 -0.02215817
+v 0.11618135 -0.44451271 -0.03278564
+v 0.13905505 -0.40918789 -0.05093363
+v 0.14909120 -0.43282454 -0.00411155
+v 0.09220885 -0.46005799 -0.01896119
+v 0.05388466 -0.40151514 -0.06383292
+v 0.08093497 -0.43911671 -0.05294699
+v 0.15276775 -0.40731280 -0.04531730
+f 1 3 4
+f 3 2 4
+f 6 1 4
+f 7 4 2
+f 10 1 6
+f 10 9 1
+f 12 2 3
+f 12 7 2
+f 13 5 8
+f 13 9 5
+f 15 3 1
+f 15 1 9
+f 15 9 13
+f 15 13 8
+f 15 12 3
+f 15 8 12
+f 16 10 5
+f 16 5 9
+f 16 9 10
+f 17 11 6
+f 17 6 4
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+f 18 6 11
+f 18 5 10
+f 18 14 5
+f 18 11 7
+f 18 7 14
+f 19 12 8
+f 19 7 12
+f 19 14 7
+f 19 8 5
+f 19 5 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9394d165bb66411bb7d6025672473017bc133139
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01809678 0.35617801 0.05687797
+v 0.02560178 0.35641025 0.04279619
+v 0.01788262 0.45783303 0.05500125
+v -0.01131369 0.49694236 0.04165782
+v -0.01859410 0.35707131 0.02843824
+v 0.01663626 0.45782571 0.02115739
+v -0.01909037 0.44454777 0.05620281
+v 0.01811015 0.35665682 0.02748716
+v 0.02355132 0.45783515 0.04276779
+v -0.01517685 0.45782515 0.02055421
+v -0.01889106 0.35652444 0.05538910
+v 0.02024222 0.40228096 0.02751851
+v 0.01131369 0.49694236 0.03467910
+v -0.02324928 0.45783503 0.04341961
+v -0.00102249 0.37229305 0.01995235
+v 0.02025427 0.45782929 0.02731779
+v 0.01131369 0.49694236 0.04165782
+v -0.01098889 0.49659416 0.03417772
+v -0.01999502 0.45782895 0.02670479
+v -0.01445861 0.40298604 0.02255882
+v 0.01592569 0.40303398 0.02315228
+v 0.00230626 0.37227652 0.02043896
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 3 2
+f 11 1 7
+f 11 8 1
+f 11 5 8
+f 12 8 6
+f 12 2 8
+f 13 6 10
+f 14 7 4
+f 14 11 7
+f 14 5 11
+f 15 8 5
+f 15 10 6
+f 16 9 2
+f 16 2 12
+f 16 12 6
+f 16 13 9
+f 16 6 13
+f 17 13 4
+f 17 4 3
+f 17 3 9
+f 17 9 13
+f 18 13 10
+f 18 4 13
+f 18 14 4
+f 19 10 5
+f 19 5 14
+f 19 18 10
+f 19 14 18
+f 20 15 5
+f 20 5 10
+f 20 10 15
+f 21 6 8
+f 22 15 6
+f 22 6 21
+f 22 21 8
+f 22 8 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15fdd9b3dc1e19dee3e937491e7e21ff9b8d1720
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_12.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.11093889 -0.47282304 0.03156252
+v -0.10671434 -0.44747209 -0.03515502
+v -0.11278201 -0.38636362 -0.05742983
+v -0.21392513 -0.38259036 0.03156252
+v -0.17249015 -0.41576876 -0.00221071
+v -0.11862911 -0.46108562 0.02901183
+v -0.10774063 -0.46510179 0.00929274
+v -0.13199420 -0.46281862 0.03156252
+v -0.17843638 -0.37861081 -0.04444226
+v -0.10911818 -0.41189184 -0.05833664
+v -0.11612896 -0.44441985 -0.03306892
+v -0.20660754 -0.39212698 0.03156252
+v -0.17385504 -0.39024677 -0.04072449
+v -0.20743006 -0.37760606 0.00974744
+v -0.11278201 -0.38636362 -0.06383292
+v -0.12094716 -0.46040621 0.01120009
+v -0.10900654 -0.43785461 -0.04710230
+v -0.14696819 -0.41713363 -0.04072449
+v -0.15257001 -0.38201554 -0.05589511
+v -0.11926635 -0.43567493 -0.04304665
+v -0.15207992 -0.39535855 -0.05233439
+v -0.13745706 -0.40933211 -0.05132882
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 1
+f 8 1 4
+f 10 7 2
+f 10 3 7
+f 11 8 5
+f 11 2 7
+f 12 8 4
+f 12 5 8
+f 13 12 4
+f 13 5 12
+f 14 4 3
+f 14 3 9
+f 14 13 4
+f 14 9 13
+f 15 9 3
+f 15 3 10
+f 16 1 8
+f 16 8 11
+f 16 11 7
+f 16 7 1
+f 17 10 2
+f 17 2 11
+f 18 11 5
+f 18 5 13
+f 19 15 10
+f 19 9 15
+f 20 17 11
+f 20 11 18
+f 21 18 13
+f 21 13 9
+f 21 9 19
+f 21 19 10
+f 22 20 18
+f 22 17 20
+f 22 18 21
+f 22 21 10
+f 22 10 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a1cce921a066087f13e251eea92b070226a3ce
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.06678416 -0.49111259 0.03156252
+v -0.05246942 -0.46435062 -0.02678418
+v -0.11862911 -0.46108562 0.02901183
+v -0.11712099 -0.43747304 -0.02858527
+v -0.10862150 -0.45207689 -0.02187412
+v -0.12011744 -0.44137823 -0.01525079
+v -0.07431858 -0.47899900 0.02790831
+v -0.06285845 -0.47786908 -0.00504296
+v -0.05419478 -0.46230656 -0.03166430
+v -0.10558200 -0.47504194 0.03156252
+v -0.05311183 -0.46923068 -0.01344957
+v -0.10261039 -0.44383994 -0.03075733
+f 6 2 4
+f 6 5 3
+f 6 4 5
+f 7 3 1
+f 8 1 5
+f 9 4 2
+f 9 8 5
+f 9 2 8
+f 10 5 1
+f 10 1 3
+f 10 3 5
+f 11 6 3
+f 11 2 6
+f 11 3 7
+f 11 7 1
+f 11 8 2
+f 11 1 8
+f 12 9 5
+f 12 5 4
+f 12 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..901ec82dba5329febfd405a7fa6e08095f3449dd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01746814 0.18970852 0.05550712
+v 0.02473878 0.18848781 0.04035249
+v 0.02560178 0.35641025 0.04279619
+v -0.01809545 0.35613036 0.05687818
+v -0.02473728 0.18853829 0.04035630
+v 0.01809678 0.35617801 0.05687797
+v 0.02358064 0.18953179 0.04292448
+v 0.00647656 0.18958329 0.05962787
+v -0.00137261 0.18736081 0.01916666
+v 0.02501804 0.35676936 0.04160880
+v 0.00288757 0.18728717 0.01970341
+v -0.01681379 0.23486173 0.05681311
+v -0.01810882 0.35660932 0.02748980
+v 0.01811015 0.35665682 0.02748716
+v -0.02522476 0.35637463 0.04350018
+v -0.02328828 0.18951899 0.04356798
+v -0.02466549 0.35669928 0.04092090
+f 6 1 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 6 4
+f 8 1 6
+f 10 6 3
+f 10 4 6
+f 11 8 5
+f 11 2 8
+f 11 5 9
+f 12 8 4
+f 13 9 5
+f 14 10 3
+f 14 3 2
+f 14 2 11
+f 14 11 9
+f 14 9 13
+f 15 12 4
+f 16 5 8
+f 16 8 12
+f 16 15 5
+f 16 12 15
+f 17 13 5
+f 17 5 15
+f 17 14 13
+f 17 10 14
+f 17 15 4
+f 17 4 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b0fd5a1fb1713f24554828edab88b0538e039e9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.21990300 -0.37071463 0.03251161
+v 0.25012717 -0.29336395 0.03156252
+v 0.24212205 -0.16270795 0.03156252
+v 0.23089867 -0.15480496 0.03051770
+v 0.21602501 -0.20514127 -0.04960824
+v 0.24990603 -0.19151363 0.03156252
+v 0.22053978 -0.30432510 -0.04103017
+v 0.21433372 -0.36702472 0.00717956
+v 0.22269372 -0.15820346 -0.01167287
+v 0.24664964 -0.26260307 0.01167547
+v 0.21233839 -0.30720403 -0.04800960
+v 0.23736930 -0.33532336 0.03156252
+v 0.22197949 -0.20635207 -0.04341549
+v 0.23032474 -0.16759480 -0.00246345
+v 0.23123252 -0.29287113 -0.01852702
+v 0.23085446 -0.31747308 -0.00267878
+v 0.22443662 -0.36654547 0.03156252
+v 0.24645578 -0.22227092 0.01174890
+v 0.23275736 -0.20692784 -0.01910394
+v 0.24795963 -0.19176989 0.02633119
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 8 1 4
+f 9 4 3
+f 9 8 4
+f 9 5 8
+f 10 6 2
+f 11 8 5
+f 11 5 7
+f 11 7 8
+f 12 2 1
+f 13 5 9
+f 13 10 7
+f 13 7 5
+f 14 9 3
+f 14 13 9
+f 15 10 2
+f 15 2 7
+f 15 7 10
+f 16 8 7
+f 16 7 2
+f 16 2 12
+f 17 12 1
+f 17 1 8
+f 17 16 12
+f 17 8 16
+f 18 6 10
+f 19 13 14
+f 19 18 10
+f 19 10 13
+f 20 19 14
+f 20 6 18
+f 20 18 19
+f 20 14 3
+f 20 3 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ec7efeec616d8048cc39d6674b772d152b490d3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_16.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.05395780 -0.02217172 -0.02616097
+v 0.05299452 -0.01433661 -0.02339506
+v 0.05480211 -0.00060737 0.03205750
+v -0.01148145 0.04019233 0.03759784
+v -0.03573565 -0.01736567 -0.03739991
+v 0.01573766 0.03357201 0.01343597
+v 0.05588532 -0.00753154 0.01384284
+v 0.03741885 -0.01755948 -0.03732655
+v -0.05311903 -0.00041275 0.03198505
+v 0.05176495 0.00662743 0.03156252
+v -0.01570698 0.03378612 0.01351097
+v 0.02568438 -0.00296144 -0.03245530
+v -0.03735039 -0.02025142 -0.02687593
+v 0.01155289 0.03987262 0.03747632
+v -0.05008536 0.00684857 0.03156252
+v 0.00000000 0.03167579 0.00775088
+v -0.02534239 -0.00266911 -0.03261509
+v -0.05247652 -0.00529281 0.01865044
+v -0.04982550 0.00487486 0.02625778
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 9 3 4
+f 9 7 3
+f 9 1 7
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 11 4 6
+f 12 6 2
+f 12 2 8
+f 13 5 1
+f 14 10 6
+f 14 6 4
+f 14 4 3
+f 14 3 10
+f 15 9 4
+f 15 4 11
+f 16 11 6
+f 16 6 12
+f 17 12 8
+f 17 8 5
+f 17 16 12
+f 17 11 16
+f 18 5 13
+f 18 9 15
+f 18 13 1
+f 18 1 9
+f 19 15 11
+f 19 11 17
+f 19 17 5
+f 19 18 15
+f 19 5 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bce98b265364bd4d7bf5a25bd3ba681ed3cb1fbd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_17.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.11278201 -0.18939393 -0.05742983
+v -0.11278201 -0.18939393 -0.06383292
+v -0.12793352 -0.12878787 -0.06383292
+v -0.17550695 -0.12716200 -0.04708671
+v -0.20605448 -0.18908279 -0.04644387
+v -0.11278201 -0.14393938 -0.05742983
+v -0.19728661 -0.19041557 -0.05727687
+v -0.20379929 -0.14389457 -0.02599736
+v -0.12793352 -0.12878787 -0.05742983
+v -0.11278201 -0.14393938 -0.06383292
+v -0.16846893 -0.13256246 -0.05794147
+v -0.21322831 -0.17029196 -0.02976462
+v -0.20002958 -0.13918006 -0.03054484
+v -0.19718075 -0.14663614 -0.04960824
+v -0.19583825 -0.16234376 -0.05294686
+f 6 1 2
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 1 6
+f 9 6 3
+f 9 3 4
+f 9 8 6
+f 10 6 2
+f 10 2 3
+f 10 3 6
+f 11 4 3
+f 11 3 7
+f 12 5 1
+f 12 1 8
+f 13 9 4
+f 13 8 9
+f 14 7 5
+f 14 5 12
+f 14 12 8
+f 14 8 13
+f 14 13 4
+f 14 4 11
+f 15 14 11
+f 15 11 7
+f 15 7 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92987a4bf7aeb5b1f25409626949c7560a2689e1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.20887851 -0.34305769 -0.01287525
+v -0.19778489 -0.33846257 -0.04960824
+v -0.20295098 -0.18949137 -0.05463575
+v -0.23574407 -0.19115810 -0.00572973
+v -0.23593788 -0.29371587 -0.00580309
+v -0.22575640 -0.18848366 -0.01337672
+v -0.19793034 -0.22045539 -0.05878830
+v -0.22191404 -0.33590532 -0.00589567
+v -0.23101655 -0.23723504 -0.03424331
+v -0.22011992 -0.19122037 -0.04327406
+v -0.21961487 -0.30464977 -0.04181727
+v -0.20565667 -0.33544744 -0.04301370
+v -0.21883222 -0.18740045 -0.03159138
+v -0.23080246 -0.19180861 -0.01901069
+v -0.21047672 -0.22079821 -0.05308174
+v -0.22949180 -0.26256421 -0.03366615
+v -0.21730918 -0.33399815 -0.01917653
+v -0.19796878 -0.26439813 -0.05887296
+v -0.21051555 -0.26405537 -0.05316627
+v -0.23099627 -0.29306536 -0.01908406
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 11 8 5
+f 12 2 1
+f 12 1 8
+f 12 11 2
+f 13 6 3
+f 13 3 10
+f 13 10 4
+f 13 4 6
+f 14 10 9
+f 14 9 4
+f 14 4 10
+f 15 10 3
+f 15 3 7
+f 15 9 10
+f 16 5 9
+f 16 9 11
+f 17 12 8
+f 17 8 11
+f 17 11 12
+f 18 7 2
+f 19 11 9
+f 19 9 15
+f 19 15 7
+f 19 7 18
+f 19 18 2
+f 19 2 11
+f 20 16 11
+f 20 11 5
+f 20 5 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f0b15bcc971615af7f314f17e52c8c0bc5ef29f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.19693442 -0.39280542 0.03074612
+v -0.17846119 -0.39025623 -0.01316308
+v -0.23571970 -0.31759648 0.02790867
+v -0.24783400 -0.31006275 0.03156252
+v -0.21817649 -0.37422651 0.02698307
+v -0.21830747 -0.31666036 -0.01664243
+v -0.18236599 -0.39325285 0.00017180
+v -0.21954003 -0.37527277 0.03156252
+v -0.23459050 -0.30613705 -0.00504296
+v -0.23176335 -0.34886058 0.03156252
+v -0.20347598 -0.37457185 -0.00353365
+v -0.23042487 -0.31800339 -0.00319804
+v -0.18490119 -0.38004613 -0.01615953
+v -0.23024336 -0.34823098 0.02717855
+f 1 3 4
+f 6 3 2
+f 7 2 3
+f 7 3 1
+f 8 1 4
+f 8 7 1
+f 9 4 3
+f 9 3 6
+f 10 8 4
+f 10 5 8
+f 11 8 5
+f 11 2 7
+f 11 7 8
+f 11 9 6
+f 12 11 5
+f 12 9 11
+f 12 4 9
+f 13 11 6
+f 13 6 2
+f 13 2 11
+f 14 12 5
+f 14 5 10
+f 14 10 4
+f 14 4 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0482749b12945baa065d1417e28addb209d4ca1b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_2.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.05212048 -0.47902259 -0.00572966
+v 0.05205815 -0.46339838 -0.04327403
+v 0.05388466 -0.40151514 -0.05742983
+v -0.11278201 -0.38636362 -0.05742983
+v -0.10591448 -0.44554101 -0.04072449
+v -0.02077661 -0.45379433 -0.05316658
+v -0.06732746 -0.38636362 -0.05742983
+v 0.05479491 -0.46903599 -0.01337710
+v -0.09262674 -0.46519263 -0.00589567
+v 0.05286242 -0.44056530 -0.05727684
+v -0.10783831 -0.42537540 -0.05377024
+v -0.01928561 -0.47277038 -0.03366615
+v 0.05388466 -0.40151514 -0.06383292
+v -0.12356099 -0.43071459 -0.03249046
+v 0.02248021 -0.45375568 -0.05308178
+v -0.06137115 -0.46289340 -0.04181731
+v 0.00604347 -0.47429514 -0.03424331
+v -0.05043729 -0.47921646 -0.00580308
+v -0.06732746 -0.38636362 -0.06383292
+v 0.05388466 -0.41666665 -0.05742983
+v -0.10862150 -0.45207689 -0.02187412
+v -0.11278201 -0.38636362 -0.06383292
+v -0.07926988 -0.43922250 -0.05319528
+v -0.09071958 -0.46058777 -0.01917653
+v 0.05146997 -0.47408095 -0.01901060
+v -0.04978678 -0.47427485 -0.01908404
+v -0.09732232 -0.46137720 -0.01050041
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 7 4
+f 9 1 7
+f 10 8 2
+f 13 3 8
+f 14 9 4
+f 14 11 5
+f 15 10 2
+f 15 6 10
+f 17 15 2
+f 17 6 15
+f 17 16 6
+f 17 12 16
+f 18 1 9
+f 18 9 16
+f 18 17 1
+f 18 12 17
+f 19 4 7
+f 19 7 3
+f 19 3 13
+f 20 13 8
+f 20 8 10
+f 20 10 13
+f 21 14 5
+f 21 5 9
+f 22 14 4
+f 22 11 14
+f 22 4 19
+f 22 10 6
+f 22 19 13
+f 22 13 10
+f 23 6 16
+f 23 22 6
+f 23 11 22
+f 23 16 5
+f 23 5 11
+f 24 16 9
+f 24 9 5
+f 24 5 16
+f 25 17 2
+f 25 2 1
+f 25 1 17
+f 26 18 16
+f 26 16 12
+f 26 12 18
+f 27 21 9
+f 27 9 14
+f 27 14 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..622218bed72c498f5887d417a6124b781eb6f533
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.05375825 -0.49146399 0.03211485
+v 0.18869251 -0.41547288 0.03156252
+v 0.05499668 -0.48572033 0.03150676
+v 0.18178248 -0.41017071 0.00835343
+v 0.13306945 -0.46199347 0.03156252
+v 0.05479491 -0.46903599 -0.01337710
+v 0.18152887 -0.42480887 0.03156252
+v 0.05212048 -0.47902259 -0.00572966
+v 0.17103614 -0.41355087 -0.00888184
+v 0.10704048 -0.47443782 0.03156252
+v 0.16573509 -0.41961791 -0.00503154
+v 0.13244748 -0.44603088 -0.00319125
+v 0.13791922 -0.42745308 -0.01582114
+v 0.07621413 -0.47317377 -0.00298272
+v 0.17614346 -0.41942345 0.01144153
+v 0.07487046 -0.46105523 -0.01643045
+v 0.13210131 -0.46073178 0.02732476
+v 0.10644177 -0.47299243 0.02739379
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 8 1 3
+f 8 3 6
+f 10 5 1
+f 12 9 11
+f 13 6 4
+f 13 4 9
+f 13 9 12
+f 14 10 1
+f 14 1 8
+f 15 11 9
+f 15 7 5
+f 15 5 11
+f 15 9 4
+f 15 4 2
+f 15 2 7
+f 16 14 8
+f 16 8 6
+f 16 6 13
+f 16 13 12
+f 16 12 14
+f 17 14 12
+f 17 5 10
+f 17 12 11
+f 17 11 5
+f 18 17 10
+f 18 10 14
+f 18 14 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d99b52cf29f8cd0017d89591b53f6962ebe5db
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_21.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.16689198 -0.06149628 0.00835363
+v -0.02749398 -0.00204071 -0.02314942
+v -0.03735039 -0.02025142 -0.02687593
+v -0.05202508 0.00642988 0.03162433
+v -0.13116827 -0.02310621 0.03156252
+v -0.03661908 0.00449697 0.02066577
+v -0.11639470 -0.04832197 -0.02814486
+v -0.17219427 -0.05458610 0.03156252
+v -0.09204477 -0.00590931 0.03156252
+v -0.03927793 -0.00561121 0.01312788
+v -0.08887968 -0.03757770 -0.03212804
+v -0.15362802 -0.05903634 -0.00796153
+v -0.10809153 -0.03405105 -0.02135440
+v -0.05484474 -0.00245687 0.02710499
+v -0.05400043 -0.02402122 -0.03111349
+v -0.07419449 -0.01242415 -0.00267877
+v -0.13056970 -0.03903743 -0.00308741
+v -0.09018925 -0.02553994 -0.01865719
+v -0.13022372 -0.02433680 0.02742890
+f 6 2 4
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 10 3 2
+f 10 2 6
+f 10 8 1
+f 10 1 3
+f 11 3 7
+f 12 7 3
+f 12 3 1
+f 13 11 7
+f 13 2 11
+f 13 7 12
+f 14 10 6
+f 14 6 4
+f 14 4 8
+f 14 8 10
+f 15 11 2
+f 15 2 3
+f 15 3 11
+f 16 9 2
+f 17 13 12
+f 17 8 5
+f 17 12 1
+f 17 1 8
+f 18 16 2
+f 18 2 13
+f 18 13 9
+f 18 9 16
+f 19 17 5
+f 19 13 17
+f 19 5 9
+f 19 9 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de32b1bb5f6653ed92fbd510d9267e9a67f8bfb4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.23117213 -0.31571311 0.01457429
+v -0.22207718 -0.31194585 -0.01209496
+v -0.22575913 -0.14107452 0.03188847
+v -0.23948937 -0.31288216 0.03245630
+v -0.23459050 -0.30613705 -0.00504296
+v -0.24813848 -0.30847893 0.03156252
+v -0.21756823 -0.14446725 -0.01028493
+v -0.24619935 -0.30822367 0.02635097
+v -0.24797470 -0.17683414 0.03156252
+v -0.23651610 -0.14917073 0.03156252
+v -0.24621949 -0.22207669 0.01119183
+v -0.22989521 -0.16706512 -0.00298282
+v -0.24469478 -0.27772258 0.01176898
+v -0.24610696 -0.17733457 0.02645428
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 1 4
+f 7 3 2
+f 7 2 5
+f 8 5 1
+f 8 1 6
+f 9 6 4
+f 9 4 3
+f 10 9 3
+f 10 3 7
+f 11 6 9
+f 12 7 5
+f 12 5 11
+f 12 10 7
+f 13 11 5
+f 13 6 11
+f 13 8 6
+f 13 5 8
+f 14 12 11
+f 14 11 9
+f 14 9 10
+f 14 10 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd62bb0af03bac9e0e8ce3e7ed6c72978b102bc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_23.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05388466 -0.08333332 -0.05742983
+v 0.05388466 -0.08333332 -0.06383292
+v 0.05299452 -0.01433661 -0.02339506
+v -0.06377638 -0.01614855 -0.02247191
+v -0.06732746 -0.08333332 -0.06383292
+v 0.05568352 -0.02421584 -0.03104103
+v -0.06732746 -0.08333332 -0.05742983
+v 0.00733536 -0.03104379 -0.05318910
+v -0.07096647 -0.02909348 -0.02946420
+v 0.05299727 -0.04461905 -0.05664179
+v -0.06104652 -0.02273882 -0.04103015
+v -0.06960430 -0.06268537 -0.05442938
+v 0.05193938 -0.02235261 -0.04242938
+v -0.06440117 -0.04494397 -0.05479811
+v -0.02073812 -0.03134801 -0.05252263
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 9 7 4
+f 10 6 2
+f 10 2 5
+f 10 5 8
+f 11 4 3
+f 11 9 4
+f 12 5 7
+f 12 7 9
+f 13 10 8
+f 13 3 6
+f 13 6 10
+f 13 11 3
+f 13 8 11
+f 14 8 5
+f 14 5 12
+f 14 12 9
+f 14 9 11
+f 15 14 11
+f 15 11 8
+f 15 8 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70328eb1c5bc338cd253327b8f7e992eb569e129
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.06644446 -0.49125331 0.03156252
+v 0.06824264 -0.49050847 0.03156252
+v -0.06960407 -0.48276885 0.03245591
+v -0.06866770 -0.46535661 -0.01209530
+v 0.05479491 -0.46903599 -0.01337710
+v -0.03444400 -0.48797336 0.01176899
+v 0.05212048 -0.47902259 -0.00572966
+v 0.05499668 -0.48572033 0.03150676
+v -0.06520035 -0.49141708 0.03156252
+v 0.06682219 -0.48707902 0.02167173
+v 0.02120190 -0.48949804 0.01119190
+v -0.06285845 -0.47786908 -0.00504296
+v 0.05607972 -0.47879617 0.01329208
+v -0.07243514 -0.47445145 0.01457396
+v 0.06594394 -0.48938558 0.02645434
+v -0.06494509 -0.48947795 0.02635097
+f 1 2 3
+f 8 3 2
+f 9 1 3
+f 10 7 5
+f 10 5 2
+f 10 2 1
+f 11 9 6
+f 11 1 9
+f 12 4 5
+f 12 5 7
+f 12 11 6
+f 12 7 11
+f 13 8 2
+f 13 2 5
+f 14 3 8
+f 14 9 3
+f 14 4 12
+f 14 8 13
+f 14 13 5
+f 14 5 4
+f 15 10 1
+f 15 7 10
+f 15 11 7
+f 15 1 11
+f 16 14 12
+f 16 9 14
+f 16 12 6
+f 16 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd716590308cffbad52fec45d1abbf6f5047eb95
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23364730 -0.18943958 -0.01067134
+v -0.20295098 -0.18949137 -0.05463575
+v -0.22592600 -0.15615692 0.01667028
+v -0.21744189 -0.13824372 0.01400636
+v -0.20533052 -0.14953658 -0.04268886
+v -0.22121158 -0.14295814 0.01855390
+v -0.22371228 -0.18675795 -0.01825678
+v -0.22011992 -0.19122037 -0.04327406
+v -0.19718075 -0.14663614 -0.04960824
+v -0.22138384 -0.14916275 -0.00567997
+v -0.21929019 -0.18033317 -0.04149123
+v -0.21677905 -0.15107049 -0.01896113
+f 6 3 2
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 9 5 4
+f 9 4 2
+f 9 2 8
+f 10 1 3
+f 10 3 6
+f 10 6 4
+f 10 4 5
+f 11 9 8
+f 11 5 9
+f 11 8 1
+f 11 1 10
+f 12 11 10
+f 12 10 5
+f 12 5 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..794b290cff597489af9c2080c62192cc1685b07b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_26.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.21373217 -0.10371742 0.03156252
+v 0.21142609 -0.10548695 0.02381691
+v 0.18152887 -0.06174973 0.03156252
+v 0.13956116 -0.02954643 0.03156252
+v 0.15639167 -0.05306717 0.02761942
+v 0.15384246 -0.07154087 -0.01628939
+v 0.19021145 -0.08688688 0.02761947
+v 0.19672531 -0.10514088 -0.00669923
+v 0.13813763 -0.04655313 -0.00669939
+v 0.14740234 -0.06478224 -0.01238436
+v 0.17173786 -0.08943601 -0.01628940
+v 0.17625062 -0.06702799 0.01184189
+v 0.13779163 -0.03185250 0.02381692
+v 0.19031119 -0.09491136 -0.00366526
+v 0.14836722 -0.05296741 -0.00366525
+f 1 3 4
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 10 9 6
+f 10 7 5
+f 11 8 2
+f 11 2 7
+f 11 7 10
+f 11 10 6
+f 13 10 5
+f 13 5 4
+f 13 9 10
+f 14 8 11
+f 14 2 8
+f 14 1 2
+f 14 12 3
+f 14 3 1
+f 15 12 14
+f 15 9 13
+f 15 13 4
+f 15 4 3
+f 15 3 12
+f 15 6 9
+f 15 14 11
+f 15 11 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7975d5876aa8a86c72ff9e13d5c0196fef8bd92d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_27.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01573766 0.03357201 0.01343597
+v 0.01155289 0.03987262 0.03747632
+v -0.01570698 0.03378612 0.01351097
+v -0.01151810 0.11422557 0.04759199
+v 0.01488523 0.11382959 0.03127624
+v -0.01148145 0.04019233 0.03759784
+v 0.01159768 0.11431827 0.04724406
+v 0.00000000 0.08141050 0.02128647
+v -0.00218314 0.08596602 0.04845445
+v -0.01460805 0.11373564 0.03110350
+v -0.00197657 0.11446523 0.05152762
+v 0.00377446 0.08603412 0.04802764
+v 0.00332251 0.11440333 0.05103051
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 2 5
+f 8 5 1
+f 8 1 3
+f 9 6 2
+f 9 4 6
+f 10 6 4
+f 10 3 6
+f 10 8 3
+f 10 5 8
+f 11 4 9
+f 11 10 4
+f 11 7 5
+f 11 5 10
+f 12 9 2
+f 12 2 7
+f 12 11 9
+f 13 12 7
+f 13 7 11
+f 13 11 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d978b6983c29a2d3235f7e88a1fe3994069ac11
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01159768 0.11431827 0.04724406
+v -0.01681379 0.23486173 0.05681311
+v -0.01144704 0.11477364 0.04807076
+v -0.02069240 0.23485011 0.04921456
+v 0.02096396 0.18939994 0.04849767
+v -0.01151810 0.11422557 0.04759199
+v 0.00679209 0.23486230 0.06048828
+v 0.01145112 0.11485701 0.04807386
+v 0.01168976 0.23482103 0.05869207
+v 0.01746814 0.18970852 0.05550712
+f 3 2 4
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 2 3
+f 7 4 2
+f 8 6 1
+f 8 3 6
+f 8 7 3
+f 8 1 5
+f 9 5 4
+f 9 4 7
+f 10 8 5
+f 10 5 9
+f 10 9 7
+f 10 7 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08200c87a6f4cdb2dec46686b654104414adf9b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14621225 -0.40336371 -0.04328010
+v 0.15004181 -0.36008744 -0.05591984
+v 0.14479375 -0.34090908 -0.05742983
+v 0.08418769 -0.34090908 -0.05742983
+v 0.08418769 -0.40151514 -0.06383292
+v 0.14033489 -0.39570429 -0.05549997
+v 0.08418769 -0.40151514 -0.05742983
+v 0.14479375 -0.34090908 -0.06383292
+v 0.10311502 -0.40643590 -0.05499591
+v 0.08418769 -0.34090908 -0.06383292
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 6 5
+f 8 2 6
+f 9 6 1
+f 9 5 6
+f 9 7 5
+f 9 1 7
+f 10 8 5
+f 10 5 4
+f 10 4 3
+f 10 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cb3296280fe383a3c3d0fe033295667b85d824c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_3.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.23560212 -0.20455870 -0.01076450
+v 0.22197949 -0.20635207 -0.04341549
+v 0.19308183 -0.12308808 -0.04185262
+v 0.18630646 -0.08988330 0.01428485
+v 0.18645545 -0.20504479 -0.06309945
+v 0.21934726 -0.11103506 0.03156252
+v 0.22019717 -0.18066527 -0.04072449
+v 0.23089867 -0.15480496 0.03051770
+v 0.18202451 -0.10479504 -0.03721547
+v 0.24212205 -0.16270795 0.03156252
+v 0.21821843 -0.11190124 0.02777105
+v 0.19729209 -0.16244942 -0.05234685
+v 0.22771264 -0.20360259 -0.01346888
+v 0.19697006 -0.09332702 0.03152447
+v 0.17849647 -0.09587615 -0.01238441
+v 0.23023385 -0.15248070 0.01272514
+v 0.18881673 -0.11120922 -0.03326118
+v 0.18305560 -0.11915533 -0.04784582
+v 0.19900238 -0.20538757 -0.05739297
+v 0.23676517 -0.14977533 0.03156252
+v 0.18440186 -0.16151241 -0.05766459
+f 5 2 1
+f 7 1 2
+f 9 4 6
+f 10 1 7
+f 11 7 3
+f 11 9 6
+f 12 3 7
+f 12 7 2
+f 13 8 5
+f 13 5 1
+f 13 10 8
+f 13 1 10
+f 14 4 5
+f 14 5 8
+f 14 6 4
+f 14 10 6
+f 14 8 10
+f 15 5 4
+f 15 4 9
+f 16 7 11
+f 17 11 3
+f 17 3 9
+f 17 9 11
+f 18 9 3
+f 18 3 12
+f 18 15 9
+f 19 12 2
+f 19 2 5
+f 19 5 12
+f 20 16 11
+f 20 11 6
+f 20 6 10
+f 20 10 7
+f 20 7 16
+f 21 18 12
+f 21 12 5
+f 21 5 15
+f 21 15 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e3c0bd43dbd44fc097ec148d5f3289688faebe8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_30.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01159768 0.11431827 0.04724406
+v 0.02177790 0.13385856 0.02710176
+v 0.02358064 0.18953179 0.04292448
+v -0.02328828 0.18951899 0.04356798
+v -0.01653299 0.13385856 0.01829650
+v -0.01151810 0.11422557 0.04759199
+v 0.02245816 0.13385856 0.04250707
+v 0.01488523 0.11382959 0.03127624
+v 0.00288757 0.18728717 0.01970341
+v -0.02217328 0.13385856 0.04314417
+v 0.02473878 0.18848781 0.04035249
+v 0.01802325 0.13385856 0.01886706
+v -0.01460805 0.11373564 0.03110350
+v -0.01869515 0.18796848 0.02782836
+v -0.02149294 0.13385856 0.02646474
+v 0.01660102 0.17180509 0.02272099
+v -0.01444732 0.18680124 0.02389215
+v 0.01996603 0.17278300 0.02802660
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 8 1 6
+f 8 7 1
+f 8 2 7
+f 9 4 3
+f 10 6 4
+f 11 7 2
+f 11 3 7
+f 11 9 3
+f 12 8 5
+f 12 2 8
+f 12 5 9
+f 12 11 2
+f 13 8 6
+f 13 5 8
+f 13 6 10
+f 14 4 9
+f 15 10 4
+f 15 13 10
+f 15 5 13
+f 15 14 5
+f 15 4 14
+f 16 12 9
+f 16 9 11
+f 17 14 9
+f 17 9 5
+f 17 5 14
+f 18 16 11
+f 18 11 12
+f 18 12 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1446aa4c50725fa0130eadb774fa849d6c32356d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.17912729 -0.31298328 -0.05501708
+v -0.17338807 -0.31060605 -0.06383292
+v -0.17338807 -0.18939393 -0.05742983
+v -0.20605448 -0.18908279 -0.04644387
+v -0.20571080 -0.31144262 -0.04314583
+v -0.19728661 -0.19041557 -0.05727687
+v -0.17338807 -0.18939393 -0.06383292
+v -0.19688084 -0.30778506 -0.05539797
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a3e21491b041dc4c30d6e5a62af2edf09115604
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_4.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.23440938 -0.15004336 0.02548669
+v -0.12793352 -0.12878787 -0.06383292
+v -0.12793352 -0.12878787 -0.05742983
+v -0.14880052 -0.04558196 0.03118649
+v -0.17302893 -0.09523482 -0.04072449
+v -0.12068606 -0.04732377 -0.03663788
+v -0.23651610 -0.14917073 0.03156252
+v -0.16912203 -0.14570644 -0.06137956
+v -0.13559452 -0.04304660 0.01485536
+v -0.18153024 -0.06174973 0.03156252
+v -0.20123310 -0.12709712 -0.03278499
+v -0.12442314 -0.08790808 -0.05888408
+v -0.12675436 -0.03941547 -0.01007572
+v -0.14614298 -0.06879081 -0.04072449
+v -0.20533052 -0.14953658 -0.04268886
+v -0.21871488 -0.11020915 0.03156252
+v -0.15276202 -0.09046777 -0.05187624
+v -0.17614453 -0.06713506 0.01144184
+v -0.20165708 -0.13590674 -0.04072449
+v -0.23115922 -0.13623812 0.03156252
+v -0.12275484 -0.05977928 -0.04836488
+v -0.16590919 -0.10422358 -0.05093364
+v -0.18195249 -0.13384232 -0.05337508
+v -0.18201159 -0.14664338 -0.05606187
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 9 4 3
+f 10 7 4
+f 12 6 2
+f 12 2 8
+f 13 4 9
+f 13 10 4
+f 13 6 10
+f 13 9 3
+f 13 3 6
+f 14 10 6
+f 15 8 1
+f 16 7 10
+f 16 5 11
+f 17 12 8
+f 17 5 14
+f 18 14 5
+f 18 10 14
+f 18 16 10
+f 18 5 16
+f 19 15 1
+f 19 11 5
+f 19 1 7
+f 20 16 11
+f 20 7 16
+f 20 19 7
+f 20 11 19
+f 21 17 14
+f 21 14 6
+f 21 6 12
+f 21 12 17
+f 22 19 5
+f 22 5 17
+f 22 17 8
+f 23 15 19
+f 23 22 8
+f 23 19 22
+f 24 23 8
+f 24 8 15
+f 24 15 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..636cfe0f29f8f8085ca06c5ececa48da0f158107
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_5.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.21418513 -0.31424505 -0.02946421
+v 0.21795484 -0.30953055 -0.02491674
+v 0.14479375 -0.31060605 -0.05742983
+v 0.16468726 -0.14030080 -0.05449123
+v 0.21602501 -0.20514127 -0.04960824
+v 0.14479375 -0.14393938 -0.05742983
+v 0.21233839 -0.30720403 -0.04800960
+v 0.22283255 -0.20424510 -0.02680347
+v 0.14479375 -0.14393938 -0.06383292
+v 0.14479375 -0.31060605 -0.06383292
+v 0.19235171 -0.14306812 -0.04323026
+v 0.18346494 -0.14674895 -0.05546203
+v 0.19833463 -0.30767946 -0.05479798
+v 0.22078842 -0.20251943 -0.03168356
+v 0.21223478 -0.23594338 -0.05318906
+v 0.21193077 -0.26401673 -0.05252247
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 7 5
+f 8 2 7
+f 8 6 2
+f 9 3 6
+f 9 6 4
+f 10 1 3
+f 10 3 9
+f 11 4 6
+f 11 6 8
+f 12 9 4
+f 12 11 5
+f 12 4 11
+f 13 7 1
+f 13 1 10
+f 14 11 8
+f 14 8 5
+f 14 5 11
+f 15 12 5
+f 15 9 12
+f 15 13 10
+f 15 10 9
+f 16 15 5
+f 16 5 7
+f 16 7 13
+f 16 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be10d8668a9f2f6b99e7677dd5ed3178564d7b47
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_6.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.08418769 -0.40151514 -0.05742983
+v 0.14479375 -0.34090908 -0.06383292
+v 0.14479375 -0.14393938 -0.05742983
+v -0.06732746 -0.08333332 -0.05742983
+v -0.17338807 -0.31060605 -0.06383292
+v 0.08418769 -0.08333332 -0.06383292
+v 0.14479375 -0.34090908 -0.05742983
+v -0.06732746 -0.40151514 -0.06383292
+v -0.17338807 -0.31060605 -0.05742983
+v 0.14479375 -0.14393938 -0.06383292
+v 0.08418769 -0.08333332 -0.05742983
+v -0.12793352 -0.12878787 -0.06383292
+v 0.08418769 -0.40151514 -0.06383292
+v -0.11278201 -0.38636362 -0.05742983
+v -0.06732746 -0.08333332 -0.06383292
+v -0.17338807 -0.18939393 -0.05742983
+v -0.06732746 -0.40151514 -0.05742983
+v -0.11278201 -0.38636362 -0.06383292
+v -0.12793352 -0.12878787 -0.05742983
+v -0.17338807 -0.18939393 -0.06383292
+f 1 3 4
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 9 1 4
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 6 4
+f 11 4 3
+f 11 3 6
+f 12 6 5
+f 13 8 2
+f 13 2 1
+f 13 1 8
+f 14 1 9
+f 14 9 5
+f 15 12 4
+f 15 4 6
+f 15 6 12
+f 16 9 4
+f 16 5 9
+f 17 14 8
+f 17 8 1
+f 17 1 14
+f 18 14 5
+f 18 5 8
+f 18 8 14
+f 19 16 4
+f 19 4 12
+f 20 12 5
+f 20 5 16
+f 20 19 12
+f 20 16 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e78958e22f0d120284abfda9adfd5bd0479e05d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_7.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.14369445 -0.08476595 -0.05233499
+v 0.15384246 -0.07154087 -0.01628939
+v 0.05388466 -0.08333332 -0.05742983
+v 0.05372581 0.00636926 0.03156252
+v 0.12019070 -0.05019615 -0.04185271
+v 0.14995155 -0.04630855 0.03152445
+v 0.12602111 -0.08805247 -0.05848887
+v 0.13625719 -0.06415525 -0.04324717
+v 0.05193938 -0.02235261 -0.04242938
+v 0.15339523 -0.05697219 0.01428483
+v 0.05652783 -0.00265149 0.02717745
+v 0.13224352 -0.02393134 0.03156252
+v 0.10929216 -0.05980539 -0.05285991
+v 0.05192631 -0.00729850 -0.00517252
+v 0.06261351 -0.02308095 -0.04072449
+v 0.13206932 -0.05446143 -0.03326155
+v 0.05299727 -0.04461905 -0.05664179
+v 0.13137734 -0.02506016 0.02777106
+v 0.09350324 -0.00651343 0.03156252
+v 0.08082922 -0.04598657 -0.05234702
+v 0.05388466 -0.08333332 -0.06383292
+v 0.07568384 -0.01295371 -0.00246367
+v 0.09079790 -0.01304468 0.01272495
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 10 6 3
+f 10 3 2
+f 11 6 4
+f 11 4 3
+f 11 3 6
+f 12 4 6
+f 12 6 10
+f 12 10 2
+f 13 1 7
+f 13 8 1
+f 13 5 8
+f 14 9 3
+f 14 3 4
+f 15 9 14
+f 15 14 4
+f 16 8 5
+f 16 12 2
+f 16 2 8
+f 17 13 7
+f 18 5 15
+f 18 16 5
+f 18 12 16
+f 19 4 12
+f 19 12 18
+f 20 15 5
+f 20 5 13
+f 20 13 17
+f 20 17 9
+f 20 9 15
+f 21 17 7
+f 21 7 3
+f 21 3 9
+f 21 9 17
+f 22 19 15
+f 22 15 4
+f 22 4 19
+f 23 19 18
+f 23 18 15
+f 23 15 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdef65524b5a1c15535180edf7d4ab4902b72b76
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_8.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.06732746 -0.12878787 -0.05742983
+v -0.06732746 -0.12878787 -0.06383292
+v -0.06186902 -0.02075319 -0.03575305
+v -0.06377638 -0.01614855 -0.02247191
+v -0.13604126 -0.05761524 -0.01571911
+v -0.12793352 -0.12878787 -0.06383292
+v -0.12123801 -0.03328925 -0.00607315
+v -0.12793352 -0.12878787 -0.05742983
+v -0.11882230 -0.04975265 -0.04237135
+v -0.06440117 -0.04494397 -0.05479811
+v -0.10999887 -0.02944631 -0.00807333
+v -0.12314327 -0.07442459 -0.05431774
+v -0.11622176 -0.04197799 -0.03257858
+v -0.09184342 -0.03669806 -0.04222746
+v -0.10769397 -0.05966116 -0.05325526
+v -0.07916419 -0.04588114 -0.05259566
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 5 1
+f 7 4 3
+f 8 6 1
+f 8 1 5
+f 8 5 6
+f 9 5 7
+f 10 3 2
+f 10 2 6
+f 11 7 1
+f 11 1 4
+f 11 4 7
+f 12 6 5
+f 12 5 9
+f 13 9 7
+f 13 7 3
+f 14 13 3
+f 14 9 13
+f 15 10 6
+f 15 6 12
+f 15 12 9
+f 15 9 14
+f 16 14 3
+f 16 3 10
+f 16 15 14
+f 16 10 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b30f7f651743cf065d81eee2043ac4212434d036
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/collision/model_normalized_collision_9.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.11278201 -0.38636362 -0.05742983
+v -0.11278201 -0.38636362 -0.06383292
+v -0.11278201 -0.31060605 -0.06383292
+v -0.21376000 -0.31477673 -0.02997705
+v -0.19668342 -0.38098620 -0.00748774
+v -0.19688084 -0.30778506 -0.05539797
+v -0.17846119 -0.39025623 -0.01316308
+v -0.21809861 -0.34060090 -0.01050040
+v -0.11278201 -0.31060605 -0.05742983
+v -0.16605360 -0.38073570 -0.05132875
+v -0.20226242 -0.34919305 -0.04072449
+v -0.20982998 -0.36442380 -0.00656348
+v -0.18877525 -0.37491776 -0.03404992
+v -0.20565667 -0.33544744 -0.04301370
+v -0.20114124 -0.35940755 -0.03306892
+v -0.19594391 -0.32254847 -0.05319527
+f 6 3 2
+f 7 2 1
+f 9 6 4
+f 9 3 6
+f 9 4 8
+f 9 5 7
+f 9 7 1
+f 9 1 2
+f 9 2 3
+f 10 6 2
+f 10 2 7
+f 12 9 8
+f 12 5 9
+f 13 10 7
+f 13 7 5
+f 13 11 10
+f 14 11 8
+f 14 8 4
+f 14 4 6
+f 15 11 13
+f 15 12 8
+f 15 8 11
+f 15 13 5
+f 15 5 12
+f 16 14 6
+f 16 6 10
+f 16 10 11
+f 16 11 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_24/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fc3606100c2620f24e6b4f0da18a3b2de5a4dd0d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_19">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.26000000000000006 0.26000000000000006 0.26000000000000006" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_24/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b69ee017d934c5b09e3ee53e590b4276cccd4fc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_24/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_24/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03649ff0a2ae671d9c1b14b3444bd788cdbd6b95
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_24/visual/model_normalized_0.obj
@@ -0,0 +1,3055 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1969076b41250ca5a55f7f0e4703a11baf199b4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02716918 -0.19091936 0.05369885
+v 0.05547303 -0.05565682 0.00670445
+v 0.05688699 -0.06031798 0.04705446
+v -0.03718674 -0.06271580 0.04705446
+v -0.01469861 -0.13486699 0.00855251
+v -0.03670632 -0.05783809 0.00645258
+v -0.02685007 -0.19124766 0.05373934
+v 0.02981416 -0.18790214 0.03315090
+v -0.01578497 -0.08290365 0.00569386
+v -0.02940184 -0.18815048 0.03318139
+v 0.01764157 -0.13451479 0.00946399
+v -0.02940097 -0.15054696 0.02271689
+v -0.01470605 -0.16845778 0.02368464
+v 0.05410531 -0.06238441 0.00775040
+v 0.01865641 -0.08287245 0.00679077
+f 6 3 2
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+f 15 9 2
+f 15 2 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e6e12a12332c420abd93a8a48c2aa3de996035a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.15468029 -0.02654769 0.04630420
+v 0.22754439 0.06037545 -0.03118930
+v 0.19252327 0.00907895 0.00967879
+v 0.24031485 0.05908691 0.04630418
+v 0.16072880 0.05303829 -0.05112688
+v 0.22217611 0.04962957 -0.02691740
+v 0.23521733 0.05136145 0.04630418
+v 0.21967119 0.04196780 0.04705442
+v 0.22597402 0.06570647 -0.02653608
+v 0.15339174 -0.01377718 -0.03118931
+v 0.23952728 0.05950788 0.03902449
+v 0.16240575 -0.02145014 0.04630420
+v 0.20468824 0.02124393 0.00967880
+v 0.17179941 -0.00590401 0.04705444
+v 0.23014859 0.06347511 0.00583049
+v 0.19912429 0.05883017 -0.05223507
+v 0.15493703 0.01464291 -0.05223506
+v 0.16413764 -0.00840892 -0.02691737
+v 0.16865445 0.01639036 -0.04815848
+v 0.23462333 0.05184893 0.04004022
+v 0.16073690 0.05303030 -0.06114590
+v 0.15425933 -0.02576011 0.03902448
+v 0.19737683 0.04511276 -0.04815848
+v 0.16191828 -0.02085614 0.04004022
+f 8 4 5
+f 8 7 4
+f 11 6 2
+f 11 9 4
+f 11 2 9
+f 12 3 7
+f 13 7 3
+f 13 3 6
+f 13 6 7
+f 14 8 5
+f 14 5 1
+f 14 1 12
+f 14 12 7
+f 14 7 8
+f 15 9 5
+f 15 5 4
+f 15 4 9
+f 16 9 2
+f 18 6 3
+f 19 18 10
+f 19 6 18
+f 19 17 16
+f 19 10 17
+f 20 7 6
+f 20 6 11
+f 20 11 4
+f 20 4 7
+f 21 5 9
+f 21 9 16
+f 21 17 5
+f 21 16 17
+f 22 17 10
+f 22 1 5
+f 22 5 17
+f 22 10 18
+f 23 2 6
+f 23 6 19
+f 23 19 16
+f 23 16 2
+f 24 22 18
+f 24 12 1
+f 24 1 22
+f 24 18 3
+f 24 3 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cabc7effcdbacb8c91010108738d9438b8191484
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.05456887 -0.06709112 0.04630422
+v 0.16520067 0.00213665 -0.02764737
+v 0.12093188 -0.03525336 -0.02079454
+v 0.16861988 -0.00202965 0.00553577
+v 0.05688699 -0.06031798 0.04705446
+v 0.15080658 -0.01930048 -0.02068306
+v 0.16436923 -0.01200178 0.04705444
+v 0.05769723 -0.04783750 -0.02974555
+v 0.15444398 -0.00321841 -0.03195977
+v 0.10953651 -0.05067755 0.04630420
+v 0.15468029 -0.02654769 0.04630420
+v 0.05374636 -0.05873982 -0.02210338
+v 0.15263793 -0.02077015 0.04705444
+v 0.07978692 -0.05106474 -0.02107298
+v 0.07497063 -0.05483234 0.04705446
+v 0.09421217 -0.04867054 -0.00561454
+v 0.10922514 -0.04992585 0.03970358
+f 5 4 2
+f 6 2 4
+f 7 4 5
+f 8 5 2
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 10 5 1
+f 11 6 4
+f 11 4 7
+f 11 3 6
+f 12 1 5
+f 12 5 8
+f 12 10 1
+f 13 11 7
+f 13 10 11
+f 14 12 8
+f 14 8 3
+f 14 10 12
+f 15 5 10
+f 15 10 13
+f 15 13 7
+f 15 7 5
+f 16 14 3
+f 17 16 3
+f 17 10 14
+f 17 14 16
+f 17 11 10
+f 17 3 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab3dd3b26374d668ca936804b549aa4c6f1e0bc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.12225158 -0.04388119 0.04630420
+v -0.12008695 -0.03983145 0.00887170
+v -0.13199384 -0.03180462 0.04705445
+v -0.23958333 0.05771832 0.04630418
+v -0.18937488 0.00890399 -0.00550050
+v -0.21444372 0.04355616 0.00523301
+v -0.16043865 -0.02306451 0.04630420
+v -0.13588816 -0.02393888 0.00479606
+v -0.21834633 0.04035345 0.04705442
+v -0.21655881 0.03910338 -0.00787894
+v -0.23389243 0.04974709 0.04630418
+v -0.15876988 -0.02103110 0.02486093
+v -0.18023077 0.00158395 -0.00666214
+v -0.23152633 0.05440589 0.00730177
+v -0.19949889 0.02823509 -0.00995082
+v -0.20191875 0.02081512 -0.00555564
+v -0.13403620 -0.03758217 0.04630420
+v -0.13192149 -0.03362583 0.00973488
+v -0.23714289 0.05902276 0.02374673
+f 1 2 3
+f 8 6 3
+f 8 3 2
+f 9 6 4
+f 9 3 6
+f 9 7 3
+f 11 9 4
+f 11 7 9
+f 12 7 5
+f 13 8 2
+f 13 12 5
+f 14 6 10
+f 14 11 4
+f 14 10 11
+f 15 10 6
+f 15 6 8
+f 15 13 10
+f 15 8 13
+f 16 5 7
+f 16 7 11
+f 16 11 10
+f 16 13 5
+f 16 10 13
+f 17 2 1
+f 17 7 12
+f 17 1 3
+f 17 3 7
+f 18 13 2
+f 18 12 13
+f 18 17 12
+f 18 2 17
+f 19 14 4
+f 19 4 6
+f 19 6 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a24613116deb2fe0e3e1bc720dd18de39b898dbf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02880694 -0.08304734 0.03276751
+v -0.03514309 -0.05711784 -0.03147698
+v -0.03718674 -0.06271580 0.04705446
+v -0.13199384 -0.03180462 0.04705445
+v -0.11836058 -0.03660165 -0.02098207
+v -0.03744331 -0.05016932 -0.03095517
+v -0.10692116 -0.05147086 0.04630420
+v -0.07650140 -0.05108609 -0.02726383
+v -0.12798002 -0.02429530 -0.02348188
+v -0.03620647 -0.05276292 -0.03825101
+v -0.04983055 -0.06755778 0.04630422
+v -0.07195609 -0.05574681 0.04705446
+v -0.10615023 -0.04892949 0.02465530
+v -0.12225158 -0.04388119 0.04630420
+v -0.07952963 -0.04591729 -0.03377754
+v -0.03482460 -0.06903575 0.04630422
+v -0.12020922 -0.03810364 0.04705445
+v -0.10033262 -0.03424459 -0.03075950
+f 6 4 3
+f 6 3 1
+f 8 2 1
+f 8 1 5
+f 9 4 6
+f 10 6 1
+f 10 1 2
+f 10 9 6
+f 10 2 8
+f 11 7 1
+f 12 11 3
+f 12 7 11
+f 13 5 1
+f 13 1 7
+f 14 13 7
+f 14 5 13
+f 14 9 5
+f 14 4 9
+f 15 8 5
+f 15 10 8
+f 16 11 1
+f 16 1 3
+f 16 3 11
+f 17 7 12
+f 17 14 7
+f 17 4 14
+f 17 12 3
+f 17 3 4
+f 18 15 5
+f 18 5 9
+f 18 9 10
+f 18 10 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a65379f8e2646d66e8ce9f759456768db8b5f25
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.22576896 0.04939798 0.04705442
+v 0.25599829 0.11691228 -0.03137230
+v 0.23306764 0.06296063 -0.02068305
+v 0.26853241 0.11770624 0.04630415
+v 0.23525777 0.11429739 -0.05104150
+v 0.24902049 0.09283534 -0.02079452
+v 0.24031485 0.05908691 0.04630418
+v 0.26018169 0.11104706 0.04705440
+v 0.26769448 0.11796043 0.03916613
+v 0.24101404 0.10416774 -0.04557847
+v 0.21923764 0.05475810 -0.02293848
+v 0.25350574 0.10558944 -0.02900819
+v 0.26444463 0.10423063 0.04630416
+v 0.23453731 0.06112929 0.04705441
+v 0.24623314 0.11527834 -0.04557848
+v 0.23377635 0.09993772 -0.04801233
+v 0.26369294 0.10454199 0.03970360
+v 0.25050221 0.09099756 0.04705440
+f 7 1 3
+f 7 3 6
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 9 2 5
+f 11 3 1
+f 11 1 5
+f 12 6 3
+f 12 2 9
+f 12 3 10
+f 13 4 8
+f 13 9 4
+f 14 8 1
+f 14 1 7
+f 15 10 5
+f 15 5 2
+f 15 12 10
+f 15 2 12
+f 16 10 3
+f 16 3 11
+f 16 11 5
+f 16 5 10
+f 17 6 12
+f 17 12 9
+f 17 9 13
+f 17 13 7
+f 17 7 6
+f 18 13 8
+f 18 8 14
+f 18 14 7
+f 18 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e5ae066893968b6e660683f73320020a7b9c37e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.15103508 0.40484497 -0.06114601
+v 0.16906738 0.42681734 -0.00970094
+v 0.16598353 0.43821125 0.04705429
+v 0.09697541 0.48202221 0.04630403
+v 0.09553697 0.46212875 -0.04368888
+v 0.15181457 0.44542874 -0.02691751
+v 0.10013084 0.43181818 -0.06114602
+v 0.15604884 0.45335047 0.04630405
+v 0.12189150 0.46129111 -0.02710377
+v 0.15356927 0.42308441 -0.04834703
+v 0.10363460 0.47367148 0.04705429
+v 0.09572477 0.43872653 -0.06114602
+v 0.10595372 0.45982012 -0.04121382
+v 0.09564457 0.47763502 0.00893166
+v 0.10953654 0.47821183 0.04630403
+v 0.15400648 0.44757292 0.04705429
+v 0.14198137 0.41227516 -0.06114602
+v 0.13594393 0.44408335 -0.04079946
+v 0.10779971 0.47401871 0.00948484
+v 0.12413823 0.46353785 0.04705429
+v 0.12548186 0.43770517 -0.04977789
+f 1 2 3
+f 7 1 3
+f 8 3 2
+f 8 2 6
+f 10 6 2
+f 10 2 1
+f 11 7 3
+f 11 4 7
+f 12 7 4
+f 13 9 6
+f 13 5 9
+f 13 12 5
+f 14 9 5
+f 14 12 4
+f 14 5 12
+f 15 4 11
+f 15 14 4
+f 16 3 8
+f 17 10 1
+f 17 1 7
+f 17 7 12
+f 18 13 6
+f 18 6 10
+f 18 12 13
+f 18 10 17
+f 19 6 9
+f 19 9 14
+f 19 14 15
+f 19 15 8
+f 19 8 6
+f 20 15 11
+f 20 11 3
+f 20 3 16
+f 20 16 8
+f 20 8 15
+f 21 18 17
+f 21 17 12
+f 21 12 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..711a925341e1a5726707a606ddb80a7d8bbb814f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.18755080 0.00781598 -0.00807762
+v -0.17895511 0.01828984 -0.04491593
+v -0.18773831 0.09849129 -0.05112434
+v -0.22182200 0.09646921 -0.04616618
+v -0.22566770 0.05921394 -0.03233252
+v -0.21529351 0.09995874 -0.06114592
+v -0.23152633 0.05440589 0.00730177
+v -0.17754986 0.04624813 -0.06114590
+v -0.20050327 0.02197676 -0.02048252
+v -0.20712026 0.03441489 0.00637664
+v -0.18774795 0.09848485 -0.06114592
+v -0.20931718 0.06019794 -0.04834699
+v -0.18971933 0.02363577 -0.04059772
+v -0.22032177 0.04844970 -0.02801432
+v -0.20191875 0.02081512 -0.00555564
+v -0.21444372 0.04355616 0.00523301
+v -0.20107663 0.03665774 -0.03985921
+v -0.22420630 0.04526176 0.00846343
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 10 1 3
+f 11 8 6
+f 11 6 3
+f 11 3 8
+f 12 8 2
+f 12 5 6
+f 12 6 8
+f 13 2 9
+f 13 12 2
+f 14 9 7
+f 14 7 5
+f 14 13 9
+f 15 9 1
+f 16 10 3
+f 16 3 7
+f 17 5 12
+f 17 12 13
+f 17 14 5
+f 17 13 14
+f 18 7 9
+f 18 9 15
+f 18 16 7
+f 18 10 16
+f 18 15 1
+f 18 1 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0440f80075e33bc4a594eecd1e2ea73109a8df01
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.08168508 0.41665529 -0.05111967
+v -0.08168734 0.41666667 -0.06114602
+v -0.07715936 0.47749740 -0.02867905
+v -0.08008607 0.48714553 0.04630403
+v -0.14514702 0.45230844 0.04705429
+v -0.14001427 0.41388953 -0.06114602
+v -0.08674526 0.47879485 0.04705428
+v -0.13240659 0.45877572 -0.00554284
+v -0.07903252 0.45336939 -0.05222917
+v -0.10783563 0.47872783 0.04630403
+v -0.14493701 0.41988790 -0.04596912
+v -0.13317832 0.44506803 -0.04149663
+v -0.13481726 0.41783122 -0.06114602
+v -0.12157774 0.46490644 0.04705429
+v -0.13540478 0.46438496 0.04630404
+v -0.09135342 0.47434109 -0.02691753
+v -0.10318809 0.46080475 -0.04191095
+v -0.10651961 0.47438947 0.00934772
+v -0.11912587 0.46227576 -0.02780092
+v -0.09388377 0.45237954 -0.05036382
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 9 3 2
+f 10 7 4
+f 11 6 5
+f 12 6 11
+f 12 11 5
+f 12 5 8
+f 13 9 2
+f 13 2 6
+f 13 6 12
+f 14 5 7
+f 14 7 10
+f 15 8 5
+f 15 14 10
+f 15 5 14
+f 16 4 3
+f 17 13 12
+f 17 16 3
+f 17 3 9
+f 18 15 10
+f 18 8 15
+f 18 10 4
+f 18 4 16
+f 19 12 8
+f 19 18 16
+f 19 8 18
+f 19 17 12
+f 19 16 17
+f 20 17 9
+f 20 9 13
+f 20 13 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1abcdd2aec69841a27c5badd5a8885942eb6b18
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.02371792 -0.08328050 0.00874455
+v 0.08393338 -0.04958230 -0.02282525
+v 0.05547303 -0.05565682 0.00670445
+v -0.03670632 -0.05783809 0.00645258
+v -0.03575801 -0.04820971 -0.04557841
+v -0.03583637 -0.06415681 0.00753193
+v 0.05410531 -0.06238441 0.00775040
+v 0.03901836 -0.04788859 -0.04557841
+v 0.08262204 -0.04525937 -0.03334824
+v -0.02084653 -0.08331429 0.00764787
+v 0.07957880 -0.05037867 -0.02691736
+v -0.01578497 -0.08290365 0.00569386
+v 0.01865641 -0.08287245 0.00679077
+f 6 3 4
+f 6 4 5
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 9 3 2
+f 9 8 5
+f 9 5 4
+f 9 4 3
+f 10 6 5
+f 10 1 6
+f 11 9 2
+f 11 2 1
+f 11 1 8
+f 11 8 9
+f 12 1 10
+f 12 10 5
+f 12 5 8
+f 13 12 8
+f 13 8 1
+f 13 1 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a425c6384d9e2ff82eec2af278fce1f4265d50cd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.21163055 0.04856652 -0.02764736
+v 0.25522611 0.10466988 -0.02165771
+v 0.23004942 0.05831962 -0.02224446
+v 0.16072556 0.15909316 -0.05107702
+v 0.23649447 0.15909091 -0.06114594
+v 0.24902049 0.09283534 -0.02079452
+v 0.16073690 0.05303030 -0.06114590
+v 0.24158385 0.15754705 -0.04805497
+v 0.22228265 0.06469365 -0.04209062
+v 0.24835806 0.09318941 -0.02691740
+v 0.16072880 0.05303829 -0.05112688
+v 0.16073690 0.15909091 -0.06114594
+v 0.25350574 0.10558944 -0.02900819
+v 0.19912429 0.05883017 -0.05223507
+v 0.22662774 0.08860722 -0.04854654
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 8 5 4
+f 8 4 2
+f 9 3 1
+f 10 6 3
+f 10 2 6
+f 10 3 9
+f 11 7 1
+f 11 1 4
+f 11 4 7
+f 12 7 4
+f 12 4 5
+f 12 5 7
+f 13 8 2
+f 13 5 8
+f 13 2 10
+f 13 10 9
+f 14 7 5
+f 14 9 1
+f 14 1 7
+f 15 13 9
+f 15 5 13
+f 15 14 5
+f 15 9 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7464acf53d220a7c300e67eaaba4ab2490a62ef1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.22444409 0.04778364 0.04705442
+v -0.20899451 0.08817411 -0.06114592
+v -0.24977070 0.08962897 0.04705440
+v -0.26238542 0.11397614 0.00717937
+v -0.23166165 0.06195255 -0.02691740
+v -0.21866040 0.10625775 -0.06114592
+v -0.21317651 0.05703067 -0.04557845
+v -0.23958333 0.05771832 0.04630418
+v -0.23256797 0.11397552 -0.05227282
+v -0.22040596 0.06353213 -0.04323385
+v -0.23380580 0.05976070 0.04705442
+v -0.26184723 0.09937122 0.04630416
+v -0.24836157 0.11823021 -0.04368889
+v -0.24752392 0.09187567 -0.02710377
+v -0.24605291 0.10781345 -0.04121382
+v -0.23031617 0.07782323 -0.04079948
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 3 6
+f 10 6 2
+f 10 2 7
+f 10 7 5
+f 11 8 1
+f 11 1 3
+f 11 3 8
+f 12 8 3
+f 12 5 8
+f 12 9 4
+f 12 3 9
+f 13 4 9
+f 13 9 6
+f 13 6 10
+f 14 12 4
+f 14 5 12
+f 14 4 13
+f 15 14 13
+f 15 13 10
+f 15 5 14
+f 16 15 10
+f 16 10 5
+f 16 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38365a616cfce328f066515e29bf4d3e8333cc42
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.10363460 0.47367148 0.04705429
+v 0.10115544 0.46549886 -0.02369334
+v 0.03777802 0.48984052 -0.00592957
+v -0.06200244 0.49263112 0.04630403
+v -0.08372692 0.46884482 -0.02764108
+v 0.06501701 0.49171669 0.04630403
+v -0.08253638 0.48007160 0.04705428
+v 0.00758232 0.49093028 -0.02121542
+v 0.09697541 0.48202221 0.04630403
+v -0.08633705 0.47744918 0.03540522
+v 0.08975985 0.47788037 0.04705428
+v 0.09458146 0.47413045 -0.02092211
+v -0.07766910 0.47917779 -0.02156914
+v -0.08008607 0.48714553 0.04630403
+v 0.06424226 0.48916269 0.02454772
+v -0.01932961 0.48979060 -0.02107493
+v -0.06122359 0.49006355 0.02443225
+f 5 2 1
+f 7 6 4
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 9 6 1
+f 9 1 2
+f 10 5 1
+f 10 1 7
+f 11 7 1
+f 11 1 6
+f 11 6 7
+f 12 8 3
+f 12 2 8
+f 12 9 2
+f 13 5 10
+f 14 10 7
+f 14 7 4
+f 14 13 10
+f 14 4 13
+f 15 12 3
+f 15 3 6
+f 15 6 9
+f 15 9 12
+f 16 8 5
+f 16 5 13
+f 16 4 8
+f 17 16 13
+f 17 13 4
+f 17 4 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46329ac4813afc3d4e24740720fcba5b431c9cc1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.16072557 0.23484737 -0.05106916
+v 0.16073690 0.23484849 -0.06114597
+v 0.16205173 0.41826878 -0.03970896
+v -0.08291327 0.45101102 -0.04607063
+v -0.12714189 0.23484849 -0.06114597
+v 0.09572477 0.43872653 -0.06114602
+v -0.12713059 0.23484737 -0.05103908
+v 0.15103508 0.40484497 -0.06114601
+v 0.10146188 0.44945990 -0.04353479
+v -0.12714189 0.41666666 -0.06114602
+v 0.14584267 0.43229954 -0.03875854
+v -0.08071412 0.44376138 -0.06114602
+v -0.13001295 0.42203805 -0.04945412
+v 0.14065312 0.42426940 -0.05238284
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 8 3 2
+f 10 6 8
+f 10 8 2
+f 10 2 5
+f 11 7 1
+f 11 1 3
+f 11 4 7
+f 11 9 4
+f 11 6 9
+f 12 9 6
+f 12 4 9
+f 12 6 10
+f 13 7 4
+f 13 12 10
+f 13 4 12
+f 13 10 5
+f 13 5 7
+f 14 8 6
+f 14 6 11
+f 14 11 3
+f 14 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c9a5003e813e68eba45567516d9b85b9dbabf28
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.12629258 -0.03628985 0.00725679
+v -0.11946455 -0.02351549 -0.04340106
+v -0.12713545 0.03788843 -0.05112133
+v -0.17754986 0.04624813 -0.06114590
+v -0.17792738 0.00439064 -0.02875289
+v -0.12166405 0.00267256 -0.06114590
+v -0.19223982 0.01725394 0.00618103
+v -0.14788561 -0.01999459 -0.02691736
+v -0.15020919 0.00124099 -0.04815346
+v -0.12714189 0.03787879 -0.06114590
+v -0.13588816 -0.02393888 0.00479606
+v -0.19577487 0.03129125 -0.02973132
+v -0.18139242 0.00016848 0.00826474
+v -0.18113893 0.03078038 -0.04993494
+v -0.13219363 -0.01898342 -0.04019236
+v -0.14996165 -0.02387859 0.00898316
+f 1 2 3
+f 6 3 2
+f 7 3 4
+f 8 2 1
+f 9 8 5
+f 9 6 2
+f 9 4 6
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 7 4
+f 13 5 8
+f 13 12 5
+f 13 7 12
+f 14 9 5
+f 14 4 9
+f 14 12 4
+f 14 5 12
+f 15 9 2
+f 15 2 8
+f 15 8 9
+f 16 13 8
+f 16 8 1
+f 16 1 7
+f 16 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7422a9a601bf9c11af5d87994a32c67fee08703a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.12713370 0.34090123 -0.05108441
+v -0.12714189 0.34090909 -0.06114599
+v -0.12714189 0.41666666 -0.06114602
+v -0.13774901 0.45361922 -0.02208464
+v -0.19693831 0.39390602 -0.03066824
+v -0.13001295 0.42203805 -0.04945412
+v -0.18774795 0.34090909 -0.06114599
+v -0.18065950 0.42318085 -0.02189655
+v -0.18773830 0.34090264 -0.05113043
+v -0.18082220 0.39458983 -0.05097414
+v -0.14958357 0.44741360 -0.02122145
+v -0.13481726 0.41783122 -0.06114602
+v -0.17477070 0.41600531 -0.04079742
+v -0.13638702 0.45107110 -0.03059529
+v -0.14911611 0.44653904 -0.02738659
+v -0.15058888 0.42346405 -0.04923276
+v -0.15866053 0.42998871 -0.03985387
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 8 5 1
+f 9 7 1
+f 9 1 5
+f 9 5 7
+f 10 7 5
+f 11 8 1
+f 11 1 4
+f 12 7 10
+f 12 3 2
+f 12 2 7
+f 13 10 5
+f 13 5 8
+f 14 4 3
+f 14 3 12
+f 15 13 8
+f 15 8 11
+f 15 11 4
+f 15 4 14
+f 16 12 10
+f 16 10 13
+f 16 14 12
+f 17 15 14
+f 17 14 16
+f 17 16 13
+f 17 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc884655ce47c2402945aad2f137a808a78b8e70
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.27786459 0.27906403 0.04630409
+v 0.26788145 0.27603568 -0.02923971
+v 0.24972660 0.33178451 -0.02691747
+v 0.24557176 0.34576099 0.04705432
+v 0.23575719 0.27548321 -0.06114598
+v 0.26523800 0.32068834 0.04630409
+v 0.26951392 0.28572325 0.04705434
+v 0.25014250 0.30555382 -0.04270294
+v 0.23261681 0.33883644 -0.04564132
+v 0.25764831 0.33601874 0.04630409
+v 0.26485323 0.29026860 -0.02726380
+v 0.25187077 0.33397637 0.04705432
+v 0.23027157 0.29356685 -0.06114598
+v 0.23728266 0.33323173 -0.04340102
+v 0.26269663 0.31991742 0.02465532
+v 0.26333853 0.30496063 -0.00573000
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 7 1 6
+f 8 2 5
+f 9 4 3
+f 10 3 4
+f 11 1 2
+f 11 8 3
+f 11 2 8
+f 12 7 6
+f 12 4 7
+f 12 10 4
+f 12 6 10
+f 13 5 4
+f 13 4 9
+f 13 9 8
+f 13 8 5
+f 14 9 3
+f 14 3 8
+f 14 8 9
+f 15 10 6
+f 15 3 10
+f 15 6 1
+f 16 11 3
+f 16 3 15
+f 16 15 1
+f 16 1 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ba59473536d88c2a1dd873464567938c2d83f00
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.09572477 0.43872653 -0.06114602
+v 0.10633243 0.45857207 -0.03145685
+v -0.08291327 0.45101102 -0.04607063
+v -0.07766910 0.47917779 -0.02156914
+v 0.06404290 0.47335401 -0.04112695
+v -0.08372692 0.46884482 -0.02764108
+v 0.09553697 0.46212875 -0.04368888
+v 0.08068777 0.47827693 -0.02145366
+v -0.08071412 0.44376138 -0.06114602
+v 0.09872794 0.47264800 -0.02267439
+v 0.09711050 0.45216447 -0.04995853
+v 0.08025173 0.47683951 -0.02824972
+v 0.03851911 0.46706214 -0.05021963
+v -0.07715936 0.47749740 -0.02867905
+v -0.06095053 0.47401191 -0.04155630
+v -0.03523458 0.46713768 -0.05035650
+f 1 2 3
+f 6 3 2
+f 7 1 5
+f 9 1 3
+f 9 3 6
+f 10 6 2
+f 10 4 6
+f 10 8 4
+f 10 2 7
+f 11 7 2
+f 11 2 1
+f 11 1 7
+f 12 4 8
+f 12 8 10
+f 12 10 7
+f 12 7 5
+f 13 5 1
+f 13 1 9
+f 14 9 6
+f 14 6 4
+f 14 4 12
+f 15 9 14
+f 15 5 13
+f 15 14 12
+f 15 12 5
+f 16 15 13
+f 16 13 9
+f 16 9 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb5ca7ecfed40b9f0913e3ae3a7fa36bb1bcfe46
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.12093188 -0.03525336 -0.02079454
+v 0.15900910 -0.00547044 -0.02293848
+v -0.11836058 -0.03660165 -0.02098207
+v -0.12166405 0.00267256 -0.06114590
+v 0.12422450 0.00404113 -0.06114590
+v -0.13257102 -0.01773294 -0.03043677
+v 0.14907354 -0.00851545 -0.04209065
+v 0.08204419 -0.02820287 -0.05048780
+v -0.12204006 -0.01318241 -0.04920468
+v 0.15512217 -0.00073420 -0.04557843
+v 0.15544758 -0.01628223 -0.02224446
+v 0.09487904 -0.03571743 -0.04227365
+v -0.07881743 -0.02841795 -0.05089307
+v -0.11801736 -0.03595952 -0.02691736
+v 0.12515998 -0.01286054 -0.04854654
+v 0.12057781 -0.03459095 -0.02691736
+v -0.09178662 -0.03637535 -0.04270294
+f 1 2 3
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 9 6 4
+f 10 5 2
+f 11 2 1
+f 11 10 2
+f 11 7 10
+f 12 1 3
+f 12 8 5
+f 13 4 5
+f 13 5 8
+f 14 3 6
+f 14 6 9
+f 15 10 7
+f 15 5 10
+f 15 12 5
+f 15 7 12
+f 16 11 1
+f 16 7 11
+f 16 12 7
+f 16 1 12
+f 17 9 4
+f 17 4 13
+f 17 14 9
+f 17 12 3
+f 17 3 14
+f 17 13 8
+f 17 8 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af12ad55220a252bf281486fe57402e361cbc03d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.24625151 0.10842112 -0.03015431
+v 0.26414577 0.13418844 -0.02691741
+v 0.26483185 0.13398032 -0.02107296
+v 0.25923031 0.28260370 -0.02820100
+v 0.23575719 0.27548321 -0.06114598
+v 0.26987917 0.27664168 -0.02171998
+v 0.25920293 0.11594015 -0.02229369
+v 0.22935716 0.13095296 -0.06114592
+v 0.24081463 0.28161354 -0.04659857
+v 0.26387994 0.17602207 -0.04223334
+v 0.26788145 0.27603568 -0.02923971
+v 0.24948458 0.11888819 -0.04227364
+v 0.23448044 0.27969208 -0.06114598
+v 0.26411096 0.24824310 -0.04237829
+v 0.23525777 0.11429739 -0.05104150
+f 7 2 3
+f 7 3 6
+f 7 6 4
+f 7 4 1
+f 9 1 4
+f 9 8 1
+f 10 6 3
+f 10 3 2
+f 10 8 5
+f 11 4 6
+f 11 6 10
+f 12 7 1
+f 12 2 7
+f 12 10 2
+f 12 8 10
+f 13 9 4
+f 13 5 8
+f 13 8 9
+f 13 4 11
+f 14 11 10
+f 14 10 5
+f 14 13 11
+f 14 5 13
+f 15 12 1
+f 15 1 8
+f 15 8 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24d964af5dd98f90ba36d5834b0db294acec0b98
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.24480491 0.10743478 -0.03145687
+v -0.22495941 0.11804238 -0.06114592
+v -0.23822653 0.28182706 -0.04793128
+v -0.25811103 0.28326279 -0.02961431
+v -0.25958677 0.14972426 -0.04112698
+v -0.24836157 0.11823021 -0.04368889
+v -0.26450975 0.13307939 -0.02145368
+v -0.23547982 0.27639767 -0.06114598
+v -0.23839724 0.11665670 -0.04995850
+v -0.25888087 0.11503923 -0.02267441
+v -0.26955712 0.27754258 -0.02210070
+v -0.23320250 0.28030303 -0.06114598
+v -0.25329494 0.17524808 -0.05021958
+v -0.26307227 0.13351544 -0.02824975
+v -0.26024475 0.27471769 -0.04155632
+v -0.25337045 0.24900178 -0.05035645
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 9 6 2
+f 9 2 1
+f 9 1 6
+f 10 1 4
+f 10 6 1
+f 11 10 4
+f 11 7 10
+f 12 3 2
+f 12 2 8
+f 12 4 3
+f 13 8 2
+f 13 2 5
+f 14 10 7
+f 14 5 6
+f 14 6 10
+f 14 11 5
+f 14 7 11
+f 15 11 4
+f 15 4 12
+f 15 12 8
+f 15 13 5
+f 15 5 11
+f 16 15 8
+f 16 8 13
+f 16 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c33223e2e4dfbf6408e3c22afb8779b4134834d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01819042 -0.49123600 0.05482377
+v 0.02699373 -0.49124830 0.04304807
+v 0.02716918 -0.19091936 0.05369885
+v -0.02685007 -0.19124766 0.05373934
+v -0.02406607 -0.49124014 0.03659894
+v -0.01552340 -0.49123239 0.05611483
+v 0.02364206 -0.48576815 0.05368264
+v 0.02981416 -0.18790214 0.03315090
+v -0.02335614 -0.48668824 0.05356922
+v 0.02701378 -0.49124890 0.04477075
+v 0.01953024 -0.49123594 0.03486010
+v -0.02940184 -0.18815048 0.03318139
+v -0.02610870 -0.49124751 0.04624054
+v 0.02577493 -0.48622577 0.03605185
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 9 6 4
+f 10 7 1
+f 10 3 7
+f 10 8 3
+f 10 2 8
+f 11 2 5
+f 12 4 3
+f 12 3 8
+f 12 11 5
+f 12 8 11
+f 13 6 9
+f 13 5 2
+f 13 2 10
+f 13 10 1
+f 13 1 6
+f 13 12 5
+f 13 9 4
+f 13 4 12
+f 14 11 8
+f 14 8 2
+f 14 2 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e555d68253fe14667a815f38f91166630e8c86
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.19794719 0.40988550 0.03574602
+v -0.13774901 0.45361922 -0.02208464
+v -0.14628234 0.43928097 -0.02853485
+v -0.14170378 0.46101809 0.04630405
+v -0.17853689 0.43574595 0.04630405
+v -0.15144602 0.44894157 0.04705429
+v -0.19158325 0.40466272 -0.02635582
+v -0.16205296 0.44927392 0.04630405
+v -0.18013881 0.41070555 -0.03066825
+v -0.18955411 0.41886749 0.04705430
+v -0.17333947 0.42941285 -0.02048106
+v -0.14958357 0.44741360 -0.02122145
+v -0.17144659 0.43372785 0.04705430
+v -0.15919861 0.44579586 0.00962654
+f 3 2 4
+f 6 3 4
+f 8 6 4
+f 9 6 1
+f 9 3 6
+f 9 1 7
+f 10 5 1
+f 10 1 6
+f 10 8 5
+f 11 9 7
+f 11 5 8
+f 11 7 1
+f 11 1 5
+f 12 8 4
+f 12 4 2
+f 12 2 3
+f 12 3 9
+f 12 9 11
+f 13 10 6
+f 13 6 8
+f 13 8 10
+f 14 12 11
+f 14 11 8
+f 14 8 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff4a1b3df996a506821c30b86a3eecda2978d023
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.25313758 0.09592798 0.04705440
+v -0.25173177 0.11261174 -0.02369336
+v -0.25811103 0.28326279 -0.02961431
+v -0.27051330 0.28242883 0.04705434
+v -0.27794945 0.14875017 0.04630414
+v -0.24886966 0.09820923 0.00696520
+v -0.26444473 0.10423080 0.04630416
+v -0.26411320 0.12400736 0.04705440
+v -0.27716309 0.20618488 -0.02121543
+v -0.26036330 0.11918568 -0.02092213
+v -0.26025162 0.10596763 0.00948482
+v -0.27886396 0.27576962 0.04630409
+v -0.27607333 0.17598918 -0.00592958
+v -0.26265495 0.28464118 -0.00991976
+v -0.26955712 0.27754258 -0.02210070
+v -0.27539546 0.14952491 0.02454771
+v -0.27602342 0.23309679 -0.02107494
+v -0.27629641 0.27499076 0.02443223
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 3 2
+f 10 9 2
+f 11 6 1
+f 11 1 7
+f 11 7 5
+f 11 5 10
+f 11 10 2
+f 11 2 6
+f 12 9 5
+f 12 5 4
+f 13 5 9
+f 13 9 10
+f 14 12 4
+f 14 4 3
+f 15 14 3
+f 15 12 14
+f 16 13 10
+f 16 10 5
+f 16 5 13
+f 17 15 3
+f 17 3 9
+f 17 9 12
+f 18 17 12
+f 18 12 15
+f 18 15 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96c64e10d3c693b0943a0c7521d3cf7c4fb64ff4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16072807 0.09849208 -0.05110095
+v 0.16073690 0.09848485 -0.06114592
+v 0.16073690 0.23484849 -0.06114597
+v 0.00921539 0.23483897 -0.05094404
+v 0.00922175 0.09848485 -0.06114592
+v 0.16072557 0.23484737 -0.05106916
+v 0.00921950 0.09849613 -0.05102820
+v 0.00922174 0.23484848 -0.06114597
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37e3f62adea0e8a91622de1322802999bd580832
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00921948 -0.00756439 -0.05112315
+v 0.00922175 -0.00757576 -0.06114589
+v 0.00922174 0.23484848 -0.06114597
+v -0.12713059 0.23484737 -0.05103908
+v -0.12822265 -0.00959774 -0.04257286
+v -0.12714189 0.23484849 -0.06114597
+v 0.00921539 0.23483897 -0.05094404
+v -0.12166405 0.00267256 -0.06114590
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fad9173af59ea08506e6832404a865e136a67a7e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.24158385 0.15754705 -0.04805497
+v 0.23649447 0.15909091 -0.06114594
+v 0.24269811 0.32907348 -0.02764609
+v 0.15703794 0.44246250 -0.02255198
+v 0.16072556 0.15909316 -0.05107702
+v 0.15103508 0.40484497 -0.06114601
+v 0.16073690 0.15909091 -0.06114594
+v 0.23806241 0.34174717 -0.02348187
+v 0.22694963 0.33580726 -0.04920470
+v 0.15455323 0.43943488 -0.03233251
+v 0.16618206 0.43514247 -0.02139032
+v 0.20937653 0.39169456 -0.02875284
+v 0.16531746 0.43408894 -0.02801431
+v 0.21076768 0.39283624 -0.02158900
+v 0.19013138 0.40348651 -0.04059771
+v 0.21252619 0.36397640 -0.04815349
+v 0.17710942 0.41484381 -0.03985917
+v 0.16903413 0.40831471 -0.04923777
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 6
+f 8 5 1
+f 8 1 3
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 5 4
+f 11 4 5
+f 11 5 8
+f 12 8 3
+f 12 3 9
+f 13 10 4
+f 13 4 11
+f 14 11 8
+f 14 8 12
+f 14 13 11
+f 14 12 13
+f 15 13 12
+f 16 15 12
+f 16 12 9
+f 16 9 6
+f 16 6 15
+f 17 10 13
+f 17 13 15
+f 18 17 15
+f 18 15 6
+f 18 6 10
+f 18 10 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fce3936a0ddaf9015869115cf36fefef15afd2d4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.27758721 0.27997850 0.04630409
+v -0.17916415 0.37931907 -0.06114600
+v -0.20288853 0.29545122 -0.05111944
+v -0.18596707 0.42964817 0.04630405
+v -0.23277183 0.36288326 -0.02738657
+v -0.18773830 0.34090264 -0.05113043
+v -0.27051330 0.28242883 0.04705434
+v -0.23550679 0.37582016 0.04630407
+v -0.17908890 0.42126706 -0.02989607
+v -0.23547982 0.27639767 -0.06114598
+v -0.20289947 0.29545454 -0.06114598
+v -0.26496058 0.32160278 0.04630409
+v -0.19900247 0.41075147 0.04705431
+v -0.18947477 0.40324240 -0.04165860
+v -0.20150734 0.40308963 -0.02691750
+v -0.24703759 0.31695527 -0.04191097
+v -0.18774795 0.34090909 -0.06114599
+v -0.24500854 0.34617374 -0.00554285
+v -0.21996063 0.38521383 0.04705431
+v -0.19502081 0.42221798 0.04630405
+v -0.18030701 0.40759982 -0.04557856
+v -0.23202874 0.37296580 0.00962652
+v -0.21622156 0.37242772 -0.03985388
+v -0.18932249 0.41527453 -0.02691751
+v -0.20969688 0.36435606 -0.04923275
+v -0.26675846 0.27669361 -0.03065497
+v -0.26502762 0.30051248 0.04705434
+v -0.21564570 0.38710663 -0.02048107
+v -0.23861232 0.30765093 -0.05036378
+v -0.26057390 0.30512056 -0.02691747
+v -0.26062223 0.32028674 0.00934772
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 9 4 2
+f 10 7 1
+f 10 3 7
+f 11 10 2
+f 11 3 10
+f 12 1 7
+f 13 7 4
+f 17 11 2
+f 17 2 6
+f 17 6 3
+f 17 3 11
+f 18 12 8
+f 18 8 5
+f 19 8 12
+f 19 13 8
+f 20 13 4
+f 20 8 13
+f 20 15 8
+f 21 9 2
+f 22 5 8
+f 22 8 15
+f 23 15 14
+f 23 5 15
+f 23 16 5
+f 24 14 15
+f 24 21 14
+f 24 9 21
+f 24 15 20
+f 24 20 4
+f 24 4 9
+f 25 16 23
+f 25 21 2
+f 25 23 14
+f 25 14 21
+f 26 16 10
+f 26 10 1
+f 27 19 12
+f 27 12 7
+f 27 7 13
+f 27 13 19
+f 28 22 15
+f 28 15 5
+f 28 5 22
+f 29 10 16
+f 29 16 25
+f 29 25 2
+f 29 2 10
+f 30 26 1
+f 30 1 12
+f 30 5 16
+f 30 16 26
+f 31 30 12
+f 31 12 18
+f 31 18 5
+f 31 5 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2216af328cfebab00944a745080cdeff655751e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.13533581 -0.01674664 -0.02974052
+v 0.16520067 0.00213665 -0.02764737
+v 0.15900910 -0.00547044 -0.02293848
+v 0.00921950 0.09849613 -0.05102820
+v 0.16073690 0.09848485 -0.06114592
+v 0.00921948 -0.00756439 -0.05112315
+v 0.15512217 -0.00073420 -0.04557843
+v 0.16072807 0.09849208 -0.05110095
+v 0.00922175 0.09848485 -0.06114592
+v 0.15493703 0.01464291 -0.05223506
+v 0.00922175 -0.00757576 -0.06114589
+v 0.14100108 0.00100085 -0.05118455
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 4
+f 9 4 5
+f 10 5 2
+f 10 2 7
+f 11 1 6
+f 11 5 10
+f 11 9 5
+f 11 6 9
+f 12 7 1
+f 12 1 11
+f 12 11 10
+f 12 10 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88e8c6d4d518eb19b15c665ef808c21d19b9316e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.26018169 0.11104706 0.04705440
+v 0.26483185 0.13398032 -0.02107296
+v 0.28100381 0.16067629 0.04630413
+v 0.27079069 0.28151436 0.04705434
+v 0.25923031 0.28260370 -0.02820100
+v 0.26859947 0.13879657 0.04705440
+v 0.26853241 0.11770624 0.04630415
+v 0.25205243 0.11351307 -0.02331853
+v 0.26642598 0.28478647 0.02032280
+v 0.27974799 0.23313940 0.00917476
+v 0.25920293 0.11594015 -0.02229369
+v 0.27943164 0.19113417 0.00921376
+v 0.26987917 0.27664168 -0.02171998
+v 0.28132492 0.26359775 0.04630409
+v 0.28016417 0.16075898 0.03942649
+v 0.27786459 0.27906403 0.04630409
+v 0.28048052 0.26351459 0.03938750
+f 6 3 4
+f 6 4 1
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 11 8 5
+f 11 5 2
+f 11 2 7
+f 11 7 1
+f 11 1 8
+f 12 10 3
+f 13 2 5
+f 13 5 9
+f 13 12 2
+f 13 10 12
+f 14 4 3
+f 14 3 10
+f 15 12 3
+f 15 3 2
+f 15 2 12
+f 16 13 9
+f 16 9 4
+f 16 4 14
+f 17 14 10
+f 17 10 13
+f 17 16 14
+f 17 13 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c7f444e4515babef5c1e65e32a318237fd8cba
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.25764831 0.33601874 0.04630409
+v 0.25359857 0.33385411 0.00887172
+v 0.19179034 0.41427038 -0.02048249
+v 0.15604884 0.45335047 0.04630405
+v 0.22023683 0.34031785 -0.05130851
+v 0.23683164 0.37420581 0.04630407
+v 0.23728266 0.33323173 -0.04340102
+v 0.24557176 0.34576099 0.04705432
+v 0.15703794 0.44246250 -0.02255198
+v 0.16402007 0.44765960 0.04630405
+v 0.23376168 0.36165276 -0.02691748
+v 0.17341372 0.43211348 0.04705430
+v 0.16636416 0.42352346 -0.02878904
+v 0.21611566 0.36692219 -0.04557854
+v 0.25134930 0.34780337 0.04630408
+v 0.23479823 0.37253704 0.02486096
+v 0.15474439 0.45091003 0.02374675
+v 0.22213356 0.36219201 -0.04293423
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 10 6 3
+f 10 9 4
+f 10 3 9
+f 11 2 7
+f 12 4 5
+f 12 5 8
+f 12 10 4
+f 12 8 6
+f 12 6 10
+f 13 5 4
+f 14 9 3
+f 14 13 9
+f 14 5 13
+f 14 7 5
+f 15 11 6
+f 15 1 2
+f 15 2 11
+f 15 8 1
+f 15 6 8
+f 16 11 3
+f 16 3 6
+f 16 6 11
+f 17 13 4
+f 17 4 9
+f 17 9 13
+f 18 11 7
+f 18 7 14
+f 18 14 3
+f 18 3 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5467e10cae3aadadf42a33e6accd92c8dc90cbe
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.12713545 0.03788843 -0.05112133
+v -0.12714189 0.03787879 -0.06114590
+v -0.12714189 0.34090909 -0.06114599
+v -0.20827083 0.34378013 -0.04945408
+v -0.23427009 0.09791421 -0.03917234
+v -0.22999419 0.29448131 -0.06114598
+v -0.12713370 0.34090123 -0.05108441
+v -0.18923645 0.03665720 -0.04190772
+v -0.20289947 0.34090909 -0.06114599
+v -0.23724380 0.29668047 -0.04607058
+v -0.21866040 0.10625775 -0.06114592
+v -0.17754986 0.04624813 -0.06114590
+f 6 3 2
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 11 6 2
+f 11 5 6
+f 12 8 5
+f 12 5 11
+f 12 11 2
+f 12 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d03828048885cdfd999df1c0d44bfaa0ee5f6164
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_13">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="FryPan" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
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+        </body>
+        <geom class="region" name="reg_bbox" type="box" pos="0.0003076199999999946 -0.0548272225 -0.0006288987500000006" size="0.07033123000000001 0.12315778000000002 0.014657606250000003"/>
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+        <geom rgba="0 0 0 0 " size="0.062 0.012" pos="0 -0.002 0" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
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+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_3/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6323144f68c7723741bbdab626464a95a992e1be
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_3/visual/model_normalized_0.obj
@@ -0,0 +1,3556 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.02216855 -0.05819912 0.02992806
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+f 496/496/496 843/843/843 497/497/497
+f 844/844/844 845/845/845 846/846/846
+f 844/844/844 846/846/846 847/847/847
+f 832/832/832 848/848/848 849/849/849
+f 832/832/832 849/849/849 833/833/833
+f 834/834/834 850/850/850 851/851/851
+f 834/834/834 851/851/851 835/835/835
+f 836/836/836 537/537/537 538/538/538
+f 836/836/836 538/538/538 837/837/837
+f 838/838/838 533/533/533 536/536/536
+f 838/838/838 536/536/536 839/839/839
+f 840/840/840 852/852/852 853/853/853
+f 840/840/840 853/853/853 841/841/841
+f 854/854/854 529/529/529 530/530/530
+f 854/854/854 530/530/530 855/855/855
+f 845/845/845 527/527/527 528/528/528
+f 845/845/845 528/528/528 846/846/846
+f 848/848/848 525/525/525 526/526/526
+f 848/848/848 526/526/526 849/849/849
+f 850/850/850 523/523/523 524/524/524
+f 850/850/850 524/524/524 851/851/851
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_4/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8af9159d1af93cc0b2d5e55f88dfc27ec813cfd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.27419444 0.31479075 0.00450890
+v 0.27264363 0.32101470 -0.02788681
+v 0.26881794 0.34927285 0.03448545
+v 0.21162923 0.40866763 0.03475300
+v 0.17545634 0.37121213 -0.04712829
+v 0.22401261 0.39162614 -0.02788683
+v 0.26848981 0.33499173 0.03313096
+v 0.28137287 0.32568056 0.03449011
+v 0.22091089 0.32575758 -0.04712827
+v 0.25106860 0.35865834 -0.02788682
+v 0.23779942 0.39050616 0.03448543
+v 0.17750500 0.40401143 -0.03200745
+v 0.17545080 0.37120383 -0.03859873
+v 0.27214788 0.31369684 -0.01027845
+v 0.22090259 0.32575203 -0.03860506
+v 0.16877714 0.39337652 -0.04712829
+v 0.26313437 0.34623492 -0.00592545
+v 0.26634462 0.33279932 -0.02788681
+v 0.25132742 0.37402225 0.03448544
+v 0.24487973 0.32237189 -0.03837577
+v 0.20011378 0.39463599 -0.03447245
+v 0.24385856 0.33697758 -0.03574340
+f 8 2 3
+f 8 3 4
+f 8 4 7
+f 11 6 4
+f 11 10 6
+f 12 4 6
+f 13 7 4
+f 14 8 1
+f 14 2 8
+f 15 8 7
+f 15 7 13
+f 15 13 5
+f 15 5 9
+f 15 1 8
+f 15 14 1
+f 15 9 14
+f 16 9 5
+f 16 10 9
+f 16 6 10
+f 16 5 13
+f 16 13 4
+f 16 4 12
+f 17 10 3
+f 17 3 2
+f 18 2 9
+f 18 17 2
+f 18 10 17
+f 19 11 4
+f 19 4 3
+f 19 3 10
+f 19 10 11
+f 20 14 9
+f 20 9 2
+f 20 2 14
+f 21 16 12
+f 21 12 6
+f 21 6 16
+f 22 18 9
+f 22 9 10
+f 22 10 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_4/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0e2a213896c47aae5178945c993bc90c77a46a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.11210696 -0.11259634 0.03448559
+v -0.10921955 -0.10307786 -0.02788668
+v -0.11012356 -0.06388090 -0.04712815
+v -0.15054544 -0.04227494 -0.04712815
+v -0.16785093 -0.07364676 -0.02788670
+v -0.17605713 -0.07187222 0.03512466
+v -0.10910723 -0.07713099 -0.03871565
+v -0.11989904 -0.09927759 -0.02788668
+v -0.12208099 -0.10140318 0.03298968
+v -0.12757396 -0.05303029 -0.04712815
+v -0.16624080 -0.08578594 0.03448559
+v -0.17166342 -0.05136693 -0.03466059
+v -0.12995088 -0.05747719 -0.03627776
+v -0.18039662 -0.06200838 0.00407935
+v -0.13637254 -0.10175087 0.03448559
+f 5 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 5 3
+f 8 3 2
+f 9 6 1
+f 9 1 3
+f 10 3 4
+f 10 4 6
+f 12 4 5
+f 13 9 3
+f 13 3 10
+f 13 10 6
+f 13 6 9
+f 14 11 6
+f 14 5 11
+f 14 12 5
+f 14 6 4
+f 14 4 12
+f 15 1 6
+f 15 6 11
+f 15 8 1
+f 15 11 5
+f 15 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_4/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f68b581fad3a6b564986e40eb88bd0f9d3d0834b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.13041334 -0.08410327 -0.02688000
+v 0.14693365 -0.05636107 -0.03329690
+v 0.14514777 -0.00756747 -0.03858822
+v -0.17302297 -0.00756747 -0.03859909
+v -0.10910723 -0.07713099 -0.03871565
+v -0.17385878 -0.05404198 -0.02811725
+v 0.14188014 -0.04690663 -0.04712815
+v -0.11326501 -0.08490966 -0.02947636
+v -0.17302851 -0.00757575 -0.04712817
+v 0.12605328 -0.07594619 -0.03566147
+v 0.14515331 -0.00757575 -0.04712817
+v -0.16812084 -0.04705030 -0.03711688
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 6 5
+f 8 5 1
+f 8 1 6
+f 9 6 4
+f 9 7 5
+f 10 7 1
+f 10 1 5
+f 10 5 7
+f 11 3 2
+f 11 2 7
+f 11 7 9
+f 11 9 4
+f 11 4 3
+f 12 9 5
+f 12 5 6
+f 12 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_4/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0c63fe8fde019e2759662dd76d0c0b70c88c5546
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_4/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_36">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="FryPan.001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0.0 -0.045 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_0_vis" conaffinity="0" contype="0" group="1" material="FryPan.001"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        </body>
+        <geom class="region" name="reg_bbox" type="box" pos="-2.561639999999921e-05 -0.045 -0.0006275388000000007" size="0.0748254576 0.11880441120000002 0.010683255600000004"/>
+        <geom rgba="0 0 0 0" size="0.073 0.001" pos="0 0 0" type="cylinder" name="liquid" class="region"/>
+        <geom rgba="0 0 0 0 " size="0.07 0.007" pos="0 -0.002 0.001" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89bfebefe60c42b336d7ee7c2a2aed0ddc0defef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.23833769 -0.12677418 0.00705718
+v 0.22788727 -0.12994427 -0.04160013
+v 0.21828433 -0.01858545 0.03886723
+v 0.17573294 -0.00192240 0.03725575
+v 0.09533577 -0.05303031 -0.03075187
+v 0.23830941 -0.07980022 0.03705955
+v 0.15594183 -0.12878788 -0.03075184
+v 0.16150620 -0.01925776 -0.03369738
+v 0.24186651 -0.11055222 0.01988410
+v 0.21829157 -0.06311399 -0.02086033
+v 0.15594183 -0.12878788 -0.04160014
+v 0.09533577 -0.00757576 -0.04160017
+v 0.18713468 -0.02183709 -0.01817381
+v 0.20396427 -0.06335738 -0.03278182
+v 0.09663189 -0.00514721 -0.02824475
+v 0.09533577 -0.05303030 -0.04160016
+v 0.21391071 -0.02217456 0.01950618
+v 0.21865364 -0.09030645 -0.03402500
+f 6 3 4
+f 7 2 1
+f 7 6 4
+f 7 4 5
+f 9 1 2
+f 9 7 1
+f 9 6 7
+f 10 3 6
+f 10 9 2
+f 10 6 9
+f 11 7 5
+f 11 2 7
+f 12 4 8
+f 12 8 2
+f 12 2 11
+f 13 8 4
+f 14 2 8
+f 14 13 10
+f 14 8 13
+f 15 12 5
+f 15 5 4
+f 15 4 12
+f 16 12 11
+f 16 11 5
+f 16 5 12
+f 17 3 10
+f 17 10 13
+f 17 13 4
+f 17 4 3
+f 18 14 10
+f 18 10 2
+f 18 2 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e5a8da41a9f7dc973eef1bad4a79c9c99bfb78c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08018426 -0.00757575 -0.04160017
+v 0.08114319 -0.00440388 -0.03010025
+v -0.14591191 -0.00900940 -0.00258583
+v -0.03087636 0.09835990 -0.00170215
+v 0.03080134 0.09846292 -0.00292987
+v -0.14221611 -0.01351274 -0.04130941
+v 0.07646665 0.02562348 -0.03605875
+v 0.07751763 0.02908809 0.00183913
+v -0.14698002 0.02252438 -0.00360130
+v 0.08367816 0.01909360 -0.01100694
+v -0.01912323 0.09835417 -0.02391781
+v -0.08261817 0.05544312 0.00322760
+v 0.02216205 0.09839867 -0.02216774
+v -0.02878750 0.09832258 -0.01192778
+v -0.14044900 0.01030573 -0.02300861
+v -0.13858994 -0.00277975 -0.03545498
+f 1 2 3
+f 6 1 3
+f 8 3 2
+f 9 6 3
+f 10 2 1
+f 10 1 7
+f 10 8 2
+f 10 7 5
+f 10 5 8
+f 11 7 1
+f 11 1 6
+f 11 4 5
+f 12 8 5
+f 12 5 4
+f 12 3 8
+f 12 9 3
+f 12 4 9
+f 13 11 5
+f 13 5 7
+f 13 7 11
+f 14 11 9
+f 14 9 4
+f 14 4 11
+f 15 6 9
+f 15 9 11
+f 16 15 11
+f 16 11 6
+f 16 6 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7abfda6f80befaf5f26624a40fe1fa2176030a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.24002904 -0.15889083 -0.00502319
+v -0.19254301 -0.14393939 -0.04160013
+v -0.19254302 -0.14393940 -0.03075184
+v -0.23441155 -0.07715145 0.03355449
+v -0.22241560 -0.09166207 -0.03138255
+v -0.25659839 -0.13829690 0.02947789
+v -0.23262681 -0.14556859 -0.04160012
+v -0.19254302 -0.08333333 -0.04160015
+v -0.24652758 -0.15650335 0.00581007
+v -0.26478071 -0.09331340 0.03204763
+v -0.22174465 -0.07582340 0.01664595
+v -0.27086321 -0.14775819 0.00314588
+v -0.28259434 -0.14419973 0.04060558
+v -0.23590899 -0.09254835 -0.01873539
+v -0.20307780 -0.07770238 -0.01117118
+v -0.26613744 -0.09258838 0.03851592
+v -0.26414042 -0.11949449 0.00653889
+f 1 2 3
+f 6 3 4
+f 7 2 1
+f 8 3 2
+f 8 7 5
+f 8 2 7
+f 9 1 3
+f 9 3 6
+f 11 4 3
+f 12 7 1
+f 13 6 4
+f 13 9 6
+f 13 12 1
+f 13 1 9
+f 14 11 8
+f 14 8 5
+f 14 10 4
+f 14 4 11
+f 14 5 7
+f 14 7 12
+f 15 11 3
+f 15 3 8
+f 15 8 11
+f 16 13 4
+f 16 4 10
+f 16 10 13
+f 17 13 10
+f 17 12 13
+f 17 14 12
+f 17 10 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..552ced1753c2dfad1bd64724faae336f4e6a08b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.13439554 -0.46531079 0.03934780
+v 0.26819374 -0.32096827 0.03995807
+v 0.23315087 -0.33463205 0.02932546
+v 0.15594183 -0.32575758 -0.03075178
+v 0.18808518 -0.37543942 -0.03183393
+v 0.15079792 -0.42886093 0.03115677
+v 0.20286053 -0.41514010 0.03215197
+v 0.13564744 -0.41040006 -0.04087271
+v 0.22044972 -0.31974449 -0.03611088
+v 0.14079032 -0.34090909 -0.03075178
+v 0.24289812 -0.34584916 0.00653895
+v 0.20385216 -0.41634844 0.03820645
+v 0.15832763 -0.43141465 -0.00534139
+v 0.26287821 -0.31812707 0.01791076
+v 0.15594183 -0.32575757 -0.04160007
+v 0.13355892 -0.46374373 0.03054214
+v 0.21429608 -0.38723257 0.00653897
+v 0.21680546 -0.35898899 -0.01895520
+v 0.24613204 -0.36273171 0.03864055
+v 0.15989413 -0.40302042 -0.03139742
+v 0.24814100 -0.31834849 -0.00830365
+v 0.14079032 -0.34090909 -0.04160007
+v 0.13477365 -0.45086485 0.00294127
+v 0.15830684 -0.44589472 0.01869312
+v 0.18789232 -0.41536343 0.00653898
+v 0.21724940 -0.33318539 -0.03267501
+v 0.26208133 -0.33285265 0.03874716
+v 0.24470594 -0.36196694 0.03164516
+v 0.24380344 -0.33118153 -0.00499629
+v 0.14627634 -0.45918985 0.03820661
+v 0.14727926 -0.44591471 0.00587126
+v 0.25705321 -0.33016508 0.01942878
+v 0.21413198 -0.40224946 0.03244899
+v 0.14555396 -0.45783834 0.03227093
+v 0.21528101 -0.40319246 0.03820640
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 9 5 8
+f 10 6 3
+f 10 3 4
+f 10 1 6
+f 12 2 1
+f 14 4 2
+f 15 9 8
+f 15 4 9
+f 16 10 8
+f 16 1 10
+f 18 11 17
+f 19 2 12
+f 20 13 8
+f 20 8 5
+f 21 9 4
+f 21 4 14
+f 22 15 8
+f 22 8 10
+f 22 10 4
+f 22 4 15
+f 23 16 8
+f 23 8 13
+f 24 7 12
+f 25 18 17
+f 25 5 18
+f 25 20 5
+f 25 13 20
+f 25 17 7
+f 25 24 13
+f 25 7 24
+f 26 18 5
+f 26 5 9
+f 26 21 18
+f 26 9 21
+f 27 14 2
+f 27 2 19
+f 28 27 19
+f 28 14 27
+f 28 17 11
+f 29 21 14
+f 29 14 11
+f 29 11 18
+f 29 18 21
+f 30 24 12
+f 30 12 1
+f 30 1 16
+f 31 23 13
+f 31 13 24
+f 31 24 16
+f 31 16 23
+f 32 28 11
+f 32 11 14
+f 32 14 28
+f 33 7 17
+f 33 17 28
+f 34 30 16
+f 34 16 24
+f 34 24 30
+f 35 33 28
+f 35 28 19
+f 35 19 12
+f 35 12 7
+f 35 7 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f5eba8e3eb6abffbd17057eac98d09199ac521
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.05488009 -0.49438569 0.03937763
+v -0.05521427 -0.48655301 0.01382246
+v -0.05860619 -0.43981835 -0.00938479
+v -0.13618848 -0.40669564 -0.00821502
+v -0.12745252 -0.46888421 0.04004572
+v -0.08566717 -0.45943374 -0.01667642
+v -0.06184807 -0.46565697 0.02850424
+v -0.05470477 -0.49260384 0.03046569
+v -0.05916279 -0.47195623 -0.01063259
+v -0.12232444 -0.41187794 -0.01164824
+v -0.11191083 -0.45300143 -0.01191919
+v -0.14063458 -0.41211322 0.00223722
+v -0.13643829 -0.44023963 0.03529130
+v -0.10908706 -0.47233144 0.01901521
+v -0.12247392 -0.45956868 0.00653899
+v -0.06593509 -0.48978817 0.03138056
+v -0.10757326 -0.46003789 -0.00573156
+v -0.06641922 -0.49138412 0.03874157
+v -0.08277254 -0.46504289 -0.01027885
+v -0.11132779 -0.47772320 0.03894377
+f 7 1 3
+f 8 2 3
+f 8 3 1
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 11 10 6
+f 11 4 10
+f 12 7 3
+f 12 3 4
+f 13 5 1
+f 13 1 7
+f 13 12 5
+f 13 7 12
+f 15 5 12
+f 15 14 5
+f 15 12 4
+f 15 4 11
+f 16 14 2
+f 16 2 8
+f 17 2 14
+f 17 11 6
+f 17 15 11
+f 17 14 15
+f 18 16 8
+f 18 8 1
+f 19 17 6
+f 19 6 9
+f 19 9 2
+f 19 2 17
+f 20 18 1
+f 20 1 5
+f 20 5 14
+f 20 14 16
+f 20 16 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d188331f272f38750839dee32f1724e2860f847
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.21458261 -0.01435900 0.03996741
+v -0.10082457 0.02121309 -0.03229533
+v -0.10433569 0.01263041 -0.00720709
+v -0.10004228 0.06293376 0.04060335
+v -0.13687723 0.03392643 0.00653884
+v -0.09676635 0.05213556 0.00503188
+v -0.10925031 0.03697654 0.03190683
+v -0.17127339 -0.01503070 -0.02431201
+v -0.15374494 0.03713656 0.03883442
+v -0.09895257 0.02992093 -0.02554599
+v -0.12119319 0.04808166 0.01942883
+v -0.15875357 0.00663820 0.03047457
+v -0.14702073 -0.00765830 -0.03391505
+v -0.12162763 0.00148336 -0.00996857
+v -0.19474468 -0.00820367 0.00653886
+v -0.12220956 0.03483163 -0.00499665
+v -0.10718550 0.04979699 0.00653884
+v -0.12386821 0.05308334 0.03895371
+v -0.15299508 0.03573427 0.03164491
+v -0.15001712 0.00783369 -0.01895542
+v -0.19862507 -0.01501887 0.00240320
+v -0.17826077 0.00532432 0.00653886
+v -0.19421005 0.00629599 0.03829863
+v -0.12347822 0.02205364 -0.01999019
+v -0.21313424 -0.01554602 0.02982530
+v -0.16599532 -0.00631053 -0.01997464
+v -0.19327764 0.00516028 0.03244881
+v -0.20616836 -0.00611126 0.03215178
+v -0.20734938 -0.00514505 0.03842180
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 9 1 4
+f 10 6 3
+f 10 3 2
+f 12 7 1
+f 12 3 7
+f 14 1 8
+f 14 12 1
+f 14 3 12
+f 14 8 13
+f 14 13 2
+f 14 2 3
+f 17 5 11
+f 17 16 5
+f 17 6 10
+f 17 10 16
+f 17 4 6
+f 18 9 4
+f 18 17 11
+f 18 4 17
+f 19 11 5
+f 19 18 11
+f 19 9 18
+f 20 2 13
+f 20 13 8
+f 20 5 16
+f 22 19 5
+f 22 20 15
+f 22 5 20
+f 23 1 9
+f 23 9 19
+f 24 10 2
+f 24 2 20
+f 24 20 16
+f 24 16 10
+f 25 21 8
+f 25 8 1
+f 26 20 8
+f 26 8 21
+f 26 21 15
+f 26 15 20
+f 27 22 15
+f 27 23 19
+f 27 19 22
+f 28 15 21
+f 28 21 25
+f 28 27 15
+f 28 23 27
+f 29 28 25
+f 29 25 1
+f 29 1 23
+f 29 23 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5d2dc39b21f433f3374f507982a8e4f59deb71
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.04908338 0.03524863 -0.00205769
+v 0.05492860 0.05451772 0.03120829
+v -0.10925031 0.03697654 0.03190683
+v -0.02602297 0.09837809 0.01651839
+v 0.02516730 0.09861520 -0.01767566
+v 0.04905613 0.07708926 0.04061166
+v -0.10433569 0.01263041 -0.00720709
+v 0.03080134 0.09846292 -0.00292987
+v -0.10004228 0.06293376 0.04060335
+v -0.10750664 0.01856284 0.00385341
+v -0.01149750 0.03432209 -0.01075995
+v -0.03087636 0.09835990 -0.00170215
+v 0.01200083 0.09839116 0.02908623
+v -0.09676635 0.05213556 0.00503188
+v -0.08958734 0.01781131 -0.01019617
+v 0.02407253 0.09841174 0.01943310
+v -0.01568698 0.09837992 0.02661097
+v -0.08202085 0.06862438 0.03926776
+f 6 3 2
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 3 6
+f 10 7 2
+f 10 2 3
+f 11 5 1
+f 12 4 5
+f 12 9 4
+f 14 7 10
+f 14 12 7
+f 14 9 12
+f 14 10 3
+f 14 3 9
+f 15 5 11
+f 15 12 5
+f 15 7 12
+f 15 11 1
+f 15 1 7
+f 16 8 5
+f 16 5 13
+f 16 13 6
+f 16 6 8
+f 17 13 5
+f 17 5 4
+f 17 4 9
+f 18 9 6
+f 18 6 13
+f 18 17 9
+f 18 13 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3dc130e0d4f83ec86ddeb5a5286c29bdb1038b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.08648241 -0.08333334 -0.03075186
+v -0.08648241 -0.08333333 -0.04160015
+v -0.08793220 -0.00485441 -0.02937157
+v -0.13749229 0.00281756 0.00426288
+v -0.25179286 -0.08405824 0.01204581
+v -0.08648241 -0.00757576 -0.04160017
+v -0.24149511 -0.08956250 -0.00998688
+v -0.24093524 -0.05955872 0.01697484
+v -0.21316084 -0.08851019 -0.03792785
+v -0.23694298 -0.06169263 0.00587111
+v -0.23715752 -0.07672949 -0.00667956
+v -0.20994069 -0.01816691 0.01800620
+v -0.21008674 -0.07500182 -0.03435768
+v -0.20639170 -0.02107949 0.00653886
+v -0.16646748 -0.02088674 -0.03183432
+v -0.22244284 -0.05064420 -0.00534155
+v -0.19404851 -0.04907775 -0.03139772
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 6 4 3
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 2 1
+f 9 1 7
+f 9 6 2
+f 10 5 8
+f 11 7 5
+f 11 5 10
+f 12 8 4
+f 13 9 7
+f 13 7 11
+f 14 10 8
+f 14 8 12
+f 14 12 4
+f 15 6 9
+f 15 14 4
+f 15 4 6
+f 16 13 11
+f 16 11 10
+f 16 10 14
+f 17 15 9
+f 17 9 13
+f 17 13 16
+f 17 16 14
+f 17 14 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a4552df814d5c15402a69ee078fc4965414fd4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.21196584 -0.01133705 0.04060473
+v 0.20691488 -0.01548136 0.01641934
+v 0.14605705 0.03453718 0.01878934
+v 0.07624019 0.07033042 0.03954263
+v 0.08018426 -0.00757575 -0.04160017
+v 0.17393544 0.02287932 0.03855782
+v 0.08336285 0.04835718 0.03510510
+v 0.14933059 -0.01563160 -0.03850201
+v 0.09014748 0.06622845 0.03885159
+v 0.20565737 -0.00328842 0.03920781
+v 0.15801346 0.02194090 0.00653885
+v 0.08114319 -0.00440388 -0.03010025
+v 0.07603820 0.03936258 -0.02285370
+v 0.11614112 0.05041290 0.01850115
+v 0.17295521 0.02168532 0.03199006
+v 0.14561474 -0.00500787 -0.03278192
+v 0.07646665 0.02562348 -0.03605875
+v 0.10503344 0.05020288 0.00608616
+v 0.20154152 -0.00743024 0.01891399
+v 0.07572947 0.06864786 0.03054370
+v 0.09099508 0.02356944 -0.03386026
+v 0.14687880 0.02092306 -0.00594433
+v 0.18679763 0.00493863 0.01950623
+v 0.08968402 0.06470200 0.03160827
+v 0.09039754 0.03675114 -0.02071935
+v 0.11687516 0.03663468 -0.00637144
+f 5 2 1
+f 6 4 1
+f 7 1 4
+f 8 2 5
+f 9 4 6
+f 10 6 1
+f 10 1 2
+f 12 5 1
+f 12 1 7
+f 12 7 4
+f 12 4 5
+f 14 9 6
+f 14 6 3
+f 15 11 3
+f 15 3 6
+f 15 6 10
+f 16 2 8
+f 17 8 5
+f 18 14 3
+f 18 3 11
+f 19 15 10
+f 19 10 2
+f 19 2 16
+f 20 17 5
+f 20 5 4
+f 20 13 17
+f 20 18 13
+f 20 4 9
+f 21 16 8
+f 21 8 17
+f 21 17 13
+f 22 18 11
+f 22 16 21
+f 22 19 16
+f 22 11 19
+f 23 19 11
+f 23 11 15
+f 23 15 19
+f 24 20 9
+f 24 9 14
+f 24 14 18
+f 24 18 20
+f 25 21 13
+f 25 13 18
+f 26 22 21
+f 26 21 25
+f 26 25 18
+f 26 18 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e995d3a2f7f23640fa670ce315bbaa51a7db8b73
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.26298697 -0.26813582 0.03502658
+v -0.24429838 -0.26706286 0.00713480
+v -0.25093332 -0.26907555 0.01776322
+v -0.26182171 -0.14130858 0.03601914
+v -0.27997046 -0.16092612 0.01800625
+v -0.25005714 -0.14028116 0.01863611
+v -0.27942181 -0.26326227 0.01819460
+v -0.28540402 -0.26385151 0.03949708
+v -0.27567819 -0.14629758 0.01468258
+v -0.28409046 -0.14834199 0.03922574
+v -0.24351589 -0.14226542 0.00779434
+v -0.28245666 -0.14883752 0.03093803
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 4 6
+f 9 7 5
+f 9 2 7
+f 10 8 4
+f 10 4 9
+f 11 9 6
+f 11 6 2
+f 11 2 9
+f 12 5 8
+f 12 8 10
+f 12 10 9
+f 12 9 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa14abb1141e8aae07f3460527b0907fefce09b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.17277486 -0.44134530 0.04044678
+v -0.16874622 -0.43643538 0.01688623
+v -0.24429838 -0.26706286 0.00713480
+v -0.28540402 -0.26385151 0.03949708
+v -0.23749721 -0.37351846 0.03180929
+v -0.26298697 -0.26813582 0.03502658
+v -0.18417440 -0.37677872 0.00559229
+v -0.18200871 -0.43413366 0.03883128
+v -0.27758121 -0.26418612 0.01382239
+v -0.18748735 -0.39866546 0.03106239
+v -0.22072328 -0.38733851 0.01927256
+v -0.23873928 -0.37454036 0.03845474
+v -0.26875042 -0.32027150 0.03902790
+v -0.28363201 -0.26367694 0.03046567
+v -0.20335100 -0.34977896 0.00212807
+v -0.17836638 -0.42969540 0.01927269
+v -0.26335959 -0.31805882 0.01901538
+v -0.28240479 -0.27539153 0.03879843
+v -0.24872249 -0.34559595 0.01922080
+v -0.28081626 -0.27490728 0.03138058
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 8 2 1
+f 10 6 1
+f 10 3 6
+f 10 7 3
+f 10 1 7
+f 12 8 1
+f 12 11 8
+f 12 5 11
+f 13 5 12
+f 13 12 1
+f 13 1 4
+f 14 4 3
+f 14 3 9
+f 15 9 3
+f 15 3 7
+f 15 7 2
+f 15 2 11
+f 16 11 2
+f 16 2 8
+f 16 8 11
+f 17 9 15
+f 18 13 4
+f 18 4 14
+f 19 11 5
+f 19 5 13
+f 19 13 17
+f 19 17 15
+f 19 15 11
+f 20 14 9
+f 20 9 17
+f 20 17 13
+f 20 18 14
+f 20 13 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f90bad870c8dcad73050081426c774c511eaaff
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.24008655 -0.33024060 0.03546529
+v 0.28517090 -0.26444984 0.04052469
+v 0.26073773 -0.26936403 0.03226792
+v 0.23541642 -0.26627906 -0.00625490
+v 0.25876872 -0.31615727 0.00653894
+v 0.20779568 -0.32917807 -0.00850370
+v 0.26819374 -0.32096827 0.03995807
+v 0.27102996 -0.26329382 -0.00038074
+v 0.21393551 -0.33245989 0.00205941
+v 0.27202803 -0.28930343 0.01886682
+v 0.22704596 -0.28348758 -0.01087686
+v 0.21218713 -0.31637384 -0.01178551
+v 0.27761916 -0.29099954 0.03907255
+v 0.27883464 -0.26382475 0.01684947
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 7 2 1
+f 8 4 2
+f 9 1 3
+f 9 3 6
+f 9 6 5
+f 9 7 1
+f 9 5 7
+f 10 7 5
+f 11 4 8
+f 12 8 5
+f 12 5 6
+f 12 11 8
+f 12 6 4
+f 12 4 11
+f 13 2 7
+f 13 7 10
+f 14 8 2
+f 14 13 10
+f 14 2 13
+f 14 10 5
+f 14 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0d1a32205d3e19b80b0c71feb35c6d84680cb5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.28517090 -0.26444984 0.04052469
+v 0.27430216 -0.26337834 0.00572203
+v 0.27358588 -0.13446640 0.01829542
+v 0.22551753 -0.02780183 0.04043282
+v 0.23541642 -0.26627906 -0.00625490
+v 0.27521941 -0.11881946 0.03872567
+v 0.27478499 -0.16081654 0.00546872
+v 0.26073773 -0.26936403 0.03226792
+v 0.23091300 -0.05095870 0.00653886
+v 0.23169941 -0.21969697 -0.04160011
+v 0.24205094 -0.26829161 0.00437453
+v 0.25917477 -0.10393876 0.00608624
+v 0.24350916 -0.06291515 0.01878931
+v 0.26116526 -0.21812221 -0.02145902
+v 0.22422313 -0.11609548 -0.04109857
+v 0.27367386 -0.11928819 0.03160829
+v 0.23065738 -0.03601694 0.03199022
+v 0.24814287 -0.21833192 -0.03491175
+v 0.22409189 -0.02897059 0.02964673
+v 0.22381627 -0.05942250 -0.01204423
+v 0.24572311 -0.11857464 -0.02071917
+v 0.25938486 -0.09283110 0.01850113
+v 0.23185559 -0.03503387 0.03852963
+v 0.22303579 -0.04498883 0.00212918
+v 0.22989509 -0.06209339 -0.00594422
+v 0.26054644 -0.13382570 -0.00720257
+v 0.24700019 -0.17572001 -0.03373568
+v 0.23254143 -0.11797710 -0.03386010
+v 0.24560673 -0.09209703 -0.00637131
+v 0.25971250 -0.17596025 -0.02031722
+f 6 4 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 8 1 4
+f 10 2 5
+f 11 5 2
+f 11 2 8
+f 11 8 4
+f 11 4 5
+f 12 3 7
+f 13 12 9
+f 14 7 2
+f 15 10 5
+f 16 6 3
+f 16 3 12
+f 17 13 9
+f 18 14 2
+f 18 2 10
+f 18 10 15
+f 19 5 4
+f 19 17 9
+f 22 6 16
+f 22 16 12
+f 22 12 13
+f 23 4 6
+f 23 6 22
+f 23 22 13
+f 23 13 17
+f 23 19 4
+f 23 17 19
+f 24 15 5
+f 24 5 19
+f 24 20 15
+f 24 19 9
+f 24 9 20
+f 25 20 9
+f 25 9 12
+f 26 21 12
+f 26 12 7
+f 27 18 15
+f 27 14 18
+f 28 15 20
+f 28 20 21
+f 28 27 15
+f 28 21 27
+f 29 21 20
+f 29 20 25
+f 29 25 12
+f 29 12 21
+f 30 27 21
+f 30 21 26
+f 30 26 7
+f 30 7 14
+f 30 14 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f472aa31efd14a38a434d7aeb367479047d3bf96
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.16765019 -0.39295599 0.00571183
+v -0.13193695 -0.38636363 -0.04160006
+v -0.13193696 -0.34090909 -0.03075178
+v -0.24953592 -0.33897783 0.01307036
+v -0.18193526 -0.37765806 -0.03512073
+v -0.20335100 -0.34977896 0.00212807
+v -0.13500192 -0.39009693 -0.02454085
+v -0.15225914 -0.39266410 -0.00918650
+v -0.22746329 -0.37771838 0.01688616
+v -0.21188278 -0.33504911 -0.03644360
+v -0.23867828 -0.36347736 0.01799931
+v -0.13193695 -0.34090909 -0.04160007
+v -0.23969181 -0.33371604 -0.00861187
+v -0.23463174 -0.36131441 0.00653895
+v -0.23535424 -0.34654908 -0.00530452
+v -0.22394895 -0.37483421 0.00576572
+v -0.20872554 -0.34843768 -0.03300016
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 5 1
+f 10 2 5
+f 11 9 1
+f 11 1 4
+f 12 10 3
+f 12 3 2
+f 12 2 10
+f 13 4 3
+f 13 3 10
+f 14 11 4
+f 14 9 11
+f 15 14 4
+f 15 4 13
+f 16 5 9
+f 16 9 14
+f 16 14 15
+f 17 15 13
+f 17 13 10
+f 17 10 5
+f 17 16 15
+f 17 5 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efc7489a847b4c528a85a4c2522825484c2090b2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.19794959 -0.34534614 -0.00837464
+v -0.16223999 -0.34090909 -0.04160007
+v -0.16223999 -0.26515152 -0.03075180
+v -0.21045340 -0.26598116 -0.02911122
+v -0.20385810 -0.33885848 -0.04160007
+v -0.20628311 -0.34015467 -0.00266646
+v -0.16223999 -0.34090909 -0.03075178
+v -0.16223999 -0.26515151 -0.04160009
+v -0.21506523 -0.31454577 -0.00923044
+v -0.20769453 -0.26515151 -0.04160009
+f 5 2 1
+f 6 5 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 7 2
+f 8 3 7
+f 9 6 3
+f 9 3 4
+f 9 5 6
+f 10 4 3
+f 10 3 8
+f 10 9 4
+f 10 5 9
+f 10 8 2
+f 10 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a933a62191c399d2a529d47f7faf38a50f393c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.09803159 -0.47100814 0.00771207
+v 0.09604711 -0.46446617 -0.00536922
+v 0.09549383 -0.43211388 -0.00394756
+v -0.05860619 -0.43981835 -0.00938479
+v -0.05916279 -0.47195623 -0.01063259
+v -0.05692087 -0.46456561 0.02485123
+v 0.09880506 -0.43830879 0.00646561
+v -0.06064846 -0.44655085 0.00100072
+v 0.06526315 -0.46288078 0.02604396
+v -0.05980580 -0.45892447 0.01811873
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 5 1
+f 7 1 2
+f 7 2 3
+f 7 3 4
+f 8 4 5
+f 8 7 4
+f 9 7 6
+f 9 6 1
+f 9 1 7
+f 10 8 5
+f 10 5 6
+f 10 6 7
+f 10 7 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b4af6cac304a7554bb78ae0e46c4bfeadd377d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.25317735 -0.32104048 0.00150223
+v 0.26441484 -0.29159018 0.00322782
+v 0.20779568 -0.32917807 -0.00850370
+v 0.20139638 -0.21969697 -0.03075181
+v 0.24670031 -0.24849287 -0.03342706
+v 0.24045187 -0.22055902 -0.00939409
+v 0.24463739 -0.30533842 -0.01983186
+v 0.20139638 -0.32575757 -0.04160007
+v 0.24814287 -0.21833192 -0.03491175
+v 0.25934152 -0.29005121 -0.00635585
+v 0.23192343 -0.30503753 -0.03300019
+v 0.26116526 -0.21812221 -0.02145902
+v 0.20139638 -0.21969697 -0.04160010
+v 0.24814100 -0.31834849 -0.00830365
+v 0.22044972 -0.31974449 -0.03611088
+v 0.27442755 -0.21942844 -0.00229128
+v 0.26024823 -0.23318341 -0.02073834
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 3 4
+f 8 1 3
+f 9 5 8
+f 10 7 5
+f 10 2 1
+f 11 5 7
+f 12 9 4
+f 12 5 9
+f 13 9 8
+f 13 8 4
+f 13 4 9
+f 14 10 1
+f 14 7 10
+f 15 8 5
+f 15 5 11
+f 15 11 7
+f 15 7 14
+f 15 14 1
+f 15 1 8
+f 16 12 4
+f 16 4 6
+f 16 6 2
+f 16 2 10
+f 17 10 5
+f 17 5 12
+f 17 16 10
+f 17 12 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0712e74d0112420198258a59fb7a6b92d04da04f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.23292942 -0.21981777 -0.02028175
+v 0.23169941 -0.21969697 -0.04160011
+v 0.23922205 -0.17350150 -0.00854120
+v 0.22657452 -0.12574634 -0.01032640
+v 0.20139638 -0.21969697 -0.03075181
+v 0.22788727 -0.12994427 -0.04160013
+v 0.20139638 -0.21969697 -0.04160010
+v 0.23179691 -0.12875830 -0.00378562
+v 0.20139638 -0.12878787 -0.04160014
+v 0.20429521 -0.12790483 -0.02942107
+f 1 2 3
+f 5 1 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 6 4
+f 8 3 6
+f 9 7 5
+f 9 4 6
+f 9 6 2
+f 9 2 7
+f 10 8 4
+f 10 5 8
+f 10 9 5
+f 10 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f96c594cccdc6091b20a1afe257365afd39f1c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.26246749 -0.08645218 0.04060531
+v -0.15019246 -0.00379353 0.00843430
+v -0.23441155 -0.07715145 0.03355449
+v -0.16946997 0.00123401 0.03475512
+v -0.20994069 -0.01816691 0.01800620
+v -0.15447302 0.00142233 0.01945444
+v -0.21458261 -0.01435900 0.03996741
+v -0.21574471 -0.07903043 0.00573736
+v -0.23692290 -0.05066496 0.01869290
+v -0.15559666 -0.01236002 0.00321843
+v -0.25019358 -0.06270887 0.03836870
+v -0.25678777 -0.08948705 0.01665660
+v -0.24886662 -0.06341798 0.03227084
+v -0.25105410 -0.07740024 0.01829312
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 4
+f 7 4 5
+f 8 2 3
+f 8 3 1
+f 9 7 5
+f 9 5 8
+f 10 8 5
+f 10 5 2
+f 10 2 8
+f 11 1 7
+f 11 7 9
+f 12 9 8
+f 12 8 1
+f 13 11 9
+f 13 12 1
+f 13 1 11
+f 14 13 9
+f 14 9 12
+f 14 12 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f32e4eb24e84e8313ad01d373d6faa7871fe70f4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.06063509 -0.49308061 0.03905532
+v 0.06267443 -0.48464991 0.01468270
+v 0.06322092 -0.45614840 0.01565814
+v -0.05487860 -0.45783311 0.01446572
+v -0.05429006 -0.48839357 0.01819454
+v 0.04955373 -0.45879619 0.01369823
+v -0.05896314 -0.47129810 0.03523674
+v 0.06730539 -0.46961316 0.03642978
+v 0.04804595 -0.48894221 0.01800635
+v -0.05488009 -0.49438569 0.03937763
+v 0.06013449 -0.49142838 0.03093805
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 9 5 2
+f 10 7 5
+f 10 8 7
+f 10 1 8
+f 10 9 1
+f 10 5 9
+f 11 9 2
+f 11 2 1
+f 11 1 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6337b4418450f18a78ee2b7cd36b268f86ea545d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20165585 -0.32589626 -0.01906681
+v 0.20139638 -0.32575757 -0.04160007
+v 0.20429521 -0.12790483 -0.02942107
+v 0.15594183 -0.12878788 -0.03075184
+v 0.15594183 -0.32575758 -0.03075178
+v 0.20139638 -0.12878787 -0.04160014
+v 0.15594183 -0.32575757 -0.04160007
+v 0.15594183 -0.12878788 -0.04160014
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 4
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda0e13b1cc7bd2fe7c8c1d43d1fb407f1afc1a3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05617938 -0.14393940 -0.03075184
+v -0.05617938 -0.14393939 -0.04160013
+v -0.05617938 -0.08333333 -0.04160014
+v -0.19541207 -0.08179713 -0.02248526
+v -0.19254302 -0.14393940 -0.03075184
+v -0.05617938 -0.08333334 -0.03075186
+v -0.19254302 -0.08333333 -0.04160015
+v -0.19254301 -0.14393939 -0.04160013
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57569a79e9748d55d2d2714bb64fffbcbad2148d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.09440418 -0.47420163 0.01271502
+v 0.14771218 -0.39479796 -0.01103666
+v 0.14703209 -0.40912075 0.00483360
+v 0.09533577 -0.38636364 -0.03075176
+v 0.09219517 -0.43661653 -0.03809472
+v 0.10313417 -0.43125651 0.00027071
+v 0.09111218 -0.46334937 -0.00908879
+v 0.14079032 -0.38636363 -0.04160006
+v 0.09533577 -0.38636363 -0.04160006
+v 0.13339444 -0.43313293 -0.02175355
+v 0.11642362 -0.44488078 -0.01873517
+v 0.13397020 -0.41905862 -0.03435742
+v 0.13716344 -0.45533582 0.01451051
+v 0.10431541 -0.46081155 -0.00700070
+v 0.11730996 -0.43138751 -0.03138224
+v 0.11948488 -0.46575957 0.01665678
+v 0.13224248 -0.44612930 -0.00667934
+v 0.11731791 -0.46170547 0.00549290
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 8 4 2
+f 9 8 5
+f 9 5 4
+f 9 4 8
+f 12 5 8
+f 12 8 2
+f 13 2 3
+f 13 12 2
+f 13 10 12
+f 14 7 5
+f 14 5 11
+f 14 1 7
+f 15 11 5
+f 15 10 11
+f 15 12 10
+f 15 5 12
+f 16 13 3
+f 16 3 1
+f 17 14 11
+f 17 11 10
+f 17 10 13
+f 18 13 16
+f 18 17 13
+f 18 14 17
+f 18 16 1
+f 18 1 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a2902f8b702ba4576d964013a33b64156c7d752
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.02407253 0.09841174 0.01943310
+v 0.02216205 0.09839867 -0.02216774
+v 0.02505657 0.49953229 0.01681626
+v -0.02536603 0.49953224 0.01699870
+v -0.02878750 0.09832258 -0.01192778
+v -0.01802163 0.49953227 -0.02447296
+v 0.01200083 0.09839116 0.02908623
+v 0.02146562 0.49953227 -0.02149281
+v -0.02804566 0.49953227 -0.01195900
+v -0.01912323 0.09835417 -0.02391781
+v 0.01469383 0.23214604 0.02534549
+v -0.02602297 0.09837809 0.01651839
+v -0.01568698 0.09837992 0.02661097
+v -0.01671965 0.23401042 0.02429082
+f 1 2 3
+f 7 1 3
+f 7 5 2
+f 7 2 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 5
+f 9 5 4
+f 9 4 3
+f 9 3 6
+f 10 6 2
+f 10 2 5
+f 10 5 6
+f 11 7 3
+f 11 3 4
+f 11 4 7
+f 12 4 5
+f 13 4 12
+f 13 12 5
+f 13 5 7
+f 14 13 7
+f 14 7 4
+f 14 4 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ab9afee55aa1856d38df65d515c9f703f2259d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.06476483 -0.49154118 0.04060625
+v 0.15079792 -0.42886093 0.03115677
+v 0.07019040 -0.46397231 0.02969740
+v 0.14190606 -0.41802620 0.01025097
+v 0.13157165 -0.46002585 0.01829319
+v 0.06610593 -0.45050755 0.00892576
+v 0.13439554 -0.46531079 0.03934780
+v 0.11597174 -0.42692740 0.00358193
+v 0.06267443 -0.48464991 0.01468270
+v 0.11565851 -0.47375241 0.03204765
+v 0.08326730 -0.44198168 0.00423562
+v 0.11640379 -0.47514675 0.03825784
+v 0.10472488 -0.47342796 0.01839695
+f 1 2 3
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 6 4
+f 8 4 5
+f 9 1 6
+f 9 8 5
+f 10 5 7
+f 11 9 6
+f 11 6 8
+f 11 8 9
+f 12 10 7
+f 12 7 1
+f 12 1 10
+f 13 10 1
+f 13 1 9
+f 13 9 5
+f 13 5 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0366d6d4f73cd57876ed37eba89ede0d78618f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09077679 -0.47739515 0.01771803
+v 0.09803159 -0.47100814 0.00771207
+v -0.08966250 -0.47260459 0.00571134
+v -0.08566717 -0.45943374 -0.01667642
+v 0.05966924 -0.47474309 -0.00644813
+v 0.08947754 -0.47311219 0.00653898
+v 0.07777269 -0.45417135 -0.02565794
+v -0.08256638 -0.47951471 0.01683125
+v -0.06560193 -0.47353833 -0.00560154
+v 0.09111218 -0.46334937 -0.00908879
+v 0.09405766 -0.45790782 -0.01542928
+v -0.08277254 -0.46504289 -0.01027885
+v -0.06928970 -0.45539233 -0.02694291
+v -0.08124313 -0.47515262 0.00570044
+v 0.07495248 -0.46002592 -0.01992869
+v 0.06325504 -0.45626092 -0.02785701
+v -0.06656201 -0.46155186 -0.02117583
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 8 5 1
+f 8 1 3
+f 9 5 8
+f 10 6 5
+f 10 2 6
+f 11 7 4
+f 11 4 2
+f 11 2 10
+f 11 10 5
+f 12 9 3
+f 12 3 4
+f 12 4 9
+f 13 4 7
+f 14 9 8
+f 14 8 3
+f 14 3 9
+f 15 11 5
+f 15 7 11
+f 16 13 7
+f 16 15 5
+f 16 7 15
+f 17 5 9
+f 17 9 4
+f 17 4 13
+f 17 16 5
+f 17 13 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d319297dd48b0b049cea5141ab824e622ba0671
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.12745252 -0.46888421 0.04004572
+v -0.12474385 -0.44866384 -0.00861188
+v -0.13193695 -0.38636363 -0.04160006
+v -0.21139870 -0.37696904 -0.00891467
+v -0.16454629 -0.44646932 0.03180919
+v -0.17173077 -0.38070257 -0.04093655
+v -0.18236165 -0.40757130 0.03647998
+v -0.12457683 -0.46350293 0.01768124
+v -0.17894934 -0.41525426 -0.00446375
+v -0.12607695 -0.42085488 -0.03644354
+v -0.19709041 -0.37766104 -0.02329534
+v -0.14076720 -0.43318696 0.02909622
+v -0.18304125 -0.39324787 0.02061016
+v -0.16556431 -0.44770979 0.03847513
+v -0.15234216 -0.44360374 0.00653899
+v -0.13933771 -0.46277207 0.03884104
+v -0.21371101 -0.39401821 0.01616145
+v -0.13946593 -0.41769736 -0.03300015
+v -0.19248028 -0.38902910 -0.01863088
+v -0.14131418 -0.39778980 -0.01363260
+v -0.13662372 -0.45769460 0.01922085
+v -0.13757688 -0.44432625 -0.00530454
+v -0.20628218 -0.38792152 -0.00446372
+v -0.22011473 -0.38412210 0.01284476
+v -0.18005696 -0.40145238 -0.01863085
+v -0.16868589 -0.39090737 -0.03512071
+f 8 3 1
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 11 4 3
+f 11 3 6
+f 12 7 1
+f 12 1 3
+f 13 3 4
+f 13 7 12
+f 14 1 7
+f 15 5 9
+f 16 8 1
+f 16 14 5
+f 16 1 14
+f 17 9 5
+f 17 5 14
+f 17 14 7
+f 18 6 10
+f 18 10 2
+f 19 4 11
+f 19 11 6
+f 20 13 12
+f 20 12 3
+f 20 3 13
+f 21 15 8
+f 21 5 15
+f 21 16 5
+f 21 8 16
+f 22 2 8
+f 22 8 15
+f 22 18 2
+f 22 15 9
+f 22 9 18
+f 23 9 17
+f 23 19 9
+f 23 4 19
+f 24 13 4
+f 24 23 17
+f 24 4 23
+f 24 17 7
+f 24 7 13
+f 25 18 9
+f 25 9 19
+f 25 19 6
+f 26 25 6
+f 26 6 18
+f 26 18 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e344898350509ce3e85e8e3474fea90b2684d55a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.20335100 -0.34977896 0.00212807
+v -0.19794959 -0.34534614 -0.00837464
+v -0.21048903 -0.14308812 -0.02899468
+v -0.26330771 -0.13030245 -0.00099776
+v -0.26456640 -0.27457411 -0.00560164
+v -0.24351589 -0.14226542 0.00779434
+v -0.20385810 -0.33885848 -0.04160007
+v -0.23396296 -0.13001176 -0.00106317
+v -0.25453077 -0.33354901 0.01768109
+v -0.20769453 -0.14393939 -0.04160013
+v -0.27567819 -0.14629758 0.01468258
+v -0.25106587 -0.31654543 -0.00573160
+v -0.22969870 -0.13130530 -0.04029342
+v -0.26577127 -0.14930282 -0.00644842
+v -0.27054274 -0.29153852 0.01683117
+v -0.23708135 -0.29058044 -0.03226621
+v -0.25059663 -0.33144614 0.00653895
+v -0.25105420 -0.13401951 -0.01992880
+v -0.26618059 -0.29021529 0.00570025
+v -0.22435719 -0.31846664 -0.03333443
+v -0.23807894 -0.13335935 -0.03304597
+v -0.21188278 -0.33504911 -0.03644360
+f 1 2 3
+f 7 2 1
+f 8 6 1
+f 8 1 3
+f 9 1 6
+f 9 7 1
+f 10 3 2
+f 10 2 7
+f 10 8 3
+f 11 8 4
+f 11 6 8
+f 11 9 6
+f 13 4 8
+f 13 8 10
+f 13 10 7
+f 14 11 4
+f 14 5 11
+f 15 11 5
+f 15 9 11
+f 16 12 5
+f 16 13 7
+f 16 5 14
+f 17 7 9
+f 17 15 12
+f 17 9 15
+f 18 14 4
+f 18 4 13
+f 19 15 5
+f 19 5 12
+f 19 12 15
+f 20 16 7
+f 20 12 16
+f 21 16 14
+f 21 13 16
+f 21 18 13
+f 21 14 18
+f 22 17 12
+f 22 7 17
+f 22 20 7
+f 22 12 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab0ee67d929bc62470ca63692d6924a28f3b84ef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09661048 -0.40389336 -0.02862998
+v 0.15594183 -0.34090909 -0.04160007
+v 0.15594183 -0.14393940 -0.03075184
+v -0.21048903 -0.14308812 -0.02899468
+v -0.13193695 -0.38636363 -0.04160006
+v -0.20769453 -0.14393939 -0.04160013
+v 0.14235489 -0.38826938 -0.02177017
+v 0.09533577 -0.40151515 -0.04160005
+v 0.15594183 -0.14393939 -0.04160013
+v -0.21045340 -0.26598116 -0.02911122
+v -0.13500192 -0.39009693 -0.02454085
+v 0.15594183 -0.34090909 -0.03075178
+v 0.14079032 -0.38636363 -0.04160006
+v -0.20769453 -0.26515151 -0.04160009
+v -0.08789566 -0.40415564 -0.02970393
+v -0.16223999 -0.34090909 -0.04160007
+v -0.08648241 -0.40151515 -0.04160005
+f 7 3 4
+f 9 3 2
+f 9 8 5
+f 9 5 6
+f 9 6 4
+f 9 4 3
+f 11 7 4
+f 11 4 10
+f 12 7 2
+f 12 2 3
+f 12 3 7
+f 13 7 1
+f 13 1 8
+f 13 2 7
+f 13 9 2
+f 13 8 9
+f 14 6 5
+f 14 10 4
+f 14 4 6
+f 15 1 7
+f 15 7 11
+f 15 8 1
+f 16 11 10
+f 16 10 14
+f 16 14 5
+f 16 5 11
+f 17 15 11
+f 17 11 5
+f 17 5 8
+f 17 8 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..133300746d93668f5a853b98ea1da508f20437e3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.08059789 0.02409084 -0.00458391
+v 0.07864140 0.03279268 -0.02867177
+v 0.07624019 0.07033042 0.03954263
+v 0.04905613 0.07708926 0.04061166
+v 0.02034846 0.03385300 -0.01047511
+v 0.04870667 0.05624719 -0.01080870
+v 0.08336285 0.04835718 0.03510510
+v 0.04960829 0.03697903 -0.03306139
+v 0.07514649 0.05157449 -0.00720273
+v 0.02004830 0.04466893 0.00730827
+v 0.08449471 0.03693690 0.01759341
+v 0.04902169 0.04472064 -0.02560723
+v 0.04863065 0.07034047 0.01650916
+v 0.01958461 0.03797148 -0.00377765
+v 0.05492860 0.05451772 0.03120829
+v 0.07603820 0.03936258 -0.02285370
+v 0.07450581 0.06461401 0.01829530
+f 7 3 4
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 11 1 2
+f 11 2 7
+f 11 10 1
+f 11 7 10
+f 12 2 8
+f 12 8 5
+f 12 5 6
+f 13 9 6
+f 13 4 3
+f 13 10 4
+f 13 6 10
+f 14 10 6
+f 14 6 5
+f 14 5 1
+f 14 1 10
+f 15 10 7
+f 15 7 4
+f 15 4 10
+f 16 9 2
+f 16 2 12
+f 16 12 6
+f 16 6 9
+f 17 13 3
+f 17 3 9
+f 17 9 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2598711b5522c0e9e9af4c10c03bbdb766d0ea50
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09604711 -0.46446617 -0.00536922
+v 0.09204110 -0.45126015 -0.02431142
+v 0.09661048 -0.40389336 -0.02862998
+v -0.13193695 -0.38636363 -0.04160006
+v -0.10879091 -0.44716448 -0.02076041
+v 0.09533577 -0.40151515 -0.04160005
+v -0.14131418 -0.39778980 -0.01363260
+v -0.08160829 -0.44605340 -0.03226606
+v -0.08648241 -0.38636364 -0.03075177
+v 0.09219517 -0.43661653 -0.03809472
+v 0.09982294 -0.42506160 -0.01014248
+v -0.12746637 -0.45375733 0.00122929
+v 0.07561269 -0.44705079 -0.03304575
+v -0.12607695 -0.42085488 -0.03644354
+v -0.08648241 -0.38636363 -0.04160006
+v -0.10949447 -0.43332924 -0.03333439
+v -0.12474385 -0.44866384 -0.00861188
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 10 1 2
+f 10 4 6
+f 11 6 3
+f 11 10 6
+f 11 1 10
+f 11 3 7
+f 12 11 7
+f 12 1 11
+f 12 8 1
+f 12 5 8
+f 13 2 1
+f 13 1 8
+f 13 10 2
+f 13 8 10
+f 14 10 8
+f 14 4 10
+f 14 12 7
+f 14 7 4
+f 15 9 6
+f 15 6 4
+f 15 4 9
+f 16 14 8
+f 16 8 5
+f 16 5 14
+f 17 14 5
+f 17 5 12
+f 17 12 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdd0641cfac93d07873a1d2c2f5beb84d83109c8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.15594183 -0.14393940 -0.03075184
+v 0.15594183 -0.14393939 -0.04160013
+v 0.09663189 -0.00514721 -0.02824475
+v -0.08793220 -0.00485441 -0.02937157
+v -0.05617938 -0.14393939 -0.04160013
+v 0.09533577 -0.00757576 -0.04160017
+v -0.05617938 -0.14393940 -0.03075184
+v 0.15818008 -0.05118980 -0.02883205
+v -0.08648241 -0.00757576 -0.04160017
+v -0.08648241 -0.08333334 -0.03075186
+v 0.15594183 -0.05303030 -0.04160015
+v -0.08648241 -0.08333333 -0.04160015
+f 5 2 1
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 9 4 6
+f 9 6 2
+f 10 7 4
+f 10 5 7
+f 11 8 2
+f 11 2 6
+f 11 6 8
+f 12 5 10
+f 12 9 2
+f 12 2 5
+f 12 10 4
+f 12 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..046602c1e49e40d0f8fd8847956d6a3c962c0345
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_38">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.038" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0 -0.05 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_0_vis" conaffinity="0" contype="0" group="1" material="material.038"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        </body>
+        <geom class="region" name="reg_bbox" type="box" pos="2.797439666520463e-05 -0.05061759192637729 -0.00011862119999999938" size="0.06849695663452553 0.11865255145551197 0.009865419600000001"/>
+        <geom rgba="0 0 0 0" size="0.067 0.001" pos="0 0 0.003" type="cylinder" name="liquid" class="region"/>
+        <geom rgba="0 0 0 0 " size="0.0545 0.008" pos="0 0 0.002" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_5/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..813ba48d4ec40ae75217f4bfeda992a097ad2f05
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_5/visual/model_normalized_0.obj
@@ -0,0 +1,8512 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.00577549 0.49691561 0.01418560
+v -0.00008986 0.49691573 0.00101181
+v -0.00008986 0.49691561 0.01543197
+v 0.00838666 0.49691561 0.01267874
+v -0.00595521 0.49691561 0.01418560
+v -0.00008986 0.49691564 -0.01341103
+v -0.00308854 0.49691564 -0.01309585
+v -0.00856638 0.49691561 0.01267874
+v 0.00838764 0.49691564 -0.01065648
+v 0.00577643 0.49691564 -0.01216409
+v -0.00595615 0.49691564 -0.01216409
+v -0.00856736 0.49691564 -0.01065647
+v -0.01443321 0.49691561 0.00251935
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+f 1899/1899/1899 1884/1884/1884 164/164/164
+f 1899/1899/1899 164/164/164 170/170/170
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33cc70b8eddaa1f76ce972ad2d7eac48b7edeade
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.17392542 -0.01599225 0.07193181
+v 0.17706685 -0.01580803 -0.00173358
+v 0.15761582 0.00623609 0.06997138
+v 0.06068174 0.04576283 0.07229899
+v 0.10601083 -0.01137295 -0.06107182
+v 0.08722498 0.03848053 0.01282937
+v 0.17894844 -0.01364984 0.07229899
+v 0.16939826 -0.02174777 0.01046445
+v 0.06644152 0.03799756 0.07125577
+v 0.12837748 0.01831863 0.00117095
+v 0.10152660 0.03557436 0.07104198
+v 0.06058434 0.04579601 0.01172131
+v 0.17272100 -0.00637467 0.07124258
+v 0.14721869 -0.01710329 -0.04252609
+v 0.15711380 0.00495591 0.02730015
+v 0.10302076 0.00964728 -0.04095474
+v 0.10093300 0.03475315 0.02727371
+v 0.06500524 0.03183328 0.00896934
+v 0.11942431 -0.01470118 -0.05757383
+v 0.16165018 -0.01616127 -0.02759469
+v 0.17010736 -0.00920248 0.00112529
+v 0.11484189 0.02153215 -0.01128375
+v 0.10271271 -0.00270710 -0.05440321
+v 0.11611139 -0.00595228 -0.05089559
+v 0.15503100 -0.00918703 -0.02491172
+v 0.11456636 0.00602306 -0.03781068
+v 0.14233449 -0.00942163 -0.03673597
+f 7 4 1
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 5 1
+f 9 1 4
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+f 12 11 6
+f 12 4 11
+f 13 7 2
+f 13 11 7
+f 13 3 11
+f 15 13 2
+f 15 3 13
+f 17 10 6
+f 17 6 11
+f 17 15 10
+f 17 11 3
+f 17 3 15
+f 18 9 4
+f 18 4 12
+f 18 12 5
+f 18 5 9
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+f 19 8 5
+f 20 2 8
+f 20 8 14
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+f 22 12 6
+f 23 5 12
+f 23 12 16
+f 24 14 19
+f 24 23 16
+f 24 19 5
+f 24 5 23
+f 25 10 21
+f 25 22 10
+f 25 20 14
+f 25 21 2
+f 25 2 20
+f 26 24 16
+f 26 14 24
+f 26 16 22
+f 26 22 25
+f 27 26 25
+f 27 25 14
+f 27 14 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e4acbc345466fb6d406ae1eb3d4cab250f49b2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.17431981 -0.07880821 -0.04741441
+v 0.16745034 -0.08424204 -0.07165272
+v 0.16948354 -0.00648908 0.01050313
+v 0.01718358 -0.00603564 -0.05259028
+v 0.01708379 -0.08333332 -0.05841435
+v 0.11673235 -0.01954513 -0.06351576
+v 0.17739716 -0.02913653 0.00843437
+v 0.15455547 -0.08219804 -0.05388515
+v 0.14204654 -0.00176858 0.00943056
+v 0.15729786 -0.02153808 -0.03825902
+v 0.01699654 -0.00894745 -0.07219193
+v 0.14414267 -0.02159989 -0.04922986
+v 0.01708468 -0.08333332 -0.07263847
+v 0.15738493 -0.04932092 -0.06350170
+v 0.14219493 -0.03690935 -0.06336260
+f 7 1 2
+f 7 5 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 4 5
+f 9 3 6
+f 9 7 3
+f 9 5 7
+f 10 7 2
+f 10 3 7
+f 11 5 4
+f 11 9 6
+f 11 4 9
+f 11 6 2
+f 12 6 3
+f 12 3 10
+f 13 11 2
+f 13 2 5
+f 13 5 11
+f 14 12 10
+f 14 10 2
+f 15 14 2
+f 15 2 6
+f 15 6 12
+f 15 12 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ec77485c5d7c79c4c751a4e0443252b559997dd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.22122825 -0.37599286 0.07185733
+v 0.27322143 -0.24909621 0.01296472
+v 0.27260531 -0.27737305 0.06936875
+v 0.26781970 -0.18817637 0.07223606
+v 0.26028188 -0.18926943 0.01055167
+v 0.27467251 -0.19161179 0.07124258
+v 0.25825612 -0.31967782 0.07124258
+v 0.21507436 -0.37187087 0.01047359
+v 0.27358184 -0.26238617 0.07124161
+v 0.27309914 -0.19207842 0.01301367
+v 0.25671376 -0.31882408 0.01332705
+v 0.22895461 -0.34854794 0.00765340
+v 0.27272708 -0.26248183 0.02710535
+v 0.27239760 -0.27747007 0.05722815
+v 0.23631236 -0.36585310 0.07124131
+v 0.23421140 -0.36465177 0.01234522
+v 0.24551919 -0.34913775 0.07124165
+v 0.24363611 -0.34793181 0.01313072
+f 5 1 4
+f 7 4 1
+f 8 1 5
+f 9 2 6
+f 9 7 3
+f 9 6 4
+f 9 4 7
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 12 8 5
+f 12 5 2
+f 12 2 11
+f 13 2 9
+f 13 11 2
+f 14 3 7
+f 14 7 11
+f 14 11 13
+f 14 13 9
+f 14 9 3
+f 16 8 12
+f 16 15 1
+f 16 1 8
+f 17 11 7
+f 17 7 1
+f 17 1 15
+f 18 16 12
+f 18 12 11
+f 18 11 17
+f 18 17 15
+f 18 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26f551f4444b9b9cb3d4cdaed2c217061e0dc5a8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01804625 0.09912580 0.04529713
+v 0.01918597 0.09916272 0.00986492
+v 0.02192463 0.35631911 0.04826465
+v -0.01032396 0.35637418 0.05573439
+v -0.02795225 0.15964381 0.02734972
+v -0.00001813 0.17485793 0.05586504
+v -0.01707292 0.09907060 0.00789811
+v 0.01121637 0.35639937 0.05556221
+v -0.01755173 0.09902402 0.04598629
+v 0.02240664 0.35635023 0.00632997
+v 0.01077006 0.29581795 0.05442479
+v -0.01000125 0.17493122 0.05401080
+v -0.02888365 0.35636420 0.03687225
+v -0.02627090 0.15972780 0.03613572
+v -0.02950849 0.35637359 0.01783407
+v -0.02030964 0.35629796 0.00438646
+v -0.02756879 0.17487309 0.01877015
+f 1 2 3
+f 8 1 3
+f 8 4 6
+f 9 1 6
+f 9 5 7
+f 9 7 2
+f 9 2 1
+f 10 3 2
+f 10 2 7
+f 10 8 3
+f 11 8 6
+f 11 6 1
+f 11 1 8
+f 12 9 6
+f 12 6 4
+f 12 4 9
+f 13 9 4
+f 13 4 8
+f 14 13 5
+f 14 5 9
+f 14 9 13
+f 15 13 8
+f 15 8 10
+f 15 5 13
+f 16 15 10
+f 16 10 7
+f 17 7 5
+f 17 5 15
+f 17 16 7
+f 17 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a09561c4ecba5a0cd4967864ad009727a9955355
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.22545574 -0.30918829 -0.03156104
+v 0.21681845 -0.30599054 -0.06397857
+v 0.23740609 -0.15693881 -0.02630400
+v 0.19402752 -0.07509928 -0.03000797
+v 0.16899994 -0.31080363 -0.05529296
+v 0.21619987 -0.13393058 -0.06350170
+v 0.22752835 -0.08442577 -0.01869409
+v 0.20555610 -0.31390251 -0.04764912
+v 0.16745034 -0.08424204 -0.07165272
+v 0.16857736 -0.31059493 -0.07252915
+v 0.17431981 -0.07880821 -0.04741441
+v 0.18894464 -0.08963985 -0.06573692
+v 0.16997357 -0.11276674 -0.05435567
+v 0.21705018 -0.09117329 -0.04052774
+v 0.22286065 -0.08745198 -0.02988513
+v 0.20208182 -0.10518409 -0.06350170
+v 0.21567803 -0.10543076 -0.05076098
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 10 8 5
+f 10 2 8
+f 10 5 9
+f 10 9 6
+f 10 6 2
+f 11 5 4
+f 11 4 9
+f 12 6 9
+f 12 9 4
+f 13 11 9
+f 13 9 5
+f 13 5 11
+f 15 12 4
+f 15 4 7
+f 15 14 12
+f 15 7 6
+f 16 6 12
+f 16 12 14
+f 17 15 6
+f 17 14 15
+f 17 16 14
+f 17 6 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f81719124f32f2b9815f633a36fcc125d013d3e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.06608836 0.03659855 0.06900654
+v 0.06500524 0.03183328 0.00896934
+v 0.01918597 0.09916272 0.00986492
+v -0.01755173 0.09902402 0.04598629
+v -0.07568240 0.01443657 -0.02346724
+v 0.01804625 0.09912580 0.04529713
+v 0.05271441 0.05378814 0.01848037
+v -0.07703491 0.03529044 0.07125577
+v 0.01692315 0.03570931 -0.03335662
+v -0.01707292 0.09907060 0.00789811
+v 0.06068174 0.04576283 0.07229899
+v 0.05780055 0.05007184 0.05713774
+v -0.04528233 0.01834489 -0.02831486
+v -0.05702989 0.03166877 -0.03059246
+v -0.07168444 0.04465533 0.07135299
+v 0.02968796 0.05321807 0.07124258
+v 0.06324418 0.04063731 0.07229899
+v -0.00372294 0.05388043 -0.02152266
+v -0.06965282 0.03754258 -0.01228281
+v -0.04065511 0.05135044 0.07124258
+v -0.07734315 0.02056904 -0.01176513
+f 5 2 1
+f 7 2 3
+f 8 5 1
+f 9 3 2
+f 10 3 9
+f 10 6 3
+f 10 4 6
+f 12 1 2
+f 12 2 7
+f 12 11 1
+f 12 7 3
+f 12 3 6
+f 12 6 11
+f 13 9 2
+f 13 2 5
+f 14 13 5
+f 14 9 13
+f 15 4 10
+f 16 11 6
+f 16 6 4
+f 17 8 1
+f 17 1 11
+f 17 15 8
+f 17 11 15
+f 18 14 10
+f 18 10 9
+f 18 9 14
+f 19 14 5
+f 19 10 14
+f 19 15 10
+f 19 8 15
+f 20 15 11
+f 20 11 16
+f 20 16 4
+f 20 4 15
+f 21 19 5
+f 21 5 8
+f 21 8 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f4addcb85f2bbf63727b1227ee384f974688654
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.16231989 -0.44405963 0.07229899
+v -0.15773548 -0.43833336 -0.01459236
+v -0.17268951 -0.39423985 -0.02869813
+v -0.24912639 -0.33768499 0.07229899
+v -0.20830324 -0.40288512 0.02735104
+v -0.23769636 -0.34702172 0.07125474
+v -0.18127066 -0.42989756 0.02739886
+v -0.20986619 -0.40384080 0.06936875
+v -0.23825215 -0.34717322 -0.01090430
+v -0.17331477 -0.42701045 0.07125528
+v -0.21620371 -0.34393559 -0.02326347
+v -0.19423059 -0.41579086 0.01379120
+v -0.24002089 -0.36080585 0.07089380
+v -0.18244704 -0.43178511 0.06936875
+v -0.22194184 -0.37435018 -0.01090430
+v -0.24339702 -0.33465098 -0.01336521
+v -0.16794160 -0.43218386 -0.01098242
+v -0.19598344 -0.41793529 0.06997288
+v -0.17247546 -0.43803582 0.07124165
+v -0.23768348 -0.35960170 0.01361598
+f 1 2 3
+f 6 4 1
+f 7 2 1
+f 10 6 1
+f 10 1 3
+f 10 3 6
+f 11 6 3
+f 11 4 6
+f 12 7 5
+f 13 1 4
+f 13 5 8
+f 14 8 5
+f 14 5 7
+f 15 3 2
+f 15 12 5
+f 16 4 11
+f 16 15 9
+f 16 11 3
+f 16 3 15
+f 17 2 7
+f 17 7 12
+f 17 15 2
+f 17 12 15
+f 18 13 8
+f 18 1 13
+f 18 8 14
+f 19 14 7
+f 19 7 1
+f 19 18 14
+f 19 1 18
+f 20 9 15
+f 20 16 9
+f 20 13 4
+f 20 4 16
+f 20 15 5
+f 20 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10352dddc8357dee1a2370b2b58a96881a55487
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.16649973 -0.42921808 -0.01809936
+v 0.23844564 -0.33050257 0.00880147
+v 0.16899994 -0.31080363 -0.05529296
+v 0.23082758 -0.28075697 -0.03608870
+v 0.21416946 -0.34622769 -0.04849653
+v 0.23793032 -0.28268802 -0.02682408
+v 0.20914554 -0.37945052 0.00829852
+v 0.16263785 -0.38053565 -0.06829752
+v 0.22213399 -0.30797109 -0.05803730
+v 0.22954869 -0.37143376 0.01063911
+v 0.17308298 -0.41865098 -0.02706597
+v 0.16313013 -0.42506732 -0.02916109
+v 0.20266380 -0.33524859 -0.06467428
+v 0.16857736 -0.31059493 -0.07252915
+v 0.17667331 -0.42308227 -0.01450369
+v 0.17339298 -0.37780472 -0.06360991
+v 0.21288115 -0.37579015 -0.02592957
+v 0.22012194 -0.28200189 -0.04568499
+v 0.20947635 -0.30890815 -0.06852654
+v 0.18708338 -0.36144591 -0.06350170
+v 0.21766800 -0.37889057 -0.01336728
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 9 4 6
+f 9 6 2
+f 10 2 7
+f 10 9 2
+f 10 5 9
+f 12 1 3
+f 12 3 8
+f 12 11 1
+f 13 9 5
+f 14 8 3
+f 15 10 7
+f 15 7 1
+f 15 1 11
+f 16 12 8
+f 16 11 12
+f 17 15 11
+f 17 11 16
+f 18 14 3
+f 18 3 4
+f 18 4 9
+f 19 9 13
+f 19 13 8
+f 19 8 14
+f 19 18 9
+f 19 14 18
+f 20 13 5
+f 20 17 16
+f 20 5 17
+f 20 16 8
+f 20 8 13
+f 21 17 5
+f 21 5 10
+f 21 10 15
+f 21 15 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e25eeea571909d06d4103a9e8ecfa6f9f7f223c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.05990971 -0.48254193 -0.01500214
+v 0.06542512 -0.45752133 -0.02824581
+v -0.12689438 -0.42852384 -0.03085433
+v -0.11852438 -0.40034005 -0.07202866
+v 0.05855181 -0.44781727 -0.06350170
+v 0.06270483 -0.40193104 -0.05530663
+v 0.05818739 -0.46124074 -0.04959139
+v -0.12350586 -0.40809522 -0.04844579
+v 0.06252997 -0.40149184 -0.07252964
+v -0.11307193 -0.46511442 -0.01341218
+v -0.08970519 -0.40296455 -0.05433234
+v -0.05496400 -0.44881729 -0.06350170
+v -0.11423782 -0.42170244 -0.06614780
+v 0.02952268 -0.47492675 -0.03850118
+v -0.11049474 -0.46002177 -0.02593915
+v 0.05843682 -0.47713158 -0.02743256
+v -0.07057103 -0.48016349 -0.01388915
+v -0.09684758 -0.45847853 -0.03683785
+v -0.06906411 -0.47468318 -0.02656304
+v -0.09752091 -0.43371278 -0.06350170
+v -0.05444993 -0.46171549 -0.05019767
+v -0.04061111 -0.47365799 -0.03775736
+f 6 1 2
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 3 6
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 6 3
+f 10 1 6
+f 11 8 6
+f 11 6 4
+f 11 4 8
+f 12 9 5
+f 12 4 9
+f 13 3 4
+f 13 4 12
+f 14 12 5
+f 14 5 7
+f 15 10 3
+f 15 3 13
+f 16 14 7
+f 16 7 1
+f 16 1 14
+f 17 14 1
+f 17 1 10
+f 18 15 13
+f 19 17 10
+f 19 10 15
+f 19 15 18
+f 20 18 13
+f 20 13 12
+f 21 19 18
+f 21 12 14
+f 21 20 12
+f 21 18 20
+f 22 14 17
+f 22 17 19
+f 22 21 14
+f 22 19 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..164db9eb591dd6f99c83e58b8772e0537147f88e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.24410935 -0.08937700 0.06936875
+v -0.12926726 0.01260298 -0.01444776
+v -0.20209441 -0.07880012 -0.02423315
+v -0.13239437 0.01884462 0.07229899
+v -0.16583835 -0.00972400 -0.01090321
+v -0.13849770 -0.01653283 -0.02369397
+v -0.22415279 -0.07449321 0.07125577
+v -0.15443696 0.00726823 0.07105655
+v -0.23182130 -0.08801456 -0.01510463
+v -0.23783099 -0.08472781 0.07229899
+v -0.14293950 0.00520037 0.07125577
+v -0.22583621 -0.06230734 0.07124258
+v -0.15253621 0.00385884 0.00134317
+v -0.20847442 -0.05157133 -0.01090430
+v -0.23833647 -0.07914077 0.06936875
+v -0.13996612 0.00787856 -0.01157396
+v -0.22257998 -0.06469467 0.00103056
+v -0.23782510 -0.07976672 0.04245834
+v -0.22651171 -0.07728547 -0.01203232
+v -0.24329093 -0.08961823 0.04197811
+f 6 2 4
+f 6 5 2
+f 6 3 5
+f 7 3 6
+f 9 3 1
+f 10 1 3
+f 10 3 7
+f 11 7 6
+f 11 6 4
+f 11 10 7
+f 11 4 10
+f 12 8 5
+f 12 10 4
+f 12 4 8
+f 13 8 4
+f 13 4 2
+f 13 5 8
+f 14 5 3
+f 14 3 9
+f 14 12 5
+f 15 1 10
+f 15 10 12
+f 16 13 2
+f 16 2 5
+f 16 5 13
+f 17 12 14
+f 18 15 12
+f 18 12 17
+f 18 1 15
+f 19 17 14
+f 19 14 9
+f 19 9 17
+f 20 18 17
+f 20 17 9
+f 20 9 1
+f 20 1 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcce4357ea1017b212d76078543c21dc819b63e9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.11155142 -0.00068207 -0.02381934
+v 0.11438360 0.00504323 -0.01201575
+v -0.03076306 0.03815946 0.00784680
+v 0.01701498 0.05164601 0.01088446
+v 0.06069441 0.03098733 -0.03013292
+v 0.11175957 0.01502437 0.00917892
+v 0.10323189 0.02551975 -0.01363000
+v -0.02883532 0.02571740 -0.02125126
+v -0.02854243 0.03899156 0.01048950
+v 0.10544247 0.03127434 0.01166108
+v 0.01441476 0.04751155 -0.02596518
+v 0.01692315 0.03570931 -0.03335662
+v -0.02885445 0.04130012 -0.02108941
+v 0.08722498 0.03848053 0.01282937
+v 0.05753996 0.03435506 -0.02593013
+v 0.09674371 0.00294175 -0.02837075
+v 0.08640440 0.03635405 0.00012977
+f 6 1 2
+f 7 2 1
+f 7 1 5
+f 8 1 3
+f 9 3 1
+f 9 1 6
+f 10 6 2
+f 10 2 7
+f 12 11 5
+f 13 9 4
+f 13 3 9
+f 13 4 11
+f 13 8 3
+f 13 12 8
+f 13 11 12
+f 14 9 6
+f 14 6 10
+f 14 4 9
+f 14 11 4
+f 15 11 7
+f 15 7 5
+f 15 5 11
+f 16 12 5
+f 16 5 1
+f 16 1 8
+f 16 8 12
+f 17 14 10
+f 17 10 7
+f 17 7 11
+f 17 11 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4521835014ad9b8c0c779d2c38c70501c82c0dea
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.07282322 -0.49021688 0.06936875
+v 0.08015270 -0.47142706 0.00894035
+v 0.07861229 -0.48055716 0.07229899
+v -0.07502813 -0.48156280 0.07229899
+v -0.01228160 -0.49028867 -0.01184860
+v 0.06289324 -0.46341558 -0.02033660
+v 0.05835603 -0.49266336 0.07124098
+v 0.07581270 -0.48533817 0.01169640
+v 0.08153839 -0.47620230 0.05539982
+v -0.04421156 -0.46662991 -0.02208424
+v 0.07584276 -0.48583888 0.07229899
+v -0.06884035 -0.48980897 0.07114033
+v 0.04463637 -0.49008362 -0.00002798
+v 0.05990971 -0.48254193 -0.01500214
+v -0.07773544 -0.47643422 0.04023596
+v -0.04080516 -0.49052100 -0.00023798
+v 0.01616964 -0.49015452 -0.01173049
+v 0.05796005 -0.49026345 0.01312386
+v -0.04236267 -0.48514490 -0.01631879
+v -0.07217230 -0.48616819 0.01154852
+v 0.07271248 -0.48895283 0.04236299
+v -0.06885837 -0.48877996 0.02725924
+v -0.07653808 -0.47235327 0.00876534
+f 9 2 6
+f 9 8 2
+f 9 6 4
+f 9 4 3
+f 11 7 1
+f 11 3 4
+f 11 9 3
+f 11 1 8
+f 11 8 9
+f 12 11 4
+f 12 7 11
+f 14 6 2
+f 14 2 8
+f 14 10 6
+f 15 4 6
+f 15 6 10
+f 16 5 7
+f 16 7 12
+f 17 13 7
+f 17 7 5
+f 17 14 13
+f 18 1 7
+f 18 7 13
+f 18 14 8
+f 18 13 14
+f 19 10 14
+f 19 5 16
+f 19 17 5
+f 19 14 17
+f 20 12 4
+f 20 4 15
+f 20 19 16
+f 21 18 8
+f 21 8 1
+f 21 1 18
+f 22 20 16
+f 22 16 12
+f 22 12 20
+f 23 20 15
+f 23 15 10
+f 23 10 19
+f 23 19 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db65fe2c3aa4542fcbfbb68509fac075101309a0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.02192463 0.35631911 0.04826465
+v 0.03072323 0.37266339 0.01816452
+v 0.01738195 0.49429772 0.04564512
+v -0.01582601 0.49515733 0.04662267
+v -0.02950849 0.35637359 0.01783407
+v -0.01901500 0.43653388 -0.00350643
+v -0.01906334 0.43717034 0.05616885
+v 0.03169314 0.43603137 0.04414596
+v 0.02240664 0.35635023 0.00632997
+v 0.01924031 0.43565338 -0.00392348
+v -0.01953594 0.48969637 0.03639464
+v -0.01032396 0.35637418 0.05573439
+v 0.03006349 0.37263532 0.03611319
+v 0.02210713 0.43630555 0.05483380
+v -0.02030964 0.35629796 0.00438646
+v 0.02932500 0.43342195 0.00487313
+v 0.01949804 0.48969637 0.03639464
+v -0.02856286 0.43690659 0.00547327
+v -0.02971100 0.43734417 0.04558916
+v 0.03019742 0.40322181 0.04300297
+v 0.02120132 0.40316993 0.05336223
+v 0.01121637 0.35639937 0.05556221
+v -0.00714565 0.37254154 -0.00377548
+v 0.01875815 0.41835154 -0.00315174
+v 0.02910780 0.43561242 0.00503561
+v -0.02645538 0.38800832 0.00705358
+v -0.02611469 0.35649700 0.04283858
+v -0.01815132 0.40313202 -0.00212266
+v 0.01051272 0.37265038 -0.00247810
+v -0.01716017 0.37289315 0.05307749
+f 7 3 4
+f 9 2 1
+f 13 1 2
+f 13 2 8
+f 14 8 3
+f 14 3 7
+f 15 9 1
+f 15 12 5
+f 15 1 12
+f 16 2 9
+f 16 8 2
+f 17 11 4
+f 17 4 3
+f 17 10 6
+f 17 6 11
+f 17 3 8
+f 18 11 6
+f 19 7 4
+f 19 4 11
+f 19 11 18
+f 19 18 5
+f 20 13 8
+f 20 1 13
+f 21 8 14
+f 21 20 8
+f 21 1 20
+f 22 14 7
+f 22 7 12
+f 22 21 14
+f 22 12 1
+f 22 1 21
+f 23 9 15
+f 23 6 10
+f 24 16 9
+f 24 10 16
+f 25 16 10
+f 25 10 17
+f 25 17 8
+f 25 8 16
+f 26 15 5
+f 26 5 18
+f 27 19 5
+f 27 5 12
+f 28 23 15
+f 28 6 23
+f 28 15 26
+f 28 26 18
+f 28 18 6
+f 29 23 10
+f 29 10 24
+f 29 24 9
+f 29 9 23
+f 30 27 12
+f 30 12 7
+f 30 7 19
+f 30 19 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53336765dec877c2a2cbbbe32f98b03a4b5736e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.06163797 -0.48901690 0.01117293
+v 0.17544102 -0.39313621 -0.02728901
+v 0.17140568 -0.42014971 0.00987973
+v 0.10820901 -0.38670439 -0.05477567
+v 0.10064082 -0.43217825 -0.06350170
+v 0.06270483 -0.40193104 -0.05530663
+v 0.16263785 -0.38053565 -0.06829752
+v 0.12866821 -0.45843709 -0.01090390
+v 0.06596967 -0.47505596 0.00826332
+v 0.06088292 -0.44106226 -0.06829752
+v 0.10798033 -0.38634238 -0.07250863
+v 0.13099031 -0.46300591 0.01288698
+v 0.15676537 -0.43236327 -0.02622501
+v 0.05843682 -0.47713158 -0.02743256
+v 0.12866126 -0.41664938 -0.06347304
+v 0.06252997 -0.40149184 -0.07252964
+v 0.10196316 -0.47661096 0.01301171
+v 0.12814595 -0.44378886 -0.03639170
+v 0.16423568 -0.44155714 0.01164447
+v 0.10054234 -0.44713165 -0.04931490
+v 0.15904794 -0.39215040 -0.06378260
+v 0.10117299 -0.47453489 0.00048367
+v 0.14137994 -0.44352445 -0.02475240
+v 0.11369354 -0.45871457 -0.02530174
+v 0.07273112 -0.47393609 -0.02607244
+f 3 2 4
+f 6 3 4
+f 7 4 2
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 11 4 7
+f 11 7 10
+f 13 7 2
+f 14 1 6
+f 15 10 7
+f 15 5 10
+f 16 6 4
+f 16 4 11
+f 16 11 10
+f 16 14 6
+f 16 10 14
+f 17 12 3
+f 17 3 1
+f 18 15 13
+f 19 13 2
+f 19 2 3
+f 19 3 12
+f 19 12 8
+f 19 8 13
+f 20 14 10
+f 20 10 5
+f 20 5 15
+f 20 15 18
+f 21 15 7
+f 21 7 13
+f 21 13 15
+f 22 8 12
+f 22 12 17
+f 22 17 1
+f 23 18 13
+f 23 13 8
+f 24 20 18
+f 24 8 22
+f 24 23 8
+f 24 18 23
+f 25 22 1
+f 25 1 14
+f 25 24 22
+f 25 14 20
+f 25 20 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc523571f2d5e763c0879b0ed082a157c41fbdec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.14880705 -0.45478817 0.07129830
+v 0.23217302 -0.36332032 -0.00075096
+v 0.17030390 -0.43032065 -0.01090430
+v 0.23631236 -0.36585310 0.07124131
+v 0.19061573 -0.37682812 -0.02668462
+v 0.22568744 -0.37429139 0.00124977
+v 0.15967899 -0.44802512 0.07124115
+v 0.21412006 -0.38383016 0.07125577
+v 0.22339994 -0.36745162 -0.01646771
+v 0.14614562 -0.45092538 -0.00102609
+v 0.22932101 -0.37634659 0.07124203
+v 0.16661781 -0.43255985 0.07126178
+v 0.17544102 -0.39313621 -0.02728901
+v 0.21210803 -0.38770625 -0.01090374
+v 0.15706520 -0.44440763 0.00093863
+v 0.16034730 -0.43675238 -0.01367918
+v 0.15265403 -0.44574991 -0.00408512
+f 5 4 2
+f 6 2 4
+f 8 1 4
+f 8 4 5
+f 9 5 2
+f 9 2 6
+f 11 4 1
+f 11 1 7
+f 11 6 4
+f 12 8 5
+f 12 1 8
+f 13 5 9
+f 13 10 1
+f 13 12 5
+f 13 1 12
+f 14 9 6
+f 14 6 11
+f 14 11 7
+f 14 7 3
+f 15 7 1
+f 15 1 10
+f 15 3 7
+f 16 13 9
+f 16 10 13
+f 16 3 15
+f 16 14 3
+f 16 9 14
+f 17 16 15
+f 17 15 10
+f 17 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d2513ced9915e548305fac89a077460f2b22ce7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.17019160 -0.38793944 -0.03654682
+v 0.17468901 -0.36110548 -0.04847018
+v 0.16906113 -0.26528130 -0.05650090
+v 0.10799261 -0.26515150 -0.05841536
+v 0.10798033 -0.38634238 -0.07250863
+v 0.16263785 -0.38053565 -0.06829752
+v 0.10820901 -0.38670439 -0.05477567
+v 0.16857586 -0.26514478 -0.07258194
+v 0.14346699 -0.39260319 -0.04882480
+v 0.10799377 -0.26515151 -0.07263847
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 4 5
+f 8 4 3
+f 8 6 5
+f 8 3 2
+f 8 2 6
+f 9 6 1
+f 9 5 6
+f 9 7 5
+f 9 1 7
+f 10 8 5
+f 10 5 4
+f 10 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a65f3ecbcede09f75073d86d8fd905d63a69bea9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.22954869 -0.37143376 0.01063911
+v 0.26127161 -0.30674946 0.01260500
+v 0.26016390 -0.13431851 0.01281531
+v 0.24256605 -0.12369819 0.00809737
+v 0.22356855 -0.26419193 -0.06829752
+v 0.23421140 -0.36465177 0.01234522
+v 0.22147090 -0.13178563 -0.05733690
+v 0.25676994 -0.27643348 -0.02643691
+v 0.24363611 -0.34793181 0.01313072
+v 0.21985200 -0.32102918 -0.05530148
+v 0.25803626 -0.13514613 0.00008708
+v 0.24387135 -0.19171186 -0.05019145
+v 0.25640954 -0.30516956 -0.01090291
+v 0.22339994 -0.36745162 -0.01646771
+v 0.24294070 -0.26247284 -0.04958746
+v 0.24076678 -0.13605153 -0.03704763
+v 0.25607459 -0.16406423 -0.02607575
+v 0.22438901 -0.19010086 -0.06854818
+v 0.24169605 -0.34694067 0.00067981
+v 0.24178519 -0.30380739 -0.03759976
+v 0.22979335 -0.26269457 -0.06350170
+v 0.22956807 -0.13451959 -0.05029093
+v 0.22970173 -0.36171968 -0.01168085
+v 0.22750204 -0.31947732 -0.04831816
+v 0.23104945 -0.19136655 -0.06359196
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 9 2 3
+f 9 3 6
+f 10 7 5
+f 11 4 3
+f 13 8 2
+f 14 1 7
+f 14 7 10
+f 15 12 8
+f 16 7 4
+f 16 4 11
+f 17 11 3
+f 17 8 12
+f 17 16 11
+f 17 12 16
+f 17 3 2
+f 17 2 8
+f 18 5 7
+f 19 13 2
+f 19 2 9
+f 19 9 6
+f 20 8 13
+f 20 15 8
+f 21 10 5
+f 21 12 15
+f 22 16 12
+f 22 7 16
+f 23 13 19
+f 23 20 13
+f 23 1 14
+f 23 19 6
+f 23 6 1
+f 24 14 10
+f 24 10 21
+f 24 21 15
+f 24 15 20
+f 24 23 14
+f 24 20 23
+f 25 12 21
+f 25 22 12
+f 25 18 7
+f 25 7 22
+f 25 21 5
+f 25 5 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a80d9f8ff70ea3474d64230a3e565523b6b38e1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.27459127 -0.19105729 0.07124258
+v -0.23576859 -0.15635386 -0.02812202
+v -0.26609729 -0.18786203 0.07125577
+v -0.22997809 -0.08039724 0.07229899
+v -0.25259859 -0.12057906 0.00054138
+v -0.24600104 -0.18854968 -0.02268159
+v -0.25360279 -0.10749347 0.06936875
+v -0.22591675 -0.08295867 -0.01992239
+v -0.26484686 -0.19033485 -0.01685879
+v -0.26799370 -0.14866867 0.05728432
+v -0.25674749 -0.11921787 0.07124198
+v -0.24273103 -0.09010228 0.07124258
+v -0.23652697 -0.09304263 -0.01090304
+v -0.27057311 -0.19186104 -0.00043820
+v -0.25256045 -0.10776270 0.04244489
+v -0.27036466 -0.16307117 0.07124251
+v -0.25457419 -0.13499050 -0.01172438
+v -0.26847800 -0.16380907 0.01316871
+v -0.26823622 -0.14846599 0.06936875
+v -0.26835058 -0.17706622 0.00014278
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 6 3 1
+f 8 4 2
+f 9 2 6
+f 9 8 2
+f 12 4 8
+f 12 11 4
+f 12 7 11
+f 13 12 8
+f 14 9 6
+f 14 6 1
+f 15 10 7
+f 15 5 10
+f 15 13 5
+f 15 7 12
+f 15 12 13
+f 16 1 4
+f 16 4 11
+f 17 5 13
+f 17 13 8
+f 17 8 9
+f 18 14 1
+f 18 1 10
+f 18 10 5
+f 18 5 17
+f 19 10 1
+f 19 1 16
+f 19 7 10
+f 19 16 11
+f 19 11 7
+f 20 17 9
+f 20 9 14
+f 20 18 17
+f 20 14 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee98cb42f5c6b30974421d070e1bea6f76b50f8e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.13849770 -0.01653283 -0.02369397
+v -0.07568240 0.01443657 -0.02346724
+v -0.07703491 0.03529044 0.07125577
+v -0.07168444 0.04465533 0.07135299
+v -0.11162641 0.02281344 -0.01198135
+v -0.13692776 0.01132522 0.07229899
+v -0.12586901 -0.01282209 -0.02899752
+v -0.06965282 0.03754258 -0.01228281
+v -0.12926726 0.01260298 -0.01444776
+v -0.12702076 0.02374804 0.07124186
+v -0.09322126 0.00365706 -0.02909180
+v -0.09706868 0.03475754 0.01337573
+v -0.14201391 -0.01117758 -0.01207474
+v -0.09806918 0.03667918 0.07124183
+v -0.12525320 0.01978188 0.00074996
+v -0.08329227 0.03452082 -0.01090430
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 8 4 2
+f 9 7 1
+f 11 2 3
+f 11 3 7
+f 11 8 2
+f 11 7 9
+f 11 9 5
+f 11 5 8
+f 12 4 8
+f 13 9 1
+f 13 1 6
+f 13 6 9
+f 14 10 6
+f 14 6 4
+f 14 12 10
+f 14 4 12
+f 15 9 6
+f 15 6 10
+f 15 10 12
+f 15 12 5
+f 15 5 9
+f 16 12 8
+f 16 8 5
+f 16 5 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abbdee38eb7ed40398bdd4c5a300ad617809cd61
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.07584276 -0.48583888 0.07229899
+v 0.15485667 -0.43356865 0.01028669
+v 0.13099031 -0.46300591 0.01288698
+v 0.15941777 -0.43902667 0.07150502
+v 0.08207680 -0.47774892 0.07125572
+v 0.14750285 -0.45300789 0.01218257
+v 0.14284197 -0.46051869 0.06936875
+v 0.08015270 -0.47142706 0.00894035
+v 0.11399187 -0.47448331 0.04242249
+v 0.14880705 -0.45478817 0.07129830
+v 0.14202974 -0.45970729 0.04252379
+v 0.09930357 -0.46393585 0.00737409
+v 0.11453466 -0.47503654 0.06936875
+v 0.07581270 -0.48533817 0.01169640
+v 0.13318373 -0.44718989 0.00734855
+v 0.10239357 -0.47832774 0.07124258
+v 0.13204037 -0.46463258 0.07124258
+v 0.10196316 -0.47661096 0.01301171
+f 5 1 4
+f 5 4 2
+f 6 2 4
+f 8 5 2
+f 8 1 5
+f 10 4 1
+f 10 7 6
+f 10 6 4
+f 11 3 6
+f 11 6 7
+f 11 9 3
+f 11 7 9
+f 12 6 3
+f 13 9 7
+f 14 8 12
+f 14 1 8
+f 14 13 1
+f 14 9 13
+f 15 12 8
+f 15 8 2
+f 15 2 6
+f 15 6 12
+f 16 1 13
+f 17 13 7
+f 17 7 10
+f 17 16 13
+f 17 10 1
+f 17 1 16
+f 18 3 9
+f 18 9 14
+f 18 14 12
+f 18 12 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06a94c9b3be400d2dbe9eb31ad42346f6e25b3b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.27621421 -0.19138809 0.06936875
+v 0.27244598 -0.18974962 0.01100211
+v 0.25521036 -0.12105684 0.01353988
+v 0.25349186 -0.11602778 0.07229899
+v 0.25942067 -0.18696770 0.00790422
+v 0.25739877 -0.12049559 0.07108077
+v 0.27210104 -0.17708757 0.02707743
+v 0.27446269 -0.19185970 0.02691328
+v 0.26781970 -0.18817637 0.07223606
+v 0.25304262 -0.11610354 0.01164109
+v 0.27252915 -0.18970617 0.07229899
+v 0.27403897 -0.17655558 0.06936875
+v 0.24490910 -0.12857769 0.01058760
+v 0.25224721 -0.12565225 0.07207785
+v 0.26225478 -0.17161531 0.06900517
+f 7 2 3
+f 8 5 2
+f 8 1 5
+f 8 2 7
+f 9 5 1
+f 10 3 2
+f 10 2 5
+f 10 6 3
+f 10 4 6
+f 11 6 4
+f 11 9 1
+f 11 4 9
+f 12 8 7
+f 12 1 8
+f 12 11 1
+f 12 6 11
+f 12 7 3
+f 12 3 6
+f 13 10 5
+f 13 4 10
+f 14 9 4
+f 14 4 13
+f 15 13 5
+f 15 5 9
+f 15 14 13
+f 15 9 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c56e38cda7d3eb77ec26197049e700c35369fa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.10601083 -0.01137295 -0.06107182
+v 0.11155142 -0.00068207 -0.02381934
+v -0.15885220 -0.01484145 -0.02873557
+v -0.09978252 0.02660192 -0.01412144
+v 0.10323189 0.02551975 -0.01363000
+v -0.08728032 -0.01215058 -0.06852069
+v -0.15712518 -0.00413540 -0.01323124
+v -0.12815242 -0.01703714 -0.05449251
+v 0.02969308 0.02213511 -0.05021157
+v -0.16215375 -0.01075297 -0.01773951
+v -0.09775995 0.02127353 -0.02673318
+v 0.09086555 -0.01290898 -0.06829752
+v 0.08562073 0.01904638 -0.03691623
+v -0.02577368 0.02247503 -0.05052145
+v -0.15400636 -0.00893607 -0.02576872
+v -0.12441277 -0.00752149 -0.04819616
+v 0.10122246 0.02022045 -0.02617259
+v 0.08794787 -0.00556716 -0.06350170
+v -0.08215843 0.01994741 -0.03754957
+v 0.02999603 0.00943591 -0.06356079
+v -0.08435935 -0.00482116 -0.06395173
+v 0.10271271 -0.00270710 -0.05440321
+v -0.04098164 0.00765840 -0.06350170
+f 1 2 3
+f 5 2 1
+f 7 2 5
+f 7 5 4
+f 10 3 2
+f 10 2 7
+f 11 7 4
+f 12 8 6
+f 12 1 3
+f 12 3 8
+f 13 9 5
+f 14 4 5
+f 14 5 9
+f 15 10 7
+f 15 3 10
+f 15 7 11
+f 16 15 11
+f 16 8 3
+f 16 3 15
+f 17 13 5
+f 17 5 1
+f 18 9 13
+f 18 1 12
+f 19 11 4
+f 19 4 14
+f 19 16 11
+f 20 12 6
+f 20 14 9
+f 20 18 12
+f 20 9 18
+f 21 6 8
+f 21 8 16
+f 21 16 19
+f 22 17 1
+f 22 13 17
+f 22 18 13
+f 22 1 18
+f 23 21 19
+f 23 19 14
+f 23 14 20
+f 23 20 6
+f 23 6 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d5d86b3460777163081efc18366d2bf1b0d0af
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10816237 -0.40178207 -0.05372152
+v 0.10798025 -0.40149379 -0.07246686
+v 0.10799261 -0.26515150 -0.05841536
+v -0.11928054 -0.26515151 -0.05841434
+v -0.11997827 -0.40260377 -0.05217547
+v -0.11927896 -0.26515151 -0.07263847
+v 0.10799377 -0.26515151 -0.07263847
+v -0.11852438 -0.40034005 -0.07202866
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81625c5aeda8f045b623d3536724698680ced022
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01708379 -0.14393938 -0.05841435
+v 0.01708468 -0.14393938 -0.07263847
+v 0.01718358 -0.00603564 -0.05259028
+v -0.10786284 -0.00033765 -0.02604028
+v -0.18026458 -0.14378818 -0.05484216
+v -0.17986167 -0.14394866 -0.07251130
+v -0.17232372 -0.01688826 -0.01413113
+v 0.01699654 -0.00894745 -0.07219193
+v -0.18705892 -0.06243413 -0.02686744
+v -0.11330565 -0.01897211 -0.06439697
+v -0.14098243 -0.02072785 -0.05028490
+v -0.17050818 -0.06259713 -0.06374191
+v -0.16873901 -0.02134542 -0.02671585
+v -0.13974193 -0.03512820 -0.06350170
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 1 4
+f 8 3 2
+f 8 2 6
+f 8 4 3
+f 9 5 1
+f 9 1 7
+f 9 6 5
+f 10 4 8
+f 10 8 6
+f 11 7 4
+f 11 4 10
+f 12 6 9
+f 12 10 6
+f 13 12 9
+f 13 9 7
+f 13 7 11
+f 13 11 12
+f 14 12 11
+f 14 11 10
+f 14 10 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e22ff21996189ca27df928b8a1da66e15a95ed
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01708379 -0.26515151 -0.05841435
+v 0.01708468 -0.26515151 -0.07263847
+v 0.01708468 -0.14393938 -0.07263847
+v -0.19532717 -0.14382387 -0.05368355
+v -0.19540543 -0.26525525 -0.05453012
+v 0.01708379 -0.14393938 -0.05841435
+v -0.19501230 -0.26514471 -0.07249889
+v -0.19501305 -0.14394872 -0.07246536
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db900c82c59b071d7b9faec849865873647ab281
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.16906113 -0.26528130 -0.05650090
+v 0.16857586 -0.26514478 -0.07258194
+v 0.16917847 -0.08287596 -0.05119164
+v 0.01708379 -0.08333332 -0.05841435
+v 0.01708379 -0.26515151 -0.05841435
+v 0.16745034 -0.08424204 -0.07165272
+v 0.01708468 -0.26515151 -0.07263847
+v 0.01708468 -0.08333332 -0.07263847
+v 0.10797832 -0.08335286 -0.07257667
+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 7 5 4
+f 8 4 3
+f 8 7 4
+f 8 2 7
+f 9 8 3
+f 9 3 6
+f 9 6 2
+f 9 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ca15818a5a33bfd0a7c832dde8a64f59cfa972
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.07225867 -0.48684465 0.07229899
+v -0.04236267 -0.48514490 -0.01631879
+v -0.04421156 -0.46662991 -0.02208424
+v -0.16821996 -0.40501954 -0.02229401
+v -0.13796590 -0.45945714 0.01360140
+v -0.06172395 -0.45812517 -0.02874349
+v -0.17218026 -0.42576925 0.05554617
+v -0.04348843 -0.49221805 0.01072230
+v -0.15270290 -0.44364188 -0.01090310
+v -0.15638331 -0.40982573 -0.02826279
+v -0.07849268 -0.47875462 0.07125550
+v -0.15691816 -0.44977214 0.07124134
+v -0.04628577 -0.47928979 0.00753507
+v -0.09675902 -0.47308643 -0.01082924
+v -0.17270275 -0.40952541 -0.01059590
+v -0.11229904 -0.47485372 0.07072799
+v -0.16699661 -0.43454676 0.07229899
+v -0.13946577 -0.46129290 0.07075654
+v -0.11232622 -0.47414356 0.02720198
+f 6 3 2
+f 7 3 4
+f 8 2 3
+f 10 4 3
+f 10 3 6
+f 10 9 4
+f 11 3 7
+f 12 9 5
+f 12 7 9
+f 13 8 3
+f 13 1 8
+f 13 11 1
+f 13 3 11
+f 14 2 8
+f 14 5 9
+f 14 6 2
+f 14 10 6
+f 14 9 10
+f 15 9 7
+f 15 7 4
+f 15 4 9
+f 17 11 7
+f 17 7 12
+f 17 12 1
+f 17 1 11
+f 18 12 5
+f 18 16 1
+f 18 1 12
+f 19 5 14
+f 19 14 8
+f 19 8 1
+f 19 1 16
+f 19 18 5
+f 19 16 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b22ab25de9ae88098899986a1188fa7012844f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.23089054 -0.31270499 -0.02287987
+v -0.19501230 -0.26514471 -0.07249889
+v -0.19658522 -0.15869673 -0.05403481
+v -0.25756787 -0.14750110 -0.01342527
+v -0.25191258 -0.26209884 -0.03766966
+v -0.23378674 -0.14064689 -0.02452920
+v -0.19540543 -0.26525525 -0.05453012
+v -0.24673591 -0.30718953 -0.02861250
+v -0.21592739 -0.14767786 -0.06784152
+v -0.22364816 -0.30997765 -0.03333495
+v -0.19501305 -0.14394872 -0.07246536
+v -0.22808153 -0.26305803 -0.06483336
+v -0.25849884 -0.29217724 -0.01382948
+v -0.25311487 -0.19219099 -0.03830184
+v -0.25208474 -0.14894577 -0.02596545
+v -0.20369891 -0.14049642 -0.05094032
+v -0.25161741 -0.30905476 -0.01763806
+v -0.25299576 -0.29068086 -0.02634308
+v -0.22580835 -0.16286806 -0.06350170
+v -0.23942044 -0.16338212 -0.04943486
+f 6 1 3
+f 6 4 1
+f 7 3 1
+f 10 7 1
+f 10 2 7
+f 10 1 8
+f 11 7 2
+f 11 3 7
+f 11 2 9
+f 11 9 6
+f 12 8 5
+f 12 10 8
+f 12 2 10
+f 12 9 2
+f 13 1 4
+f 14 13 4
+f 14 5 13
+f 14 12 5
+f 15 4 6
+f 15 6 9
+f 15 14 4
+f 16 11 6
+f 16 6 3
+f 16 3 11
+f 17 8 1
+f 17 1 13
+f 18 13 5
+f 18 5 8
+f 18 17 13
+f 18 8 17
+f 19 9 12
+f 19 12 14
+f 20 15 9
+f 20 9 19
+f 20 19 14
+f 20 14 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..180b6724171ea807351c97915141341d1b65460c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.18026458 -0.14378818 -0.05484216
+v -0.17986167 -0.14394866 -0.07251130
+v -0.17289034 -0.07371352 -0.06829752
+v -0.17826606 -0.02434221 -0.01857008
+v -0.25415218 -0.14434074 -0.01891143
+v -0.17439154 -0.02825653 -0.02973668
+v -0.21592739 -0.14767786 -0.06784152
+v -0.22577187 -0.08305055 0.02575218
+v -0.22171981 -0.08036613 -0.02454053
+v -0.24206550 -0.14753091 -0.04092343
+v -0.23240490 -0.09491369 0.02440260
+v -0.22089024 -0.07633297 0.02351434
+v -0.18309914 -0.03467177 -0.02713732
+v -0.22543861 -0.12136510 -0.04930530
+v -0.24195455 -0.10543740 -0.01259809
+v -0.22651171 -0.07728547 -0.01203232
+v -0.18334865 -0.07745353 -0.06350170
+v -0.23686463 -0.10805807 -0.02518861
+v -0.18712070 -0.03062350 -0.01453251
+v -0.22202596 -0.09367010 -0.03616801
+v -0.21053090 -0.12136764 -0.06350170
+v -0.23928411 -0.13507287 -0.03869450
+v -0.19476063 -0.09313591 -0.06319867
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 3 2
+f 10 7 1
+f 10 1 5
+f 11 5 1
+f 11 1 8
+f 12 8 1
+f 12 1 4
+f 13 4 6
+f 14 7 10
+f 15 5 11
+f 16 13 9
+f 16 8 12
+f 16 15 11
+f 16 11 8
+f 17 13 6
+f 17 6 3
+f 18 5 15
+f 18 16 9
+f 18 15 16
+f 19 4 13
+f 19 13 16
+f 19 16 12
+f 19 12 4
+f 20 9 13
+f 20 13 17
+f 20 18 9
+f 20 14 18
+f 21 3 7
+f 21 7 14
+f 22 18 14
+f 22 14 10
+f 22 10 5
+f 22 5 18
+f 23 20 17
+f 23 14 20
+f 23 21 14
+f 23 17 3
+f 23 3 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ea672f4f7e245c43279f73bf081282c7288c9d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.25769097 -0.12951043 0.07244950
+v 0.24651025 -0.13378201 -0.02743256
+v 0.22665120 -0.06454284 0.02733962
+v 0.16827372 -0.00798816 0.07260387
+v 0.16745034 -0.08424204 -0.07165272
+v 0.22772855 -0.06356038 0.07012416
+v 0.24008335 -0.09318201 0.00116368
+v 0.22447339 -0.12472680 -0.02844038
+v 0.24753761 -0.12150753 0.06900348
+v 0.16165018 -0.01616127 -0.02759469
+v 0.18788288 -0.01885622 0.07124237
+v 0.24356457 -0.09169224 0.07124258
+v 0.22851687 -0.12905490 -0.04922299
+v 0.25224721 -0.12565225 0.07207785
+v 0.16144076 -0.06035692 -0.06761727
+v 0.19777353 -0.03896914 -0.01090430
+v 0.18264019 -0.02379949 -0.01090430
+v 0.23496073 -0.13242963 -0.04346183
+v 0.18894464 -0.08963985 -0.06573692
+v 0.21240470 -0.05153824 0.00110027
+v 0.17135073 -0.02289533 -0.02575959
+v 0.21218473 -0.07923014 -0.03683518
+v 0.17268687 -0.06431896 -0.06350170
+v 0.22765976 -0.10705830 -0.03781737
+v 0.21246626 -0.06661992 -0.02497090
+v 0.18484531 -0.07933332 -0.06349711
+v 0.24195095 -0.12038220 -0.02622142
+f 7 1 2
+f 9 4 5
+f 11 6 3
+f 12 1 7
+f 12 6 11
+f 12 11 4
+f 12 4 1
+f 12 7 3
+f 12 3 6
+f 13 8 5
+f 14 1 4
+f 14 4 9
+f 14 8 1
+f 14 9 5
+f 14 5 8
+f 15 5 4
+f 15 4 10
+f 17 10 4
+f 17 4 11
+f 18 2 1
+f 18 1 8
+f 18 8 13
+f 19 13 5
+f 19 5 15
+f 20 3 7
+f 20 11 3
+f 20 17 11
+f 20 16 17
+f 21 17 16
+f 21 10 17
+f 23 15 10
+f 23 10 21
+f 23 19 15
+f 24 18 13
+f 24 13 19
+f 24 19 22
+f 25 20 7
+f 25 24 22
+f 25 16 20
+f 25 21 16
+f 25 23 21
+f 25 22 23
+f 26 23 22
+f 26 22 19
+f 26 19 23
+f 27 2 18
+f 27 18 24
+f 27 7 2
+f 27 25 7
+f 27 24 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e029fdd6d65ff8e4d0e84820736e6f7012e7ce4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.23639012 -0.34637982 0.06900246
+v -0.21620371 -0.34393559 -0.02326347
+v -0.26609729 -0.18786203 0.07125577
+v -0.24600104 -0.18854968 -0.02268159
+v -0.26891140 -0.26248785 -0.00003261
+v -0.24339702 -0.33465098 -0.01336521
+v -0.26910830 -0.29073522 0.06936875
+v -0.27057311 -0.19186104 -0.00043820
+v -0.22180644 -0.34686584 -0.01143465
+v -0.26855752 -0.23391608 -0.01170275
+v -0.24228610 -0.34179736 0.07230315
+v -0.26712583 -0.29045533 0.02722344
+v -0.25233355 -0.18757940 -0.01106232
+v -0.27459127 -0.19105729 0.07124258
+v -0.25238978 -0.33383281 0.02724133
+v -0.25136259 -0.31826871 -0.01090347
+v -0.21950401 -0.33044447 -0.02784732
+v -0.26484686 -0.19033485 -0.01685879
+v -0.27096322 -0.27775034 0.07124249
+v -0.25316154 -0.33437171 0.07084575
+v -0.26841437 -0.20544124 -0.01159328
+f 1 2 3
+f 3 2 4
+f 9 6 2
+f 9 2 1
+f 10 5 8
+f 11 1 3
+f 13 3 4
+f 14 3 8
+f 14 11 3
+f 14 8 5
+f 15 9 1
+f 15 6 9
+f 15 7 12
+f 16 5 10
+f 16 12 5
+f 16 15 12
+f 16 6 15
+f 17 4 2
+f 17 2 6
+f 17 16 10
+f 17 6 16
+f 18 17 10
+f 18 4 17
+f 18 13 4
+f 18 8 3
+f 18 3 13
+f 19 12 7
+f 19 5 12
+f 19 14 5
+f 19 11 14
+f 20 15 1
+f 20 1 11
+f 20 7 15
+f 20 19 7
+f 20 11 19
+f 21 18 10
+f 21 10 8
+f 21 8 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c277e1c98eaf6ed4c23eb6655841574b4f591d55
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.11816216 -0.45992797 -0.01848675
+v -0.11256196 -0.44883500 -0.04032006
+v -0.11928054 -0.26515151 -0.05841434
+v -0.25404373 -0.26489772 -0.03371662
+v -0.22334457 -0.36007024 -0.02547710
+v -0.19688552 -0.34721095 -0.06350170
+v -0.19689946 -0.38786413 -0.00575590
+v -0.17861300 -0.41540161 -0.02421914
+v -0.11423782 -0.42170244 -0.06614780
+v -0.22808153 -0.26305803 -0.06483336
+v -0.23671475 -0.31849702 -0.03684767
+v -0.25161741 -0.30905476 -0.01763806
+v -0.13847956 -0.44501104 -0.02550378
+v -0.19784787 -0.40429344 -0.01163046
+v -0.19570637 -0.37456257 -0.04742478
+v -0.11927896 -0.26515151 -0.07263847
+v -0.24114825 -0.26280814 -0.05138889
+v -0.22285865 -0.34708389 -0.03724739
+v -0.21222110 -0.31923149 -0.06350170
+v -0.23828956 -0.33207461 -0.02597048
+v -0.12553382 -0.44452365 -0.03720776
+v -0.22808513 -0.36317738 -0.01293627
+v -0.14155338 -0.44978877 -0.01296753
+v -0.15287564 -0.41727065 -0.04768599
+v -0.19380578 -0.40024054 -0.02416884
+v -0.24002128 -0.27595104 -0.04996740
+v -0.12585178 -0.41834539 -0.06350170
+v -0.24339702 -0.33465098 -0.01336521
+v -0.18267961 -0.41942817 -0.01161964
+v -0.22679341 -0.27648696 -0.06350170
+f 1 2 3
+f 7 1 3
+f 12 7 3
+f 12 3 4
+f 12 4 11
+f 16 3 2
+f 16 2 9
+f 16 10 3
+f 16 9 6
+f 16 6 10
+f 17 4 3
+f 17 3 10
+f 18 15 5
+f 18 6 15
+f 19 10 6
+f 19 18 11
+f 19 6 18
+f 20 12 11
+f 20 18 5
+f 20 11 18
+f 21 2 1
+f 21 1 13
+f 22 5 14
+f 22 14 7
+f 23 1 7
+f 23 13 1
+f 23 8 13
+f 24 21 13
+f 24 13 8
+f 24 15 6
+f 25 14 5
+f 25 5 15
+f 25 8 14
+f 25 24 8
+f 25 15 24
+f 26 11 4
+f 26 4 17
+f 26 19 11
+f 26 17 10
+f 27 9 2
+f 27 2 21
+f 27 21 24
+f 27 24 6
+f 27 6 9
+f 28 20 5
+f 28 5 22
+f 28 12 20
+f 28 22 7
+f 28 7 12
+f 29 23 7
+f 29 7 14
+f 29 14 8
+f 29 8 23
+f 30 26 10
+f 30 10 19
+f 30 19 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f747a29d816f7d133479d820a981b46501878253
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_25">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.24000000000000005 0.24000000000000005 0.24000000000000005" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
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+    <material name="Material.276" texture="image0" specular="0.5" shininess="0.25"/>
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+    <default class="region">
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_6/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3afc8873282543bae987bde36c1679cf80a17b0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_6/visual/model_normalized_0.obj
@@ -0,0 +1,15332 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9f4f358983e7c41804482d71c4e4af8610ceab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_0.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00281875 0.11627637 0.04005870
+v -0.00179028 0.11280247 -0.01183811
+v -0.08119232 0.21251108 0.04131800
+v -0.11822524 0.23166727 0.04131800
+v -0.09848486 0.11946097 -0.02286151
+v -0.09256954 0.19824151 -0.03506641
+v -0.02314971 0.15430353 0.04130101
+v -0.01947926 0.12883621 0.03976870
+v -0.12042032 0.22735865 -0.00176226
+v -0.02740089 0.11707962 -0.03715333
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+v -0.11363638 0.18006703 -0.04131804
+v -0.09848486 0.11946097 -0.04131804
+v -0.02560690 0.15244783 0.01420244
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+v -0.10835273 0.22130601 -0.00099992
+v -0.10619675 0.22553821 0.04131800
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+v -0.00885587 0.12308956 -0.01149452
+v -0.11590219 0.20592332 -0.03772313
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..457e6e7ee923c2f0dcb453d60169ea893f5d4b90
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_1.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.46585260 -0.09456147 -0.00389475
+v -0.44696971 -0.09266024 -0.04131804
+v -0.44696971 -0.09266024 -0.02286151
+v -0.48473325 0.04488514 0.04119375
+v -0.49149351 -0.01435538 -0.01129824
+v -0.46212122 0.04370340 -0.02286151
+v -0.48186416 -0.06308449 0.04131800
+v -0.47308447 -0.08280602 -0.02402079
+v -0.44696971 -0.06235721 -0.02286151
+v -0.47605571 0.04111070 -0.03404265
+v -0.49343249 0.04146319 0.04131800
+v -0.46399020 -0.08589273 -0.03553593
+v -0.49055015 -0.05966045 0.04131800
+v -0.46212122 0.04370340 -0.04131804
+v -0.48999436 0.02576715 -0.01061818
+v -0.49036756 0.04097778 0.01366747
+v -0.47933595 -0.08599135 -0.00179071
+v -0.47575475 -0.04456533 -0.03377146
+v -0.44696971 -0.06235721 -0.04131804
+v -0.48917972 -0.05944339 0.02895395
+f 1 2 3
+f 7 1 3
+f 9 3 2
+f 9 6 4
+f 9 7 3
+f 9 4 7
+f 11 7 4
+f 12 2 1
+f 13 11 5
+f 13 7 11
+f 13 1 7
+f 14 6 9
+f 14 10 4
+f 14 4 6
+f 15 10 5
+f 15 5 11
+f 16 11 4
+f 16 4 10
+f 16 15 11
+f 16 10 15
+f 17 12 1
+f 17 8 12
+f 17 1 13
+f 17 5 8
+f 18 12 8
+f 18 8 5
+f 18 5 10
+f 18 10 14
+f 18 14 2
+f 18 2 12
+f 19 14 9
+f 19 9 2
+f 19 2 14
+f 20 17 13
+f 20 13 5
+f 20 5 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2afeced0056482a22eabdda23b156e79e66caf61
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.02693740 -0.14368969 0.04067978
+v 0.00806919 -0.03453231 -0.00516209
+v -0.00586263 -0.12898791 0.04047401
+v 0.01022148 -0.03247326 0.01142091
+v -0.03129059 -0.14147163 -0.00424341
+v 0.01058111 -0.05008175 0.04001589
+v 0.00861285 -0.03221845 -0.00355346
+v -0.00959586 -0.12624110 -0.00106776
+v 0.01109185 -0.04776264 0.04131800
+v -0.02523333 -0.12940643 -0.00498277
+f 5 1 4
+f 5 3 1
+f 6 2 4
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 3 5
+f 8 6 3
+f 8 2 6
+f 9 1 3
+f 9 3 6
+f 9 6 4
+f 9 4 1
+f 10 8 5
+f 10 5 2
+f 10 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c98a5cfc281b4a1e0ff6f00fdcd9e19efcf2bb5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.34033962 -0.04726371 0.01588926
+v 0.35466007 -0.01994403 0.00055111
+v 0.35372085 0.01830640 0.02549690
+v 0.14200403 0.04583178 0.02955918
+v 0.14281925 -0.05086813 0.00057475
+v 0.34072287 0.04693870 0.00525518
+v 0.14173284 -0.04752408 0.02783059
+v 0.35459634 -0.01991448 0.02542486
+v 0.34068366 -0.04693952 0.00525496
+v 0.35378534 0.01833630 0.00057865
+v 0.31000039 0.03823970 0.02677201
+v 0.14310906 0.05084394 0.00058639
+v 0.30996411 -0.03834575 0.02677278
+v 0.34038401 0.04726413 0.01589697
+v 0.34031960 0.01295293 0.02613778
+v 0.34031627 -0.01645570 0.02603918
+f 7 5 1
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 6 3
+f 10 8 2
+f 10 3 8
+f 12 7 4
+f 12 5 7
+f 12 6 10
+f 12 10 2
+f 12 2 5
+f 13 7 1
+f 13 1 8
+f 13 4 7
+f 13 11 4
+f 14 4 11
+f 14 12 4
+f 14 6 12
+f 14 11 3
+f 14 3 6
+f 15 8 3
+f 15 3 11
+f 15 11 13
+f 16 15 13
+f 16 13 8
+f 16 8 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772173d6a24d77344dafcea8b7778bef99c9fabc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_12.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.41645998 -0.18336263 0.01174507
+v -0.40890331 -0.17580596 -0.02882519
+v -0.41666668 -0.09266024 -0.02286151
+v -0.47606345 -0.09204407 -0.00328694
+v -0.44239949 -0.14321746 -0.02382877
+v -0.45612899 -0.13506155 0.01246700
+v -0.41774474 -0.16949588 -0.02482856
+v -0.41666668 -0.09266024 -0.04131804
+v -0.42588545 -0.16248507 0.01029442
+v -0.45007626 -0.14712900 0.01322937
+v -0.43483873 -0.14402882 -0.03506882
+v -0.42412996 -0.17588110 0.01293248
+v -0.46399020 -0.08589273 -0.03553593
+v -0.44260542 -0.14361103 0.01039557
+v -0.46395800 -0.11617900 -0.00176219
+v -0.41252252 -0.16427365 -0.03670388
+v -0.46058781 -0.09931026 -0.03212080
+v -0.42103216 -0.15763178 -0.03522954
+v -0.45774199 -0.11301174 -0.02392477
+f 1 2 3
+f 6 3 4
+f 7 2 1
+f 8 3 2
+f 9 1 3
+f 11 7 5
+f 11 2 7
+f 12 7 1
+f 12 5 7
+f 12 10 5
+f 12 1 9
+f 12 9 6
+f 12 6 10
+f 13 4 3
+f 13 3 8
+f 14 9 3
+f 14 3 6
+f 14 6 9
+f 15 4 5
+f 15 5 10
+f 15 10 6
+f 15 6 4
+f 16 8 2
+f 16 13 8
+f 16 11 13
+f 17 13 11
+f 17 11 5
+f 17 4 13
+f 18 16 2
+f 18 2 11
+f 18 11 16
+f 19 17 5
+f 19 5 4
+f 19 4 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f31b1ccbbb68bad6c341fdb3d57dc6f96f77ba1b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.03129059 -0.14147163 -0.00424341
+v -0.00259826 -0.11592823 -0.00203417
+v -0.01462751 -0.13323870 -0.00246537
+v -0.02056974 0.12056027 -0.00370264
+v -0.03883007 0.11897625 -0.04131804
+v -0.00098043 0.11354477 -0.00225761
+v -0.03787880 0.11946097 -0.02286151
+v -0.04180660 -0.13611345 -0.03902684
+v -0.00646623 0.08200312 -0.03478059
+v -0.03405099 -0.13234500 -0.03670388
+v -0.03787880 -0.10781175 -0.02286151
+v -0.00725129 -0.08510580 -0.03398861
+v -0.02174499 0.11224131 -0.03465269
+v -0.00662670 -0.11260792 -0.01577231
+v -0.00581156 0.10970029 -0.01680398
+v -0.02450861 -0.12948742 -0.02523223
+v -0.02252967 -0.11534419 -0.03386107
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 4
+f 7 4 5
+f 8 3 1
+f 8 7 5
+f 10 3 8
+f 11 8 1
+f 11 1 7
+f 11 7 8
+f 12 9 6
+f 12 6 2
+f 12 10 8
+f 12 8 5
+f 12 5 9
+f 13 9 5
+f 13 5 6
+f 14 2 3
+f 14 12 2
+f 15 13 6
+f 15 6 9
+f 15 9 13
+f 16 14 3
+f 16 3 10
+f 16 10 14
+f 17 14 10
+f 17 10 12
+f 17 12 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5545f4bc368814c30732730e30ef5acd45c481b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.35606062 -0.13811478 -0.02286151
+v -0.35606062 -0.13811478 -0.04131804
+v -0.35606062 0.11946097 -0.02286151
+v -0.45042397 0.12122097 -0.01901244
+v -0.46212122 -0.06235721 -0.02286151
+v -0.44275885 0.11731552 -0.03831506
+v -0.41666668 -0.13811478 -0.04131804
+v -0.41666668 -0.13811478 -0.02286151
+v -0.35606062 0.11946097 -0.04131804
+v -0.46212122 0.04370340 -0.04131804
+v -0.44696971 -0.09266024 -0.02286151
+v -0.46212122 0.04370340 -0.02286151
+v -0.45987765 -0.06200189 -0.04131804
+v -0.44696971 -0.09266024 -0.04131804
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 9 3 2
+f 9 2 7
+f 9 6 4
+f 9 4 3
+f 10 4 6
+f 10 9 7
+f 10 6 9
+f 11 8 4
+f 11 4 5
+f 11 7 8
+f 12 10 5
+f 12 5 4
+f 12 4 10
+f 13 10 7
+f 13 5 10
+f 14 11 5
+f 14 5 13
+f 14 13 7
+f 14 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c8f7ddac94e27c109dad17555662aabbdf87c25
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_15.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.49343249 0.04146319 0.04131800
+v -0.44696971 0.04370340 -0.04131804
+v -0.44696971 0.04370340 -0.02286151
+v -0.45622888 0.12417862 0.04088498
+v -0.47426449 0.07990498 -0.02461394
+v -0.44275885 0.11731552 -0.03831506
+v -0.48473325 0.04488514 0.04119375
+v -0.47962131 0.04167548 -0.02793677
+v -0.47893444 0.09743614 0.04131800
+v -0.49202616 0.04124043 0.02863062
+v -0.47213195 0.04288918 -0.03724585
+v -0.45892199 0.11011070 -0.02451794
+v -0.46968279 0.11559375 0.04131800
+v -0.48971410 0.05602573 0.02889333
+v -0.46137518 0.09620916 -0.03290922
+v -0.47374786 0.09479351 -0.01055032
+v -0.49109132 0.05624388 0.04131800
+v -0.44949449 0.11302760 -0.03620317
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 10 8 3
+f 10 3 1
+f 10 5 8
+f 11 6 2
+f 11 2 8
+f 11 8 5
+f 12 4 6
+f 13 7 4
+f 13 4 12
+f 13 9 1
+f 13 1 7
+f 14 5 10
+f 15 11 5
+f 15 5 12
+f 16 12 5
+f 16 13 12
+f 16 9 13
+f 16 5 14
+f 17 1 9
+f 17 16 14
+f 17 9 16
+f 17 14 10
+f 17 10 1
+f 18 6 11
+f 18 11 15
+f 18 15 12
+f 18 12 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24889e5785ff1ce8ba5159fc745ddcab0463bc97
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.39607950 -0.20843670 0.04131800
+v -0.38694368 -0.19930088 -0.00352846
+v -0.39039236 -0.20274956 0.04131800
+v -0.45901389 -0.13653150 0.04131800
+v -0.44695146 -0.15324806 0.01411989
+v -0.44550752 -0.14508982 0.04034422
+v -0.40779104 -0.18984520 -0.00203058
+v -0.44910980 -0.15540639 0.04131800
+v -0.44260542 -0.14361103 0.01039557
+v -0.39382693 -0.20618413 0.01293248
+v -0.45612899 -0.13506155 0.01246700
+v -0.41724672 -0.16899785 -0.00352847
+v -0.40958240 -0.17648506 -0.00467999
+v -0.39443089 -0.19163657 -0.00467999
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 2
+f 10 7 2
+f 10 2 1
+f 10 1 7
+f 11 5 4
+f 11 4 6
+f 11 6 9
+f 11 7 5
+f 12 11 9
+f 12 7 11
+f 13 12 9
+f 13 7 12
+f 14 13 9
+f 14 9 2
+f 14 2 7
+f 14 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46304c9c03894fbe40980255c0ebb85e6256d1ff
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.15909092 -0.22902387 -0.02286151
+v -0.16105339 -0.22517225 -0.03921824
+v -0.15909092 -0.15326630 -0.02286151
+v -0.35606062 -0.15326630 -0.02286151
+v -0.35642048 -0.21457865 -0.01867699
+v -0.35606062 -0.15326630 -0.04131804
+v -0.15909092 -0.15326630 -0.04131804
+v -0.27986281 -0.22624458 -0.04131804
+v -0.28030304 -0.22902387 -0.02286151
+v -0.35367925 -0.20919847 -0.03715279
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 7 2
+f 8 6 7
+f 9 8 1
+f 9 1 5
+f 9 5 8
+f 10 8 5
+f 10 5 6
+f 10 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50cfdfece3832866b02aa25d7928fc5f6ec81146
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_18.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.10963187 0.21822898 0.04105601
+v -0.11590219 0.20592332 -0.03772313
+v -0.13854054 0.23668365 -0.00102840
+v -0.19171939 0.25629262 0.04131800
+v -0.18939395 0.21037006 -0.02286151
+v -0.13638279 0.24091934 0.04131800
+v -0.11822524 0.23166727 0.04131800
+v -0.18829691 0.24759987 0.04125253
+v -0.19022227 0.23544330 -0.03704206
+v -0.17693860 0.25395177 0.04131800
+v -0.12358716 0.22114276 -0.02392507
+v -0.18939395 0.21037006 -0.04131804
+v -0.19149327 0.24257091 -0.02773237
+v -0.13728965 0.22398676 -0.03212294
+v -0.19194105 0.25489300 0.02869124
+v -0.12046868 0.21211294 -0.03540890
+v -0.15379316 0.23648472 -0.02402080
+v -0.17715565 0.25258126 0.02895391
+f 5 2 1
+f 7 1 2
+f 7 3 6
+f 7 6 4
+f 8 5 1
+f 8 4 5
+f 8 7 4
+f 8 1 7
+f 10 6 3
+f 10 4 6
+f 11 7 2
+f 11 3 7
+f 12 9 2
+f 12 2 5
+f 13 9 12
+f 13 12 5
+f 15 13 5
+f 15 5 4
+f 16 14 11
+f 16 11 2
+f 16 2 9
+f 16 9 14
+f 17 14 9
+f 17 9 13
+f 17 3 11
+f 17 11 14
+f 18 17 13
+f 18 13 15
+f 18 10 3
+f 18 3 17
+f 18 15 4
+f 18 4 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b9d1fb242c4fbb30caaecb210578a1bf0818c14
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.10905670 -0.05984907 0.02497260
+v 0.14281925 -0.05086813 0.00057475
+v 0.14200403 0.04583178 0.02955918
+v 0.07992168 0.06270589 0.03115230
+v 0.07926942 -0.06546957 -0.00635566
+v 0.07987696 0.06401711 -0.00752061
+v 0.07940229 -0.06450347 0.02942298
+v 0.14173284 -0.04752408 0.02783059
+v 0.14310906 0.05084394 0.00058639
+v 0.14266175 -0.03186727 -0.00198951
+v 0.10885415 0.05816614 0.02678833
+v 0.12510008 -0.05300800 -0.00333497
+v 0.14266477 0.02836541 -0.00202870
+v 0.10844560 0.05836617 -0.00365438
+v 0.09345825 -0.06201508 -0.00504198
+v 0.12589841 0.05281384 -0.00326108
+f 5 2 1
+f 6 5 4
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 3 2
+f 10 9 2
+f 11 6 4
+f 11 4 3
+f 11 3 9
+f 12 10 2
+f 12 5 6
+f 12 6 10
+f 13 10 6
+f 13 9 10
+f 14 11 9
+f 14 6 11
+f 15 12 2
+f 15 2 5
+f 15 5 12
+f 16 13 6
+f 16 9 13
+f 16 14 9
+f 16 6 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677f966fa5800f7564329895af4b1681d15ca8cd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_2.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.27986284 -0.25654773 0.04131800
+v -0.27782436 -0.24367820 -0.02664635
+v -0.28030304 -0.21387236 -0.02286151
+v -0.40151516 -0.19872084 0.04131800
+v -0.31789070 -0.24388743 -0.01082982
+v -0.28094550 -0.24823190 0.04131800
+v -0.33261884 -0.24305656 0.04131800
+v -0.38221949 -0.19457669 -0.03670388
+v -0.39060935 -0.21197709 0.02915915
+v -0.28030304 -0.21387236 -0.04131804
+v -0.31860431 -0.23013646 -0.03477516
+v -0.39375179 -0.19095748 -0.02882519
+v -0.39142145 -0.21309475 0.04131800
+v -0.33123229 -0.24033535 0.01410435
+v -0.30750975 -0.23977830 -0.02487763
+v -0.37907999 -0.19957677 -0.03452296
+v -0.27913737 -0.23681579 -0.03670388
+v -0.35557562 -0.19776894 -0.04131804
+v -0.37830214 -0.21320245 -0.01063782
+v -0.38744171 -0.19979891 -0.02482856
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 10 3 2
+f 12 4 3
+f 12 9 4
+f 13 9 7
+f 13 7 4
+f 13 4 9
+f 14 5 7
+f 14 7 9
+f 15 2 5
+f 15 5 11
+f 16 11 5
+f 16 8 11
+f 16 12 8
+f 17 10 2
+f 17 15 11
+f 17 2 15
+f 18 11 8
+f 18 17 11
+f 18 10 17
+f 18 8 12
+f 18 12 3
+f 18 3 10
+f 19 14 9
+f 19 5 14
+f 19 16 5
+f 20 19 9
+f 20 9 12
+f 20 12 16
+f 20 16 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1501b4657426bd26616633b4c8c372849854ee44
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09848486 -0.15326630 -0.02286151
+v -0.09848486 -0.15326630 -0.04131804
+v -0.11258949 0.21242464 -0.01884158
+v -0.34090910 0.21037006 -0.02286151
+v -0.35606062 -0.15326630 -0.02286151
+v -0.09848486 0.18006703 -0.04131804
+v -0.35606062 0.11946097 -0.02286151
+v -0.33928305 0.20717879 -0.04087707
+v -0.09848486 0.18006703 -0.02286151
+v -0.11590219 0.20592332 -0.03772313
+v -0.35606062 0.11946097 -0.04131804
+v -0.35606062 -0.15326630 -0.04131804
+f 5 2 1
+f 5 1 3
+f 7 5 3
+f 7 3 4
+f 8 4 3
+f 9 6 3
+f 9 3 1
+f 9 1 2
+f 9 2 6
+f 10 8 3
+f 10 3 6
+f 10 6 8
+f 11 7 4
+f 11 4 8
+f 11 8 6
+f 11 6 2
+f 12 11 2
+f 12 2 5
+f 12 5 7
+f 12 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..883c02ebdfea6dbd461c417ff89f619b51b65c33
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_21.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01075693 0.02905571 0.01136195
+v 0.00914817 0.02880095 -0.00361245
+v -0.00098043 0.11354477 -0.00225761
+v -0.01621561 0.12277891 0.04122021
+v -0.02056974 0.12056027 -0.00370264
+v 0.00281875 0.11627637 0.04005870
+v -0.00845555 0.09642991 -0.00518184
+v 0.00929313 0.05912691 0.04131800
+v 0.00860444 0.03111479 -0.00522145
+f 1 2 3
+f 2 1 4
+f 5 2 4
+f 6 1 3
+f 6 5 4
+f 6 3 5
+f 7 5 3
+f 8 6 4
+f 8 4 1
+f 8 1 6
+f 9 7 3
+f 9 3 2
+f 9 2 5
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f1381474212a9245d4fb1e93e27083f810d053
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.44660817 -0.03921409 0.01932745
+v 0.44687621 -0.04184617 0.00217257
+v 0.44871305 -0.02078299 0.00108909
+v 0.34087727 -0.01687868 0.02600653
+v 0.34033962 -0.04726371 0.01588926
+v 0.44864893 -0.02081273 0.02201631
+v 0.35547049 -0.04707539 0.01536312
+v 0.34083099 -0.04272838 0.00124883
+v 0.34073575 -0.04714691 0.01217168
+v 0.34088983 -0.01699036 0.00053800
+v 0.35588530 -0.04697443 0.01217689
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 9 5 8
+f 10 8 5
+f 10 5 4
+f 10 4 3
+f 10 3 8
+f 11 2 7
+f 11 7 5
+f 11 5 9
+f 11 9 8
+f 11 8 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ad729b7931a2925a2e71da3fba85533437ae7d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.44405649 -0.14435036 0.02536997
+v -0.44115436 -0.14287169 -0.00457882
+v -0.48186416 -0.06308449 0.04131800
+v -0.49017932 -0.06200163 0.04131800
+v -0.46213679 -0.13040254 0.04131800
+v -0.47651507 -0.06463716 -0.00502427
+v -0.44872471 -0.13900900 0.04131800
+v -0.48530802 -0.06123006 -0.00263067
+v -0.47751762 -0.10021635 0.04131800
+v -0.44721154 -0.13080639 -0.00531816
+v -0.45790528 -0.12824647 -0.00099982
+v -0.47328323 -0.09805881 -0.00102834
+f 1 2 3
+f 5 2 1
+f 5 3 4
+f 6 3 2
+f 7 5 1
+f 7 1 3
+f 7 3 5
+f 8 4 3
+f 8 3 6
+f 9 5 4
+f 9 4 8
+f 10 8 6
+f 10 6 2
+f 11 2 5
+f 11 5 9
+f 11 10 2
+f 12 11 9
+f 12 9 8
+f 12 8 10
+f 12 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2497ee26c090c2ed28abd162a910972cf364a05e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_24.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.18939395 0.21037006 -0.02286151
+v -0.18939395 0.21037006 -0.04131804
+v -0.19015486 0.25102062 -0.00289325
+v -0.27962674 0.25155481 -0.00295409
+v -0.28030304 0.21037006 -0.02286151
+v -0.27770971 0.23945205 -0.03404844
+v -0.18906121 0.24277409 -0.00367062
+v -0.19203465 0.23915301 -0.03377436
+v -0.28030304 0.22552158 -0.04131804
+v -0.26252942 0.25442147 -0.00155821
+v -0.28072047 0.24330879 -0.00372949
+v -0.28030304 0.21037006 -0.04131804
+v -0.22203748 0.25619936 -0.00175978
+v -0.26236678 0.25339462 -0.01061841
+v -0.22224425 0.25489395 -0.01129803
+f 5 2 1
+f 7 1 2
+f 7 5 1
+f 8 7 2
+f 8 3 7
+f 9 4 6
+f 9 8 2
+f 9 6 8
+f 11 5 7
+f 11 4 9
+f 11 10 4
+f 11 7 10
+f 12 9 2
+f 12 2 5
+f 12 11 9
+f 12 5 11
+f 13 10 7
+f 13 7 3
+f 14 6 4
+f 14 4 10
+f 14 10 13
+f 15 13 3
+f 15 3 8
+f 15 14 13
+f 15 8 6
+f 15 6 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ad2b7eda6acd08c49fe1742f883006a56849a0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_25.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.40728071 0.18583277 0.04112853
+v -0.34998938 0.22875774 -0.00193803
+v -0.36077858 0.21962915 0.04088501
+v -0.35219338 0.23308370 0.04131800
+v -0.39142145 0.21309475 0.04131800
+v -0.40382614 0.18237802 -0.00379475
+v -0.36461768 0.21201224 -0.00548912
+v -0.38858996 0.20919787 -0.00107547
+v -0.39616161 0.18986532 -0.00494621
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 3 1
+f 7 2 3
+f 7 3 6
+f 8 2 7
+f 8 5 4
+f 8 4 2
+f 8 6 1
+f 8 1 5
+f 9 8 7
+f 9 7 6
+f 9 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc80e2521c20988dccd69665af37b8cea4e11a30
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.18829691 0.24759987 0.04125253
+v -0.18906121 0.24277409 -0.00367062
+v -0.20725216 0.25388737 -0.00149701
+v -0.29284408 0.25449286 0.04131800
+v -0.29626766 0.24580708 0.04131800
+v -0.19171939 0.25629262 0.04131800
+v -0.29576034 0.24260386 0.01149965
+v -0.26252942 0.25442147 -0.00155821
+v -0.19015486 0.25102062 -0.00289325
+v -0.29467490 0.25090164 0.01227178
+v -0.28072047 0.24330879 -0.00372949
+v -0.27962674 0.25155481 -0.00295409
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 4 6
+f 9 6 1
+f 9 1 2
+f 9 3 6
+f 9 8 3
+f 10 7 5
+f 10 5 4
+f 11 2 7
+f 11 7 10
+f 12 11 10
+f 12 8 9
+f 12 9 2
+f 12 2 11
+f 12 10 4
+f 12 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0a0c920541b35fe9690bce9edaabc2772968d33
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.37528238 -0.20670919 -0.00441432
+v -0.35557562 -0.19776894 -0.04131804
+v -0.35606062 -0.13811478 -0.02286151
+v -0.41666668 -0.13811478 -0.02286151
+v -0.40588064 -0.17278330 -0.03522954
+v -0.42473392 -0.16133354 -0.00467999
+v -0.35606062 -0.19872084 -0.02286151
+v -0.39072913 -0.18793481 -0.03522954
+v -0.35606062 -0.13811478 -0.04131804
+v -0.41666668 -0.13811478 -0.04131804
+v -0.40779104 -0.18984520 -0.00203058
+v -0.40259323 -0.18464739 -0.02482856
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 9 3 2
+f 9 4 3
+f 10 6 4
+f 10 5 6
+f 10 4 9
+f 10 9 2
+f 10 8 5
+f 10 2 8
+f 11 8 1
+f 11 1 6
+f 12 11 6
+f 12 6 5
+f 12 5 8
+f 12 8 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfdfa5fe66b36b2f5b7d3d9155140a9ddcdf194
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.05303031 -0.15326630 -0.02286151
+v -0.03787880 -0.13811478 -0.02286151
+v -0.09848486 0.11946097 -0.02286151
+v -0.09848486 -0.15326630 -0.04131804
+v -0.05596096 -0.15033566 -0.03961739
+v -0.09848486 -0.15326630 -0.02286151
+v -0.03883007 0.11897625 -0.04131804
+v -0.03787880 0.11946097 -0.02286151
+v -0.04180660 -0.13611345 -0.03902684
+v -0.09848486 0.11946097 -0.04131804
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 4
+f 8 3 2
+f 8 2 7
+f 9 7 2
+f 9 2 5
+f 9 5 7
+f 10 7 4
+f 10 4 3
+f 10 8 7
+f 10 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea2cdee3613007a6df24fc530bac77d4e6de8fc9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03560123 -0.15554387 0.04131800
+v -0.01534261 -0.13253250 -0.01117909
+v -0.01772914 -0.14636425 0.04104169
+v -0.01067796 -0.13603909 0.04070437
+v -0.05303031 -0.13811478 -0.04131804
+v -0.01322991 -0.13420511 0.01249313
+v -0.04554222 -0.16075439 0.01056060
+v -0.02693740 -0.14368969 0.04067978
+v -0.03405099 -0.13234500 -0.03670388
+v -0.02240828 -0.14281942 -0.01083550
+v -0.03732330 -0.14478204 -0.03365645
+v -0.05596096 -0.15033566 -0.03961739
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 7 3 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 10 6 3
+f 10 2 6
+f 10 3 7
+f 11 9 2
+f 11 2 10
+f 11 10 7
+f 12 5 9
+f 12 9 11
+f 12 11 7
+f 12 7 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5b29eaa2f9fbd86e6bcab0365bd40746de14879
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_3.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.16035850 -0.25132422 0.04131800
+v -0.01882989 -0.14548439 0.02841803
+v -0.08177600 -0.21309475 0.04131800
+v -0.01772914 -0.14636425 0.04104169
+v -0.15328528 -0.24041813 0.04062438
+v -0.02350489 -0.15482180 0.04131800
+v -0.13738116 -0.22674394 -0.00501036
+v -0.04554222 -0.16075439 0.01056060
+v -0.03214494 -0.15900046 0.01320694
+v -0.15200740 -0.24349275 -0.00144486
+v -0.04323917 -0.16305745 0.04050942
+v -0.15550352 -0.23606456 -0.00429872
+v -0.02525916 -0.15151558 0.01206193
+v -0.13779974 -0.24163993 0.04131800
+v -0.12181974 -0.22811480 -0.00141634
+v -0.16111874 -0.24652455 -0.00198464
+v -0.02460133 -0.15402513 0.02939009
+v -0.11325057 -0.21462956 -0.00353168
+v -0.08257307 -0.21199835 0.02939050
+f 5 1 4
+f 6 2 4
+f 6 1 3
+f 6 4 1
+f 8 4 2
+f 9 6 3
+f 11 5 4
+f 11 4 8
+f 12 8 7
+f 12 11 8
+f 12 5 11
+f 12 1 5
+f 13 2 6
+f 13 8 2
+f 14 10 3
+f 14 3 1
+f 14 1 10
+f 15 10 7
+f 15 13 9
+f 16 12 7
+f 16 7 10
+f 16 10 1
+f 16 1 12
+f 17 13 6
+f 17 6 9
+f 17 9 13
+f 18 7 8
+f 18 8 13
+f 18 15 7
+f 18 13 15
+f 19 15 9
+f 19 9 3
+f 19 3 10
+f 19 10 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f44bb83a8e0f947164ebd6b78ef8c387936e9725
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.44952610 0.01920361 0.02201431
+v 0.44958997 0.01917400 0.00111662
+v 0.44676627 0.04575002 0.00589712
+v 0.34038401 0.04726413 0.01589697
+v 0.34088090 0.01337898 0.02610494
+v 0.34072287 0.04693870 0.00525518
+v 0.44631776 0.04487475 0.01334087
+v 0.34088931 0.01348902 0.00061554
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48925841f926dff32345f129ddbf07ca7e8c3523
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.48193363 -0.03620833 0.01239218
+v 0.49495630 -0.02577401 0.00390313
+v 0.49489929 0.02232010 0.01231351
+v 0.44631776 0.04487475 0.01334087
+v 0.44687621 -0.04184617 0.00217257
+v 0.47125466 0.04484627 0.00544433
+v 0.44660817 -0.03921409 0.01932745
+v 0.49422819 -0.02548511 0.01154002
+v 0.48283151 -0.03704390 0.00365105
+v 0.49624396 0.02314067 0.00394755
+v 0.47139093 0.04522894 0.01151538
+v 0.44676627 0.04575002 0.00589712
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 7 1
+f 8 3 7
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 2 5
+f 10 8 2
+f 10 3 8
+f 11 4 3
+f 11 10 6
+f 11 3 10
+f 12 5 4
+f 12 11 6
+f 12 4 11
+f 12 10 5
+f 12 6 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c81332a711f5f7e1dbd1784130d7b828d4d9051e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.16111874 -0.24652455 -0.00198464
+v -0.02525916 -0.15151558 0.01206193
+v -0.11500461 -0.22633852 0.01205054
+v -0.15909092 -0.15326630 -0.02286151
+v -0.04377411 -0.14737099 -0.03670388
+v -0.03214494 -0.15900046 0.01320694
+v -0.16133659 -0.23163278 -0.03670388
+v -0.03455544 -0.14679305 -0.02767868
+v -0.16137444 -0.24491026 -0.01205329
+v -0.15909092 -0.15326630 -0.04131804
+v -0.03825901 -0.15288556 -0.02390612
+v -0.09181905 -0.19927313 -0.03365916
+v -0.15247132 -0.24258225 -0.01055032
+v -0.04963434 -0.15666187 -0.03399640
+v -0.08371387 -0.19834032 -0.02390473
+v -0.15200740 -0.24349275 -0.00144486
+v -0.15149347 -0.22934949 -0.03398680
+v -0.09209892 -0.21182065 -0.01055032
+v -0.09086944 -0.21423328 0.01357545
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 8 4 2
+f 9 1 4
+f 9 4 7
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 10 4 8
+f 11 8 2
+f 11 2 6
+f 12 7 5
+f 13 1 9
+f 13 9 7
+f 14 12 5
+f 14 5 8
+f 14 8 12
+f 15 12 8
+f 15 8 11
+f 16 3 1
+f 16 1 13
+f 17 13 7
+f 17 7 12
+f 17 12 13
+f 18 15 11
+f 18 11 6
+f 18 13 12
+f 18 12 15
+f 19 18 6
+f 19 6 3
+f 19 13 18
+f 19 16 13
+f 19 3 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..847df50b7a04339d86738e9e00191655064c196d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.34090910 0.11946097 -0.02286151
+v -0.34090910 0.11946097 -0.04131804
+v -0.34090910 0.19521855 -0.02286151
+v -0.35604205 0.22548515 -0.00343467
+v -0.43181819 0.11946097 -0.02286151
+v -0.40382614 0.18237802 -0.00379475
+v -0.39170237 0.18540542 -0.03645831
+v -0.38017671 0.21337980 -0.00190993
+v -0.34090910 0.19521855 -0.04131804
+v -0.43181819 0.11946097 -0.04131804
+v -0.43297743 0.15092325 -0.01876909
+v -0.36304836 0.20949861 -0.03278006
+v -0.34962690 0.21289519 -0.03620331
+v -0.39436910 0.20322377 -0.00230507
+v -0.42821024 0.14615605 -0.03747203
+v -0.37691652 0.20697978 -0.02442361
+v -0.38890083 0.19775533 -0.02575366
+f 1 2 3
+f 1 3 4
+f 6 5 1
+f 8 6 1
+f 8 1 4
+f 9 3 2
+f 10 2 1
+f 10 1 5
+f 10 9 2
+f 10 7 9
+f 11 10 5
+f 11 5 6
+f 13 4 3
+f 13 3 9
+f 13 12 4
+f 13 9 7
+f 13 7 12
+f 14 11 6
+f 14 6 8
+f 15 7 10
+f 15 10 11
+f 16 8 4
+f 16 4 12
+f 16 14 8
+f 17 7 15
+f 17 14 16
+f 17 16 12
+f 17 12 7
+f 17 15 11
+f 17 11 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea985fb2dc51dc0b9675733f332a02affbbbc05c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00118854 -0.11866275 0.04013669
+v 0.07926942 -0.06546957 -0.00635566
+v 0.07992168 0.06270589 0.03115230
+v 0.00281875 0.11627637 0.04005870
+v 0.00264605 0.01261970 -0.03772289
+v 0.00763389 0.10922527 0.03982835
+v 0.07940229 -0.06450347 0.02942298
+v 0.00042658 -0.08744761 -0.02469664
+v 0.07987696 0.06401711 -0.00752061
+v 0.00600387 -0.11161157 0.03990633
+v 0.00255624 -0.01610775 -0.03751869
+v 0.00301984 -0.10448993 -0.01282630
+v 0.00039628 0.11452714 0.01266210
+v 0.00012622 -0.11784390 0.02784845
+v 0.00124170 0.08453979 -0.02572812
+v 0.00383504 0.10158211 -0.01385783
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 9 7 2
+f 9 3 7
+f 9 4 3
+f 10 6 1
+f 10 3 6
+f 10 7 3
+f 10 1 7
+f 11 8 5
+f 11 2 8
+f 11 9 2
+f 11 5 9
+f 12 8 2
+f 13 1 4
+f 13 4 9
+f 14 12 2
+f 14 2 1
+f 14 8 12
+f 14 13 8
+f 14 1 13
+f 15 5 8
+f 15 8 13
+f 15 9 5
+f 16 15 13
+f 16 13 9
+f 16 9 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b9c1960570c08188d163569a9bc96f07251a8f6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.46968279 0.11559375 0.04131800
+v -0.39939527 0.16279563 -0.04131804
+v -0.45622888 0.12417862 0.04088498
+v -0.39783081 0.20668559 0.04131800
+v -0.44579751 0.15199216 -0.00107559
+v -0.41476791 0.17816870 0.03997698
+v -0.43181819 0.11946097 -0.04131804
+v -0.44969440 0.15482365 0.04131800
+v -0.39289704 0.20175167 -0.01313294
+v -0.44609646 0.12644738 -0.03278132
+v -0.40129080 0.19499369 -0.01055032
+v -0.40685403 0.17025405 -0.03645849
+v -0.44949449 0.11302760 -0.03620317
+v -0.46535737 0.11338988 -0.00193848
+v -0.39790682 0.17645857 -0.03747203
+v -0.43159432 0.16469115 -0.01055032
+v -0.44357982 0.14031683 -0.02442134
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 4 2
+f 11 4 9
+f 12 2 7
+f 13 7 1
+f 13 12 7
+f 13 10 12
+f 14 1 5
+f 14 13 1
+f 14 10 13
+f 15 12 9
+f 15 9 2
+f 15 2 12
+f 16 11 9
+f 16 9 12
+f 16 5 4
+f 16 4 11
+f 17 14 5
+f 17 10 14
+f 17 5 16
+f 17 16 12
+f 17 12 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b69aa74786e40bd4a3808413b8fb901e8e4f00
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_8.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.34090910 0.19521855 -0.02286151
+v -0.28030304 0.21037006 -0.04131804
+v -0.28030304 0.21037006 -0.02286151
+v -0.29518493 0.25412214 0.04131800
+v -0.31650463 0.23766484 -0.02461394
+v -0.27988945 0.25321339 0.01200896
+v -0.36077858 0.21962915 0.04088501
+v -0.35606062 0.19521855 -0.04131804
+v -0.27827514 0.24302179 -0.02793662
+v -0.29626766 0.24580708 0.04131800
+v -0.33139287 0.23714816 -0.01055032
+v -0.34090910 0.19521855 -0.04131804
+v -0.35606062 0.19521855 -0.02286151
+v -0.27948905 0.23553378 -0.03724585
+v -0.28097522 0.24491738 0.01124489
+v -0.35219338 0.23308370 0.04131800
+v -0.34962690 0.21289519 -0.03620331
+v -0.33403588 0.24233599 0.04131800
+v -0.34671053 0.22232175 -0.02451933
+v -0.33280995 0.22477695 -0.03290760
+f 1 2 3
+f 7 1 3
+f 9 6 3
+f 9 3 2
+f 9 5 6
+f 10 6 4
+f 10 7 3
+f 11 6 5
+f 11 4 6
+f 12 8 2
+f 12 2 1
+f 12 1 8
+f 13 8 1
+f 13 1 7
+f 13 7 8
+f 14 5 9
+f 14 9 2
+f 14 2 8
+f 15 10 3
+f 15 3 6
+f 15 6 10
+f 16 10 4
+f 16 7 10
+f 17 8 7
+f 17 14 8
+f 18 16 4
+f 18 4 11
+f 18 11 16
+f 19 11 5
+f 19 16 11
+f 19 17 7
+f 19 7 16
+f 20 5 14
+f 20 14 17
+f 20 19 5
+f 20 17 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d597bc9e2027e0058dc6219ab96f246436ef1172
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.16035850 -0.25132422 0.04131800
+v -0.16133659 -0.23163278 -0.03670388
+v -0.15328528 -0.24041813 0.04062438
+v -0.27986281 -0.22624458 -0.04131804
+v -0.24720962 -0.25686166 -0.00143753
+v -0.16105339 -0.22517225 -0.03921824
+v -0.16137444 -0.24491026 -0.01205329
+v -0.24751851 -0.24366040 -0.03467960
+v -0.28094550 -0.24823190 0.04131800
+v -0.22257196 -0.25632726 -0.00137681
+v -0.27782436 -0.24367820 -0.02664635
+v -0.22222584 -0.24336033 -0.03440734
+v -0.26274098 -0.25925973 0.04131800
+v -0.27913737 -0.23681579 -0.03670388
+v -0.17710136 -0.24127760 -0.02555751
+v -0.20704173 -0.25871857 0.04131800
+v -0.27986284 -0.25654773 0.04131800
+v -0.28275375 -0.24449778 0.01000832
+v -0.26225763 -0.25620819 0.01378823
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 9 1 3
+f 9 3 4
+f 10 7 1
+f 11 8 5
+f 12 7 10
+f 12 10 5
+f 12 5 8
+f 12 6 2
+f 12 8 4
+f 12 4 6
+f 13 1 9
+f 14 4 8
+f 14 8 11
+f 15 12 2
+f 15 2 7
+f 15 7 12
+f 16 10 1
+f 16 1 13
+f 16 13 5
+f 16 5 10
+f 17 13 9
+f 18 9 4
+f 18 4 14
+f 18 17 9
+f 18 14 11
+f 18 11 17
+f 19 17 11
+f 19 11 5
+f 19 5 13
+f 19 13 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..056ce579ba6f9060955a499c6c992fc13c601756
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/model.xml
@@ -0,0 +1,88 @@
+<mujoco model="pan_7">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.23000000000000004 0.23000000000000004 0.23000000000000004" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert1.034" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0.0 -0.055 0">
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/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
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_7/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_7/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b94b59c988de6db0f51241a8d0bfc010e551883e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_7/visual/model_normalized_0.obj
@@ -0,0 +1,2297 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c9e049db205420d80b62207972547e9c742c26c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08423163 -0.19401574 0.00227103
+v 0.08753754 -0.17555759 -0.03053400
+v 0.08333334 -0.01309499 -0.00276813
+v 0.00757576 -0.01309499 -0.00276813
+v 0.00554878 -0.13533989 0.00056554
+v 0.08333334 -0.01309499 -0.03731325
+v 0.05374933 -0.19419414 0.00056554
+v 0.01224741 -0.01235502 -0.03346947
+v 0.01817740 -0.12890533 -0.01987856
+v 0.08485911 -0.19338745 -0.02452782
+v 0.03002785 -0.13058730 -0.02510749
+v 0.01484278 -0.10030136 -0.02519840
+v 0.06282361 -0.18512018 -0.01826172
+v 0.07349535 -0.17444830 -0.02674628
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 7 1 5
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 8 6 2
+f 9 7 5
+f 10 2 1
+f 10 1 7
+f 11 8 2
+f 12 9 5
+f 12 5 8
+f 12 11 9
+f 12 8 11
+f 13 10 7
+f 13 7 9
+f 13 11 10
+f 13 9 11
+f 14 11 2
+f 14 2 10
+f 14 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9be19718ae4bdc1f8a5def5b5a5a13ae597fa1f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.19099078 -0.26058793 0.03731325
+v 0.19102493 -0.24522050 -0.02109754
+v 0.18880655 -0.22891495 -0.00163258
+v 0.08300394 -0.18009037 -0.00157974
+v 0.09155231 -0.22423753 -0.00277344
+v 0.14628716 -0.20545681 -0.03240359
+v 0.09848485 -0.17976166 -0.00276813
+v 0.18940448 -0.22514966 -0.02957482
+v 0.15021989 -0.25413099 -0.00277344
+v 0.08120355 -0.21424474 0.03731325
+v 0.08639933 -0.20404715 -0.02166251
+v 0.18696674 -0.25569167 0.03731325
+v 0.14718467 -0.21884681 -0.02763063
+v 0.19124850 -0.25896063 -0.00476178
+v 0.15021989 -0.25413099 0.03731325
+v 0.13159294 -0.20455930 -0.02997172
+v 0.07639553 -0.18669281 0.00254503
+v 0.15105414 -0.24155616 -0.01675189
+v 0.09155231 -0.22423753 0.03731325
+v 0.13249044 -0.21794930 -0.02519876
+f 7 6 4
+f 8 1 2
+f 8 3 1
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+f 10 7 4
+f 11 5 10
+f 11 9 5
+f 12 1 3
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+f 12 10 1
+f 12 7 10
+f 13 8 2
+f 13 6 8
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+f 14 1 9
+f 15 9 1
+f 15 1 10
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+f 16 4 6
+f 16 6 13
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+f 17 10 4
+f 17 4 11
+f 18 2 9
+f 18 9 11
+f 18 13 2
+f 19 15 10
+f 19 10 5
+f 19 5 15
+f 20 18 11
+f 20 13 18
+f 20 16 13
+f 20 11 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d9a49547543af43b17f697a2e6b18864e44217
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.48779264 0.07708059 0.03731325
+v 0.47659407 0.07530681 -0.01645718
+v 0.44896803 0.15706069 -0.00277344
+v 0.42401072 0.17606702 0.03731325
+v 0.43181819 0.09296562 -0.00276813
+v 0.44896803 0.15706069 0.03731325
+v 0.47772349 0.10062651 -0.00277344
+v 0.44253763 0.07555586 -0.03287988
+v 0.47998513 0.08691643 0.03731325
+v 0.47553863 0.08436172 -0.01403474
+v 0.47772349 0.10062651 0.03731325
+v 0.45592764 0.07465833 -0.02810694
+v 0.45043638 0.07958430 -0.00226900
+v 0.42407832 0.16098333 -0.02066780
+v 0.43122798 0.12296792 -0.02813825
+v 0.41853399 0.17059050 0.01425105
+v 0.44496311 0.14482923 -0.01378255
+v 0.45503012 0.08935254 -0.02567502
+v 0.43473733 0.15649119 -0.01540476
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 3 6
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 7 2
+f 11 7 6
+f 11 6 1
+f 11 1 7
+f 12 2 1
+f 12 1 8
+f 13 8 1
+f 13 1 5
+f 13 5 8
+f 14 4 3
+f 15 8 5
+f 15 5 14
+f 15 12 8
+f 16 14 5
+f 16 5 4
+f 16 4 14
+f 17 10 2
+f 17 3 7
+f 17 7 10
+f 18 2 12
+f 18 12 15
+f 18 17 2
+f 18 15 14
+f 18 14 17
+f 19 17 14
+f 19 14 3
+f 19 3 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ec97b2b445d5c941cfde0a333290bd29504f1a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.36526872 -0.22870317 0.03731325
+v 0.45258236 -0.14459820 -0.00571533
+v 0.44896803 -0.15706069 -0.00277344
+v 0.45475427 -0.14570487 0.03731325
+v 0.40151516 -0.14945863 -0.00276813
+v 0.44896803 -0.15706069 0.03731325
+v 0.37561621 -0.21870839 0.03731325
+v 0.43793066 -0.14485303 -0.02133229
+v 0.37729738 -0.22257424 -0.00277344
+v 0.37729738 -0.22257424 0.03731325
+v 0.39050284 -0.19905236 -0.01683309
+v 0.37069772 -0.19390358 -0.02700180
+v 0.43595676 -0.15359753 -0.01683357
+v 0.36505341 -0.22828060 -0.00334582
+v 0.37121213 -0.17976166 -0.00276813
+v 0.41594915 -0.14874110 -0.02728765
+v 0.36530813 -0.21362890 -0.01896196
+v 0.37860793 -0.20999480 -0.01558268
+f 3 2 4
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 2
+f 8 2 3
+f 9 3 6
+f 10 9 6
+f 10 6 1
+f 10 1 9
+f 11 3 9
+f 12 8 11
+f 13 11 8
+f 13 8 3
+f 13 3 11
+f 14 9 1
+f 15 1 5
+f 16 5 8
+f 16 8 12
+f 16 15 5
+f 16 12 15
+f 17 12 11
+f 17 15 12
+f 17 14 1
+f 17 1 15
+f 18 17 11
+f 18 11 9
+f 18 9 14
+f 18 14 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b421853eeda246366aaa1cfc773f803a758d0a9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.30816715 -0.25527076 0.03731325
+v 0.31452474 -0.23290950 0.00407203
+v 0.31219088 -0.25037329 0.03731325
+v 0.18929600 -0.22583092 -0.00230818
+v 0.19099078 -0.26058793 0.00056554
+v 0.31075040 -0.22549975 -0.00090807
+v 0.18696674 -0.25569167 0.03731325
+v 0.30816715 -0.25527076 0.00056554
+v 0.19099078 -0.26058793 0.03731325
+v 0.18880655 -0.22891495 -0.00163258
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 8 1 5
+f 8 6 2
+f 8 5 4
+f 8 4 6
+f 9 7 5
+f 9 5 1
+f 9 1 7
+f 10 7 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c53f1a6185f6027efaba527d1b1cca2c92a455
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.48624073 -0.05996980 0.03731325
+v 0.49113968 -0.05594653 -0.00277344
+v 0.49050422 0.05995894 0.03731325
+v 0.47667591 0.08523034 0.02566167
+v 0.45651922 -0.02735922 -0.03119529
+v 0.49050422 0.05995894 -0.00277344
+v 0.48326444 0.07876302 0.03731325
+v 0.49113968 -0.05594653 0.03731325
+v 0.46112431 -0.05839166 -0.02730070
+v 0.46244978 -0.05860164 -0.00097644
+v 0.46070058 0.07709026 -0.02588813
+v 0.46975609 0.01601750 -0.02651507
+v 0.48779264 0.07708059 0.03731325
+v 0.47076223 -0.05991858 0.00391417
+v 0.47659407 0.07530681 -0.01645718
+v 0.45676898 0.01636032 -0.03180579
+v 0.47835894 -0.05632177 -0.01793778
+v 0.46950634 -0.02701641 -0.02590457
+f 6 3 2
+f 7 1 3
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 10 7 4
+f 10 1 7
+f 10 5 9
+f 11 10 4
+f 13 4 7
+f 13 7 3
+f 13 3 6
+f 14 9 2
+f 14 2 1
+f 14 10 9
+f 14 1 10
+f 15 11 4
+f 15 12 11
+f 15 6 12
+f 15 13 6
+f 15 4 13
+f 16 5 10
+f 16 10 11
+f 16 12 5
+f 16 11 12
+f 17 12 6
+f 17 6 2
+f 17 2 9
+f 18 9 5
+f 18 5 12
+f 18 17 9
+f 18 12 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c67833ef13a6b647bfc759d0c4db04544bb7a49e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.35745859 -0.22795995 0.03731325
+v 0.37069772 -0.19390358 -0.02700180
+v 0.37561621 -0.21870839 0.03731325
+v 0.26515152 -0.19491317 -0.00276813
+v 0.26434262 -0.22010850 -0.03240414
+v 0.34090910 -0.19491317 -0.00276813
+v 0.36530813 -0.21362890 -0.01896196
+v 0.26526039 -0.22590752 -0.00266537
+v 0.26515152 -0.19491317 -0.03731325
+v 0.37505383 -0.20246031 0.00432096
+v 0.35357163 -0.19002824 -0.03165231
+v 0.37121213 -0.22521621 0.03731325
+v 0.32238796 -0.21860328 -0.02697056
+v 0.35267416 -0.20341837 -0.02687950
+f 1 3 4
+f 6 4 3
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 10 6 3
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 11 6 2
+f 11 4 6
+f 11 9 4
+f 11 5 9
+f 12 7 3
+f 12 3 1
+f 12 1 7
+f 13 7 1
+f 13 5 11
+f 13 11 2
+f 13 8 5
+f 13 1 8
+f 14 13 2
+f 14 2 7
+f 14 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7194e4345ca8a0bdd50ea6f7dc6253da5d094582
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05303030 0.04751107 -0.00276813
+v 0.05303030 0.04751107 -0.03731325
+v 0.05615398 0.12167707 -0.03642514
+v 0.01097443 0.12925717 0.02666639
+v 0.00698967 0.04760368 -0.00217728
+v 0.05303030 0.12326865 -0.00276813
+v 0.01302635 0.04664775 -0.03156582
+v 0.00117891 0.11137642 0.02858196
+v 0.00674327 0.12369281 0.03057099
+v 0.01502931 0.11947090 -0.02166251
+v 0.01418889 0.08959609 -0.02697014
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 5 1
+f 8 7 5
+f 9 6 4
+f 9 1 6
+f 9 8 1
+f 10 4 3
+f 10 9 4
+f 10 8 9
+f 11 10 3
+f 11 3 7
+f 11 7 8
+f 11 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ad413d007e439c2e761afd63af5558fda5292c9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.02481862 0.06059385 0.03731325
+v 0.00807835 0.06258298 -0.02850898
+v -0.00228895 0.06422341 0.00227755
+v 0.01334138 0.15063401 0.03731325
+v -0.02247694 0.07537513 -0.00277344
+v -0.01992436 0.06461843 0.03731325
+v -0.02440198 0.06052819 -0.00328150
+v -0.02247736 0.07537451 0.03731325
+v 0.01616514 0.14919525 -0.00659812
+v -0.01066365 0.06075193 -0.01961612
+v -0.00516181 0.11431877 -0.00277344
+v 0.01502931 0.11947090 -0.02166251
+v -0.00516181 0.11431877 0.03731325
+v 0.01021863 0.14450516 -0.00277344
+v -0.00777685 0.08534804 -0.01583444
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 10 7 5
+f 10 2 1
+f 10 1 7
+f 11 5 8
+f 12 9 4
+f 12 4 2
+f 12 2 10
+f 13 11 8
+f 13 8 4
+f 13 4 11
+f 14 11 4
+f 14 4 9
+f 14 9 12
+f 15 12 10
+f 15 10 5
+f 15 5 11
+f 15 14 12
+f 15 11 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2246e8ea00537ab2b5b242fb5fc974f0357793f7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.30988218 0.22790862 -0.02588811
+v 0.31802262 0.24388542 0.02566187
+v 0.20543268 0.22372701 -0.03119532
+v 0.19162623 0.26068857 0.03731325
+v 0.29275091 0.25771226 -0.00277344
+v 0.18760228 0.25579234 0.03731325
+v 0.24915234 0.22397676 -0.03180577
+v 0.30809900 0.24380201 -0.01645717
+v 0.30987255 0.25500068 0.03731325
+v 0.19162623 0.26068857 -0.00277344
+v 0.18789109 0.23881011 0.00277736
+v 0.24880954 0.23696370 -0.02651487
+v 0.29275091 0.25771226 0.03731325
+v 0.31155534 0.25047395 0.03731325
+v 0.18949754 0.22867512 -0.02813855
+v 0.19140169 0.24695454 -0.01910171
+v 0.20577548 0.23671396 -0.02590442
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 8 5
+f 9 2 8
+f 9 4 6
+f 10 4 5
+f 10 6 4
+f 11 3 2
+f 11 2 6
+f 11 6 10
+f 12 8 1
+f 12 1 7
+f 12 7 3
+f 13 9 5
+f 13 5 4
+f 13 4 9
+f 14 9 6
+f 14 6 2
+f 14 2 9
+f 15 11 10
+f 15 3 11
+f 16 10 5
+f 16 5 8
+f 16 8 12
+f 16 15 10
+f 17 12 3
+f 17 3 15
+f 17 16 12
+f 17 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..271c2bc386ea8a4c7797c551efeb9eb8ce10fad8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.09848513 -0.02768948 0.02536326
+v -0.09848485 -0.02257787 -0.00219546
+v -0.09848489 0.02709548 0.02705813
+v -0.48207314 0.02164245 0.02507954
+v -0.47403297 -0.02801920 0.00496898
+v -0.11363637 0.02418140 -0.00146184
+v -0.49829340 -0.00413194 0.02838609
+v -0.09848485 -0.02840902 0.00496860
+v -0.09848485 0.02418140 -0.00146184
+v -0.48079364 0.02186174 0.00115528
+v -0.49630475 0.00633109 0.02788188
+v -0.47449966 -0.02718663 0.02563321
+v -0.49663241 -0.00400172 0.00095695
+v -0.48203499 -0.01886948 0.00012461
+v -0.49513859 0.00598164 0.00116381
+f 7 1 3
+f 8 5 2
+f 8 1 5
+f 8 3 1
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 10 4 3
+f 10 3 6
+f 11 7 3
+f 11 3 4
+f 11 4 10
+f 12 7 5
+f 12 5 1
+f 12 1 7
+f 13 5 7
+f 14 10 6
+f 14 6 2
+f 14 2 5
+f 14 5 13
+f 15 11 10
+f 15 14 13
+f 15 10 14
+f 15 13 7
+f 15 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..701ebc5ac4123ebadd4d2d16907bf5fa6a289ec7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.03787879 -0.04128515 0.01571706
+v -0.03787879 -0.03461656 -0.00447325
+v -0.02579011 0.04559652 -0.00444588
+v -0.05994442 0.03746880 0.03349690
+v -0.09848485 -0.02840902 0.00496860
+v -0.05303030 0.03746880 0.03349690
+v -0.05942772 -0.03544332 -0.00323805
+v -0.09848502 -0.02351657 0.02930522
+v -0.09848485 0.02418140 -0.00146184
+v -0.03787879 0.04128515 0.01571706
+v -0.05997362 -0.03723380 0.03359419
+v -0.05932428 0.03805710 -0.00148563
+v -0.09848485 -0.02257787 -0.00219546
+v -0.09848489 0.02709548 0.02705813
+v -0.09848513 -0.02768948 0.02536326
+v -0.05303030 -0.03746880 0.03349690
+v -0.09846257 0.01360217 0.03175563
+v -0.03787879 0.01117471 -0.01654944
+v -0.05592030 -0.02254765 -0.01134650
+v -0.03787879 -0.02030275 -0.01237350
+v -0.05573958 0.01285727 -0.01420576
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 10 1 3
+f 10 3 4
+f 10 4 6
+f 11 5 1
+f 11 6 4
+f 12 4 3
+f 12 3 9
+f 13 7 5
+f 14 12 9
+f 14 4 12
+f 15 11 8
+f 15 5 11
+f 15 13 5
+f 15 9 13
+f 15 14 9
+f 15 8 14
+f 16 11 1
+f 16 6 11
+f 16 10 6
+f 16 1 10
+f 17 11 4
+f 17 8 11
+f 17 14 8
+f 17 4 14
+f 19 2 7
+f 19 7 13
+f 20 18 3
+f 20 3 2
+f 20 19 18
+f 20 2 19
+f 21 13 9
+f 21 9 3
+f 21 3 18
+f 21 19 13
+f 21 18 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..470b1e663ca1c678a35ffe2a1ba5684161fa9f67
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.44213765 0.16389128 0.03731325
+v 0.44000089 0.16175459 -0.00642058
+v 0.38985442 0.21617608 -0.00277344
+v 0.30987255 0.25500068 0.03731325
+v 0.33980332 0.18170461 -0.03731325
+v 0.38985442 0.21617608 0.03731325
+v 0.43456189 0.17146727 -0.00277344
+v 0.38266668 0.16502609 -0.03226584
+v 0.34090910 0.18387471 -0.00276813
+v 0.30809900 0.24380201 -0.01645717
+v 0.33341871 0.24493163 -0.00277344
+v 0.42407832 0.16098333 -0.02066780
+v 0.31970846 0.24719413 0.03731325
+v 0.38044800 0.19311036 -0.02469023
+v 0.30834770 0.20974568 -0.03287984
+v 0.33341871 0.24493163 0.03731325
+v 0.31715393 0.24274660 -0.01403476
+v 0.39670864 0.16391668 -0.02847822
+v 0.37762142 0.21217174 -0.01378223
+v 0.31236705 0.21763724 -0.00226257
+v 0.30745014 0.22313572 -0.02810694
+v 0.39559923 0.17795878 -0.02469038
+v 0.32214431 0.22223816 -0.02567490
+v 0.32575758 0.19902623 -0.00276813
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 9 8 1
+f 9 5 8
+f 11 6 3
+f 11 10 4
+f 12 2 1
+f 12 1 8
+f 12 3 2
+f 13 9 1
+f 13 1 4
+f 13 4 9
+f 14 8 5
+f 15 5 9
+f 16 11 4
+f 16 4 6
+f 16 6 11
+f 17 10 11
+f 18 12 8
+f 18 8 14
+f 19 3 12
+f 19 12 14
+f 19 10 17
+f 19 17 11
+f 19 11 3
+f 20 4 15
+f 21 15 4
+f 21 4 10
+f 21 5 15
+f 22 18 14
+f 22 14 12
+f 22 12 18
+f 23 19 14
+f 23 10 19
+f 23 21 10
+f 23 14 5
+f 23 5 21
+f 24 20 15
+f 24 15 9
+f 24 9 4
+f 24 4 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3652b09f2d28d359655a594101e0f36baa94d8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.02055987 -0.06060603 0.03731325
+v -0.01227604 -0.05929367 0.01308383
+v -0.01992436 0.06461843 0.03731325
+v -0.01178970 0.06332973 0.01335629
+v -0.05303030 0.04128515 0.01571706
+v -0.05303030 -0.04128515 0.01571706
+v -0.05303030 0.03746880 0.03349690
+v -0.02481782 0.06059409 0.01571715
+v -0.02545348 -0.05658233 0.01571766
+v -0.02545419 -0.05658147 0.03731325
+v -0.02481862 0.06059385 0.03731325
+v -0.05303030 -0.03746880 0.03349690
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 7 5 6
+f 8 5 3
+f 8 3 4
+f 8 4 5
+f 9 6 2
+f 9 2 1
+f 9 1 6
+f 10 1 3
+f 11 3 5
+f 11 5 7
+f 11 10 3
+f 11 7 10
+f 12 10 7
+f 12 7 6
+f 12 6 1
+f 12 1 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c11e11eba592aa5949b2509be965011431e4b9f9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00251482 -0.06014609 0.00196982
+v 0.01293417 -0.04254861 -0.03179381
+v -0.00228895 0.06422341 0.00227755
+v -0.02481782 0.06059409 0.01571715
+v -0.03787879 -0.02030275 -0.01237350
+v -0.02545348 -0.05658233 0.01571766
+v 0.00807835 0.06258298 -0.02850898
+v -0.01104042 -0.05669843 -0.01993245
+v 0.01302635 0.04664775 -0.03156582
+v -0.03787879 0.01117471 -0.01654944
+v -0.02440198 0.06052819 -0.00328150
+v -0.02477880 -0.05647481 -0.00359758
+v 0.00798528 -0.05848467 -0.02873647
+v -0.01066365 0.06075193 -0.01961612
+v -0.02545319 -0.05658162 0.00056554
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 9 7 3
+f 9 3 2
+f 10 5 4
+f 10 7 9
+f 10 9 2
+f 11 4 3
+f 11 3 7
+f 11 10 4
+f 12 5 8
+f 13 2 1
+f 13 12 8
+f 13 1 12
+f 13 10 2
+f 13 8 5
+f 13 5 10
+f 14 11 7
+f 14 7 10
+f 14 10 11
+f 15 6 5
+f 15 5 12
+f 15 12 1
+f 15 1 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d30866074d9fa9ca93922883ffb3302f794e75
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.31050801 -0.25490004 0.03731325
+v 0.36868746 -0.22026128 -0.00997825
+v 0.37121213 -0.22521621 0.03731325
+v 0.31012583 -0.22427374 -0.02718377
+v 0.30847578 -0.24206801 -0.01845300
+v 0.35226357 -0.21776405 -0.02166251
+v 0.31219088 -0.25037329 0.03731325
+v 0.34711113 -0.23795496 -0.00277344
+v 0.33340099 -0.24021760 0.03731325
+v 0.36505341 -0.22828060 -0.00334582
+v 0.34711113 -0.23795496 0.03731325
+v 0.31814042 -0.24056964 -0.01583521
+v 0.36526872 -0.22870317 0.03731325
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 8 1 5
+f 8 6 2
+f 9 7 3
+f 9 3 4
+f 9 4 7
+f 10 8 2
+f 10 2 3
+f 11 3 1
+f 11 1 8
+f 12 8 5
+f 12 5 6
+f 12 6 8
+f 13 10 3
+f 13 8 10
+f 13 11 8
+f 13 3 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87f6773257fb4407b65625d38fc3c4799b1f088c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.46222657 -0.02606471 0.02738174
+v -0.44697271 -0.01594783 0.02647411
+v -0.45413011 -0.01510344 0.02895900
+v -0.44697369 0.02002588 0.02817628
+v -0.49630475 0.00633109 0.02788188
+v -0.46308552 -0.02325720 0.02877537
+v -0.48385886 -0.01937825 0.02607823
+v -0.49632153 0.00399842 0.03226662
+v -0.48432619 -0.01716368 0.02934240
+v -0.44697165 0.01858318 0.02757409
+v -0.49632153 -0.00399842 0.03226662
+v -0.49829340 -0.00413194 0.02838609
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 8 3 4
+f 8 4 5
+f 9 7 1
+f 9 1 6
+f 10 7 5
+f 10 5 4
+f 10 4 2
+f 10 2 7
+f 11 6 3
+f 11 3 8
+f 11 9 6
+f 11 7 9
+f 12 11 8
+f 12 8 5
+f 12 5 7
+f 12 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82fd1a5a191913e27fec89470e27603be0983358
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09848499 -0.02620695 0.02761744
+v -0.41666860 0.01858928 0.02755886
+v -0.09848482 0.01720222 0.03084555
+v -0.40893721 0.01463318 0.03020999
+v -0.40141873 -0.02655192 0.02684043
+v -0.40861642 -0.01056867 0.03093090
+v -0.41666969 -0.01596119 0.02646208
+v -0.09848502 -0.02351657 0.02930522
+v -0.09846257 0.01360217 0.03175563
+v -0.40065521 -0.02311215 0.02858271
+f 1 2 3
+f 3 2 4
+f 6 4 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 5 1
+f 9 3 4
+f 9 4 6
+f 9 6 8
+f 9 8 1
+f 9 1 3
+f 10 7 5
+f 10 6 7
+f 10 8 6
+f 10 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c73c49a6ff5250db9bca26aa23cc09e6358388c8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.14362044 -0.21068908 -0.00267094
+v 0.14628716 -0.20545681 -0.03240359
+v 0.14369514 0.21465591 -0.00191301
+v 0.08095807 0.21883934 0.00056554
+v 0.07929427 -0.21799157 0.00056554
+v 0.14653080 0.20909168 -0.03110791
+v 0.08864683 -0.18959985 -0.02674640
+v 0.08894796 0.19341178 -0.02571821
+v 0.08639933 -0.20404715 -0.02166251
+v 0.08793886 0.20513863 -0.02133227
+v 0.10220453 -0.20276479 -0.02510778
+v 0.11714235 0.20729666 -0.02624417
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 8 5 4
+f 8 6 2
+f 8 2 7
+f 9 2 5
+f 9 8 7
+f 9 5 8
+f 10 8 4
+f 11 9 7
+f 11 7 2
+f 11 2 9
+f 12 10 4
+f 12 4 6
+f 12 6 8
+f 12 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae84015047acf5ddcf7ee13092f9c7729e3791a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.41389160 -0.19213818 0.00056554
+v 0.41105191 -0.15899537 -0.02571864
+v 0.41690207 -0.14969442 -0.00097284
+v 0.26515152 -0.14945863 -0.00276813
+v 0.26515152 -0.19491317 -0.03731325
+v 0.41216132 -0.14495327 -0.02950647
+v 0.38074914 -0.18929845 -0.02571848
+v 0.26515152 -0.19491317 -0.00276813
+v 0.26515152 -0.14945863 -0.03731325
+v 0.40565435 -0.18390085 -0.01683309
+f 1 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 1 5
+f 7 6 2
+f 7 5 6
+f 8 5 1
+f 8 1 4
+f 9 6 5
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 10 7 2
+f 10 2 1
+f 10 1 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..378ff2f0cc176a391912669c6d454ff2575335dd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08333334 0.04751107 -0.00276813
+v 0.08333334 0.04751107 -0.03731325
+v 0.08672945 0.16532695 -0.03329354
+v 0.05466187 0.16709205 0.00367375
+v 0.05303030 0.04751107 -0.00276813
+v 0.08333334 0.16872320 -0.00276813
+v 0.05303030 0.04751107 -0.03731325
+v 0.05864500 0.16310868 -0.02571798
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b14c78056cdb0fb9f604b084060b04425fb6d8ba
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.30816715 -0.25527076 0.00056554
+v 0.30847578 -0.24206801 -0.01845300
+v 0.31075040 -0.22549975 -0.00090807
+v 0.26434262 -0.22010850 -0.03240414
+v 0.26345709 -0.25997166 -0.00561031
+v 0.31012583 -0.22427374 -0.02718377
+v 0.30816715 -0.25527076 -0.00277344
+v 0.26399986 -0.23309549 -0.02711323
+v 0.26382478 -0.26229334 0.00056554
+v 0.27943988 -0.21976573 -0.03156622
+v 0.27909709 -0.23275270 -0.02627534
+v 0.26526039 -0.22590752 -0.00266537
+f 7 5 2
+f 7 2 6
+f 7 6 3
+f 7 3 1
+f 8 5 4
+f 8 2 5
+f 9 1 3
+f 9 7 1
+f 9 5 7
+f 10 3 6
+f 11 6 2
+f 11 2 8
+f 11 10 6
+f 11 8 4
+f 11 4 10
+f 12 9 3
+f 12 4 5
+f 12 5 9
+f 12 10 4
+f 12 3 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a82caa55767ae45827a1c0ba28dd275bb4657946
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_29.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.09848485 0.18387471 -0.00276813
+v 0.18949754 0.22867512 -0.02813855
+v 0.18760228 0.25579234 0.03731325
+v 0.17684544 0.25834771 0.03731325
+v 0.10524464 0.23121431 -0.00277344
+v 0.19162623 0.26068857 -0.00277344
+v 0.07393056 0.20842901 0.03731325
+v 0.18789109 0.23881011 0.00277736
+v 0.08793886 0.20513863 -0.02133227
+v 0.19162623 0.26068857 0.03731325
+v 0.13543073 0.24659532 -0.00277344
+v 0.14409893 0.21386464 -0.02888911
+v 0.09157299 0.21315755 -0.01469987
+v 0.07712894 0.19007316 0.00393748
+v 0.19140169 0.24695454 -0.01910171
+v 0.17684544 0.25834771 -0.00277344
+v 0.13543073 0.24659532 0.03731325
+v 0.08309636 0.18411120 -0.00097784
+v 0.15204060 0.24373323 -0.01495143
+v 0.08708708 0.22196232 0.03731325
+v 0.12940470 0.21296713 -0.02645724
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 10 8 2
+f 10 3 8
+f 10 6 4
+f 10 4 3
+f 11 9 5
+f 12 2 1
+f 12 1 9
+f 13 9 7
+f 13 7 5
+f 13 5 9
+f 14 7 9
+f 15 10 2
+f 15 6 10
+f 16 11 4
+f 16 4 6
+f 16 6 15
+f 17 7 4
+f 17 4 11
+f 18 14 9
+f 18 9 1
+f 18 1 7
+f 18 7 14
+f 19 15 2
+f 19 2 12
+f 19 9 11
+f 19 16 15
+f 19 11 16
+f 20 5 7
+f 20 7 17
+f 20 17 11
+f 20 11 5
+f 21 19 12
+f 21 12 9
+f 21 9 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9545b0705e68c689f5047638d9d313434e0f013a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08542329 -0.22111455 0.03731325
+v 0.08720718 -0.21761312 -0.00751608
+v 0.05612517 -0.13121213 -0.03432210
+v 0.00554878 -0.13533989 0.01571706
+v 0.01739437 -0.15649515 -0.00392041
+v 0.05303030 -0.13430711 -0.00276813
+v 0.08333334 -0.16461014 -0.00276813
+v 0.07629710 -0.21539731 -0.00392098
+v 0.01661588 -0.15706069 0.03731325
+v 0.01817740 -0.12890533 -0.01987856
+v 0.08485911 -0.19338745 -0.02452782
+v 0.02641949 -0.16091793 0.03731325
+v 0.01167763 -0.14736866 0.03731325
+v 0.07573127 -0.21617608 0.03731325
+v 0.08639933 -0.20404715 -0.02166251
+v 0.07187403 -0.20637248 0.03731325
+v 0.07797521 -0.20027130 -0.01826238
+v 0.04767224 -0.16996852 -0.01826155
+v 0.04319245 -0.14414477 -0.02674642
+v 0.02181121 -0.14220544 -0.01649898
+v 0.04341786 -0.13148483 -0.02988044
+f 7 1 2
+f 7 3 6
+f 8 2 1
+f 9 4 5
+f 10 5 4
+f 10 6 3
+f 10 4 6
+f 11 3 7
+f 12 7 6
+f 12 9 1
+f 13 6 4
+f 13 4 9
+f 13 12 6
+f 13 9 12
+f 14 8 1
+f 14 1 9
+f 14 9 5
+f 14 5 8
+f 15 11 7
+f 15 7 2
+f 15 2 8
+f 16 12 1
+f 16 1 7
+f 16 7 12
+f 17 15 8
+f 17 8 5
+f 18 17 5
+f 18 15 17
+f 19 3 11
+f 19 11 15
+f 19 15 18
+f 20 18 5
+f 20 5 10
+f 20 19 18
+f 20 10 19
+f 21 19 10
+f 21 10 3
+f 21 3 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c0a8fa5a292613700fc6964e6eea6427680274
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.08333334 -0.01309499 -0.00276813
+v 0.08333334 -0.01309499 -0.03731325
+v 0.08333334 0.04751107 -0.03731325
+v 0.00698967 0.04760368 -0.00217728
+v 0.00757576 -0.01309499 -0.00276813
+v 0.08333334 0.04751107 -0.00276813
+v 0.01199782 0.00135610 -0.03407996
+v 0.01224741 -0.01235502 -0.03346947
+v 0.01302635 0.04664775 -0.03156582
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 5 4
+f 8 7 2
+f 8 2 5
+f 8 5 7
+f 9 7 4
+f 9 4 3
+f 9 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2983fbb0106c1da542525ab2d02556d3a96205ca
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.44036073 0.12762272 0.00278056
+v 0.42645502 0.12053600 -0.03035707
+v 0.42407832 0.16098333 -0.02066780
+v 0.40917600 0.17638550 0.00971078
+v 0.38636365 0.12326865 -0.00276813
+v 0.43456212 0.17146704 0.01571706
+v 0.42590226 0.14765575 -0.02469039
+v 0.41666668 0.12326865 -0.00276813
+v 0.38266668 0.16502609 -0.03226584
+v 0.38684516 0.16920553 -0.00258139
+v 0.41075075 0.16280727 -0.02469039
+v 0.38636365 0.12326865 -0.03731325
+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 5 2
+f 8 2 1
+f 8 1 5
+f 9 7 2
+f 10 9 5
+f 10 5 4
+f 10 4 9
+f 11 9 4
+f 11 4 3
+f 11 3 7
+f 11 7 9
+f 12 9 2
+f 12 2 5
+f 12 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..718d829e725492bc153b8bb59fb183387805344a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.05303030 0.12326865 -0.00276813
+v 0.08672945 0.16532695 -0.03329354
+v 0.08333334 0.16872320 -0.00276813
+v 0.08708708 0.22196232 0.03731325
+v 0.01792707 0.15837188 -0.00277344
+v 0.01502931 0.11947090 -0.02166251
+v 0.00482991 0.12466770 0.03731325
+v 0.08819369 0.21979054 -0.00571500
+v 0.05615398 0.12167707 -0.03642514
+v 0.01792707 0.15837188 0.03731325
+v 0.07573127 0.21617608 -0.00277344
+v 0.08783867 0.17936952 -0.02950581
+v 0.04276398 0.12077954 -0.03165219
+v 0.07573127 0.21617608 0.03731325
+v 0.08793886 0.20513863 -0.02133227
+v 0.04349361 0.14795665 -0.02571815
+v 0.07919464 0.20316493 -0.01683355
+v 0.07379648 0.17826023 -0.02571809
+v 0.02279766 0.14581588 -0.01558161
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 7 1 4
+f 7 6 1
+f 7 5 6
+f 9 2 1
+f 10 7 4
+f 10 5 7
+f 11 4 8
+f 11 5 10
+f 12 8 4
+f 12 4 2
+f 13 9 1
+f 13 1 6
+f 13 6 9
+f 14 11 10
+f 14 10 4
+f 14 4 11
+f 15 11 8
+f 15 8 12
+f 16 12 2
+f 16 2 9
+f 16 9 6
+f 17 5 11
+f 17 11 15
+f 18 16 15
+f 18 15 12
+f 18 12 16
+f 19 16 6
+f 19 6 5
+f 19 5 17
+f 19 17 15
+f 19 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed713e2f3069ebd965bcf3f5bcecef8e7a8fc717
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02879353 -0.15854389 0.02677510
+v 0.03753899 -0.13447983 -0.00119469
+v 0.03787879 -0.10400408 -0.00276813
+v -0.02545419 -0.05658147 0.03731325
+v -0.02133726 -0.08257206 -0.00277344
+v 0.01854654 -0.15158876 0.03731325
+v 0.01517869 -0.14558481 -0.00751549
+v 0.00798528 -0.05848467 -0.02873647
+v -0.02055987 -0.06060603 0.03731325
+v -0.02133726 -0.08257206 0.03731325
+v 0.03285968 -0.15447762 0.01178608
+v 0.00855489 -0.14123981 -0.00277344
+v -0.02477880 -0.05647481 -0.00359758
+v 0.01336555 -0.11620556 -0.02166251
+v 0.02272727 -0.07370105 -0.00276813
+v 0.00855489 -0.14123981 0.03731325
+v -0.01104042 -0.05669843 -0.01993245
+v -0.00251482 -0.06014609 0.00196982
+v -0.00876333 -0.08173762 -0.01675181
+f 1 2 3
+f 6 1 3
+f 9 6 3
+f 9 4 6
+f 10 6 4
+f 10 4 5
+f 11 7 2
+f 11 2 1
+f 11 1 7
+f 12 10 5
+f 12 7 1
+f 12 1 6
+f 13 5 4
+f 14 7 12
+f 14 2 7
+f 14 8 3
+f 14 3 2
+f 15 4 9
+f 15 9 3
+f 15 3 8
+f 16 12 6
+f 16 6 10
+f 16 10 12
+f 17 5 13
+f 17 8 14
+f 17 13 4
+f 17 4 8
+f 18 15 8
+f 18 8 4
+f 18 4 15
+f 19 17 14
+f 19 5 17
+f 19 14 12
+f 19 12 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f1f0ccdd2b0d3fa5ab1487e1b2127f6f36456d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26382478 -0.26229334 0.00056554
+v 0.26345709 -0.25997166 -0.00561031
+v 0.26515152 -0.14945863 -0.00276813
+v 0.14393940 -0.14945863 -0.00276813
+v 0.14718467 -0.21884681 -0.02763063
+v 0.14411293 -0.22487606 0.00107871
+v 0.26515152 -0.14945863 -0.03731325
+v 0.19124850 -0.25896063 -0.00476178
+v 0.14393940 -0.14945863 -0.03731325
+v 0.26399986 -0.23309549 -0.02711323
+v 0.19099078 -0.26058793 0.00056554
+v 0.19058519 -0.23284570 -0.02650279
+v 0.22227630 -0.25438423 -0.01607394
+v 0.24736114 -0.25400752 -0.01575790
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 7 4 3
+f 8 2 1
+f 9 6 4
+f 9 5 6
+f 9 4 7
+f 10 7 1
+f 10 1 2
+f 10 9 7
+f 11 6 5
+f 11 5 8
+f 11 8 1
+f 11 1 6
+f 12 5 9
+f 12 9 10
+f 12 8 5
+f 13 12 10
+f 13 2 8
+f 13 8 12
+f 14 13 10
+f 14 10 2
+f 14 2 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ca68149bee5f2ba54de9df60d5f99779e32b23a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.44121853 -0.15885868 0.03731325
+v 0.47938728 -0.09736123 -0.00277344
+v 0.49076895 -0.05828738 0.03731325
+v 0.44696971 -0.05854953 -0.00276813
+v 0.43793066 -0.14485303 -0.02133229
+v 0.47835894 -0.05632177 -0.01793778
+v 0.48624073 -0.05996980 0.03731325
+v 0.47938728 -0.09736123 0.03731325
+v 0.46400627 -0.12754732 -0.00277344
+v 0.41666668 -0.13430711 -0.00276813
+v 0.44284647 -0.05789654 -0.03481041
+v 0.47652513 -0.08075133 -0.01495214
+v 0.44594966 -0.14121884 -0.01469992
+v 0.45475427 -0.14570487 0.03731325
+v 0.42285396 -0.15565103 0.00393831
+v 0.44188374 -0.08626115 -0.03110814
+v 0.41690207 -0.14969442 -0.00097284
+v 0.45527376 -0.08536362 -0.02633520
+v 0.45583344 -0.05755375 -0.02951953
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 3
+f 8 3 1
+f 9 5 2
+f 10 1 4
+f 11 4 6
+f 11 10 4
+f 12 6 2
+f 12 2 5
+f 13 9 1
+f 13 1 5
+f 13 5 9
+f 14 8 1
+f 14 1 9
+f 14 9 2
+f 14 2 8
+f 15 5 1
+f 16 5 10
+f 16 10 11
+f 17 10 5
+f 17 5 15
+f 17 15 1
+f 17 1 10
+f 18 12 5
+f 18 5 16
+f 18 6 12
+f 18 16 11
+f 19 18 11
+f 19 11 6
+f 19 6 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..153a219b4b5f2d26c176195f065c6c4117440234
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.40151516 -0.14945863 -0.00276813
+v 0.39811938 -0.14606272 -0.03329423
+v 0.38668761 0.18419895 -0.00005119
+v 0.14470628 0.22782607 0.00283340
+v 0.14393940 -0.14945863 -0.00276813
+v 0.30745014 0.22313572 -0.02810694
+v 0.40151516 0.12326865 -0.03731325
+v 0.14393940 -0.14945863 -0.03731325
+v 0.31064461 0.22940492 0.00045102
+v 0.40151516 0.12326865 -0.00276813
+v 0.38155734 0.17906822 -0.02847804
+v 0.14742831 0.22248168 -0.02633495
+v 0.34090803 0.21417564 0.00056873
+v 0.33773630 0.20795074 -0.02801573
+f 1 3 4
+f 5 1 4
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 8 5 4
+f 8 7 2
+f 10 7 3
+f 10 3 1
+f 10 1 7
+f 11 3 7
+f 12 8 4
+f 12 6 7
+f 12 7 8
+f 12 9 6
+f 12 4 9
+f 13 9 4
+f 13 4 3
+f 14 11 7
+f 14 7 6
+f 14 6 9
+f 14 9 13
+f 14 13 3
+f 14 3 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182cf0e1ab1a9a746046bc8d1d1e20ac496b0833
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.45163129 -0.15183389 0.00056554
+v 0.46244978 -0.05860164 -0.00097644
+v 0.44479017 0.12215776 0.00386615
+v 0.40151516 0.12326865 -0.00276813
+v 0.39811938 -0.14606272 -0.03329423
+v 0.40151516 -0.14945863 -0.00276813
+v 0.46220410 0.07785638 0.00044035
+v 0.45583344 -0.05755375 -0.02951953
+v 0.43793066 -0.14485303 -0.02133229
+v 0.45592764 0.07465833 -0.02810694
+v 0.44008869 -0.11564956 -0.02624429
+v 0.43984505 0.11963848 -0.02558412
+v 0.40151516 0.12326865 -0.03731325
+v 0.42620343 -0.14384386 -0.02571864
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 8 1
+f 9 1 5
+f 10 7 2
+f 10 2 8
+f 11 5 8
+f 11 8 9
+f 12 3 7
+f 12 7 10
+f 13 10 8
+f 13 8 5
+f 13 12 10
+f 13 5 4
+f 13 4 3
+f 13 3 12
+f 14 11 9
+f 14 9 5
+f 14 5 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2f4a2964e7346611f949b4aa7f7297bb82d0e0f6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/model.xml
@@ -0,0 +1,96 @@
+<mujoco model="pan_29">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="visual/model_normalized_2.obj" name="model_normalized_2_vis" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.25000000000000006 0.25000000000000006 0.25000000000000006" refquat="0.7071067811865475 0.0 0.0 -0.7071067811865476"/>
+    <texture type="2d" name="image3" file="visual/image3.png"/>
+    <texture type="2d" name="image6" file="visual/image6.png"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Handle.007" texture="image3" specular="0.5" shininess="0.25"/>
+    <material name="Metala" texture="image6" specular="0.5" shininess="0.25"/>
+    <material name="Metalb" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0.0 -0.06 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_0_vis" conaffinity="0" contype="0" group="1" material="Metalb"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Handle.007"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_2_vis" conaffinity="0" contype="0" group="1" material="Metala"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        </body>
+        <geom class="region" name="reg_bbox" type="box" pos="0.00020059624999999725 -0.060894214999999995 0.0" size="0.065573335 0.12278492000000002 0.009328312500000002"/>
+        <geom rgba="0 0 0 0" size="0.063 0.002" pos="0 0 0" type="cylinder" name="liquid" class="region"/>
+        <geom rgba="0 0 0 0 " size="0.058 0.004" pos="0 0 0.004" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/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
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..109481f19a3ae8db0ff43e8b27128d7e0db717a4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/visual/model_normalized_0.obj
@@ -0,0 +1,1592 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04d216b42d741ab00b47598412ef2ba6341e6157
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_8/visual/model_normalized_1.obj
@@ -0,0 +1,1330 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.06209212 0.02849269 0.02306955
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+v -0.38274141 0.02849269 0.00525345
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diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_8/visual/model_normalized_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_8/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c2cc80eafc0341cb757aab0a01eba668be57da
--- /dev/null
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+f 21/21/21 28/28/28 27/27/27
+f 27/27/27 22/22/22 21/21/21
+f 32/32/32 29/29/29 30/30/30
+f 30/30/30 31/31/31 32/32/32
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+f 49/49/49 43/43/43 46/46/46
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+f 71/71/71 122/122/122 110/110/110
+f 71/71/71 112/112/112 122/122/122
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be666ef610071ef52f597fc06c0f31e68748ac4c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.25867576 -0.27104112 -0.00965068
+v -0.24539221 -0.26515152 -0.05015396
+v -0.25133018 -0.08168933 -0.02896836
+v -0.33639600 -0.08671648 0.04391563
+v -0.32671054 -0.26198394 0.04391563
+v -0.27425938 -0.10156936 -0.04473707
+v -0.31579520 -0.08113390 0.03641032
+v -0.30258327 -0.26967936 0.03511365
+v -0.24539221 -0.08333333 -0.05015396
+v -0.33417273 -0.20241696 0.03067064
+v -0.32052140 -0.25994098 0.03009767
+v -0.28822571 -0.26998232 0.02139140
+v -0.26630068 -0.08593272 -0.05015396
+v -0.33512635 -0.23118005 0.04391563
+v -0.33339557 -0.10161953 0.03132895
+v -0.27359392 -0.21582480 -0.04411608
+v -0.33612870 -0.08677427 0.03988071
+v -0.33485980 -0.23112262 0.03988071
+v -0.28874935 -0.11576159 -0.02919286
+v -0.31917578 -0.08717969 0.01626669
+v -0.25993117 -0.25907113 -0.04471632
+v -0.31837269 -0.23082074 0.01689270
+v -0.28833463 -0.20148000 -0.02877053
+v -0.30302246 -0.24498249 0.00223982
+v -0.27363682 -0.25851156 -0.02837404
+f 1 2 3
+f 7 4 5
+f 8 2 1
+f 8 7 5
+f 9 3 2
+f 9 7 3
+f 11 8 5
+f 11 2 8
+f 12 8 1
+f 12 1 3
+f 12 3 7
+f 12 7 8
+f 13 9 2
+f 13 7 9
+f 14 5 4
+f 16 13 2
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+f 17 14 4
+f 18 11 5
+f 18 5 14
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+f 23 22 10
+f 23 16 22
+f 23 19 6
+f 23 6 16
+f 24 22 16
+f 24 11 22
+f 25 21 11
+f 25 11 24
+f 25 24 16
+f 25 16 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..052a34da83ff0d21f1c31135b16f5a458702ccf5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.27831602 -0.26845208 0.01016364
+v 0.28590054 -0.26553320 0.01709659
+v 0.29203766 -0.08135967 0.01168961
+v 0.28499880 -0.07911300 0.00447461
+v 0.26676871 -0.24400821 -0.04301667
+v 0.27094448 -0.25976300 -0.03105111
+v 0.24167285 -0.22048715 -0.03231555
+v 0.27011004 -0.08742724 -0.04590401
+v 0.24790999 -0.26890109 -0.02151257
+v 0.25460780 -0.08333333 -0.05015396
+v 0.23945629 -0.26515152 -0.05015396
+v 0.26269816 -0.08109458 -0.02066132
+v 0.25723811 -0.26032297 -0.04739251
+v 0.23945629 -0.21969697 -0.05015396
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 3 2
+f 8 4 3
+f 8 6 5
+f 8 3 6
+f 9 1 4
+f 9 4 7
+f 10 4 8
+f 11 1 9
+f 11 9 7
+f 12 10 7
+f 12 7 4
+f 12 4 10
+f 13 6 1
+f 13 1 11
+f 13 5 6
+f 13 8 5
+f 13 11 10
+f 13 10 8
+f 14 11 7
+f 14 7 10
+f 14 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3be1792ec71b2c1e4b11c55b9901a2c8d330c585
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.17919008 -0.40199752 -0.01272998
+v 0.18727721 -0.34976054 -0.02448313
+v 0.17910062 -0.26525502 -0.03499810
+v 0.10310329 -0.26529836 -0.03598839
+v 0.10309265 -0.40151515 -0.05015396
+v 0.17035185 -0.37547598 -0.04709290
+v 0.10638107 -0.40892916 -0.01953704
+v 0.15504144 -0.38816009 -0.04546973
+v 0.17885022 -0.26515152 -0.05015396
+v 0.17075206 -0.39001928 -0.03174836
+v 0.10309265 -0.26515152 -0.05015396
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 1 5
+f 8 5 6
+f 9 3 2
+f 9 2 6
+f 9 6 5
+f 10 8 6
+f 10 6 1
+f 10 1 8
+f 11 4 3
+f 11 3 9
+f 11 9 5
+f 11 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..207668ae26d3d494fc8f1fc4ac582482cd1ce4d2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.31064831 -0.00959996 0.04397791
+v 0.30316180 -0.01291916 0.02772330
+v 0.27678222 0.04730400 0.04391563
+v 0.20257967 0.06203979 0.00736144
+v 0.24530855 -0.00387034 -0.00309499
+v 0.24598589 0.05866140 0.03809740
+v 0.29845262 0.01323137 0.03988071
+v 0.28180661 -0.00075212 0.03378487
+v 0.24523604 0.01612552 -0.01859493
+v 0.25728521 0.04329428 0.01494561
+v 0.29869095 0.01336718 0.04391563
+v 0.19740349 0.05660438 -0.00137800
+v 0.26153865 -0.01223219 -0.02014973
+v 0.27140866 0.04351899 0.03002264
+v 0.25358625 -0.00815459 -0.02652210
+v 0.29941612 -0.00037669 0.03087113
+v 0.28393598 0.02766830 0.03188979
+v 0.20174350 0.04601272 -0.00680578
+v 0.26804319 0.01204940 0.00312486
+v 0.25348001 0.01242135 -0.01257359
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 8 5 1
+f 8 6 4
+f 8 1 6
+f 10 6 3
+f 10 4 6
+f 11 7 3
+f 11 3 1
+f 11 1 7
+f 12 8 4
+f 12 5 8
+f 12 10 9
+f 12 4 10
+f 13 2 5
+f 14 10 3
+f 14 9 10
+f 15 13 5
+f 16 7 2
+f 16 2 13
+f 17 14 3
+f 17 3 7
+f 17 7 16
+f 18 12 9
+f 18 9 15
+f 18 15 5
+f 18 5 12
+f 19 16 13
+f 19 13 15
+f 19 17 16
+f 20 9 14
+f 20 14 17
+f 20 17 19
+f 20 19 15
+f 20 15 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..044e1c365310e6abbb00cbba4d2d957754cc5b9e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.07278962 0.09848485 -0.05015396
+v 0.07502837 0.10657522 -0.02066132
+v -0.08121003 0.10600866 -0.01936935
+v -0.06124785 0.14873244 -0.00408566
+v 0.05718905 0.15650340 0.00490218
+v -0.07436567 0.11303073 -0.04513800
+v 0.07221637 0.14138879 -0.01026011
+v 0.05990437 0.12372293 -0.00603566
+v -0.07872554 0.09848485 -0.05015396
+v -0.07778240 0.14053080 -0.00954909
+v 0.01219616 0.15960407 0.00248033
+v 0.06869266 0.11399008 -0.04590224
+v -0.07387355 0.12640647 -0.02857001
+v -0.05963917 0.14158177 -0.01359356
+v 0.05468484 0.14206211 -0.01410433
+v 0.06900787 0.12708945 -0.02928066
+f 1 2 3
+f 5 4 3
+f 7 5 2
+f 7 2 1
+f 8 5 3
+f 8 3 2
+f 8 2 5
+f 9 1 3
+f 10 3 4
+f 10 9 3
+f 10 6 9
+f 11 4 5
+f 12 9 6
+f 12 1 9
+f 12 6 11
+f 12 7 1
+f 13 10 4
+f 13 6 10
+f 14 11 6
+f 14 4 11
+f 14 13 4
+f 14 6 13
+f 15 12 11
+f 15 11 5
+f 16 7 12
+f 16 12 15
+f 16 15 5
+f 16 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a2d49682d86fed0c67e8ae3f2590ffaae50abb3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.09234857 -0.48690175 0.04391563
+v -0.09083796 -0.45291753 -0.00480543
+v -0.09467183 -0.38898970 -0.03239570
+v -0.25097047 -0.37810600 0.02751655
+v -0.17454653 -0.44594797 0.03193140
+v -0.16371439 -0.37795942 -0.04981245
+v -0.25705911 -0.38335841 0.04432614
+v -0.09020734 -0.47916552 0.02801984
+v -0.10619269 -0.41026909 -0.05015396
+v -0.22094852 -0.37707147 -0.00213052
+v -0.09856443 -0.46116145 0.03262638
+v -0.16077669 -0.45967661 0.04391563
+v -0.20444246 -0.43185567 0.03988071
+v -0.09387705 -0.38636364 -0.05015396
+v -0.14618961 -0.46079935 0.03142344
+v -0.13163462 -0.40239415 -0.04523838
+v -0.24642991 -0.38807961 0.03217601
+v -0.20459939 -0.43207923 0.04391563
+v -0.16065472 -0.45943121 0.03988071
+v -0.21698367 -0.41644800 0.03276791
+v -0.09387705 -0.40151515 -0.05015396
+v -0.10381803 -0.47664435 0.03009767
+v -0.15923677 -0.38675471 -0.04382442
+v -0.15971116 -0.42944724 0.00326449
+v -0.13128668 -0.44397699 0.00303787
+v -0.25005849 -0.39153429 0.04391563
+v -0.11877278 -0.47840086 0.04391563
+v -0.21643852 -0.38701628 0.00317354
+v -0.11867223 -0.47814613 0.03988071
+f 7 3 4
+f 8 3 1
+f 10 4 3
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 14 8 2
+f 14 3 8
+f 14 9 6
+f 14 10 3
+f 14 6 10
+f 16 6 9
+f 17 7 4
+f 17 4 10
+f 18 12 7
+f 19 13 5
+f 19 18 13
+f 19 12 18
+f 19 5 15
+f 20 5 13
+f 21 14 2
+f 21 2 9
+f 21 9 14
+f 22 2 8
+f 22 9 2
+f 23 6 16
+f 23 20 6
+f 23 5 20
+f 24 16 15
+f 24 15 5
+f 24 23 16
+f 24 5 23
+f 25 16 9
+f 25 15 16
+f 25 22 15
+f 25 9 22
+f 26 7 17
+f 26 18 7
+f 26 13 18
+f 26 20 13
+f 26 17 20
+f 27 1 7
+f 27 7 12
+f 28 10 6
+f 28 6 20
+f 28 20 17
+f 28 17 10
+f 29 22 8
+f 29 8 1
+f 29 1 27
+f 29 15 22
+f 29 19 15
+f 29 27 12
+f 29 12 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab864959657853c98e6acd98192f3f5f4dff265
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.24138857 -0.34960981 0.02076355
+v -0.18478614 -0.34090909 -0.05015396
+v -0.18503005 -0.26525234 -0.03480205
+v -0.32671054 -0.26198394 0.04391563
+v -0.28982502 -0.33066948 0.03193140
+v -0.25414614 -0.26231563 -0.05015396
+v -0.26708941 -0.34552092 0.03883019
+v -0.19180046 -0.34827672 -0.02243664
+v -0.21754578 -0.33100007 -0.04532728
+v -0.18478614 -0.26515152 -0.05015396
+v -0.30744713 -0.26062413 0.01388832
+v -0.30258327 -0.26967936 0.03511365
+v -0.29420755 -0.33344386 0.04391563
+v -0.24627120 -0.28775757 -0.04523838
+v -0.30467640 -0.30231256 0.03142344
+v -0.23063177 -0.31535971 -0.04382442
+v -0.30463037 -0.27393237 0.01638697
+v -0.30330827 -0.31677766 0.03988071
+v -0.27332429 -0.31583411 0.00326449
+v -0.28785404 -0.28740963 0.00303787
+v -0.32597480 -0.26174035 0.03893132
+v -0.30355366 -0.31689964 0.04391563
+v -0.32202319 -0.27479518 0.03988071
+v -0.32227792 -0.27489573 0.04391563
+f 7 1 3
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 9 6 2
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 4 3
+f 11 3 6
+f 12 7 3
+f 12 3 4
+f 12 4 7
+f 13 7 4
+f 13 5 7
+f 16 9 5
+f 16 14 6
+f 16 6 9
+f 17 11 6
+f 18 15 5
+f 18 5 13
+f 19 15 14
+f 19 5 15
+f 19 16 5
+f 19 14 16
+f 20 6 14
+f 20 14 15
+f 20 17 6
+f 20 15 17
+f 21 4 11
+f 21 11 17
+f 22 18 13
+f 22 13 4
+f 23 21 17
+f 23 17 15
+f 23 15 18
+f 23 4 21
+f 23 18 22
+f 24 23 22
+f 24 22 4
+f 24 4 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3ea46e1cda53de63a3c40e1cb0c4eedfb05b488
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.05804528 0.13060012 0.00127514
+v 0.05968748 0.13790910 0.01001532
+v -0.05018127 0.13891845 0.00921224
+v -0.04776003 0.18401751 0.04391563
+v 0.02678901 0.15169682 -0.00656068
+v -0.04983108 0.16721105 0.03855096
+v -0.04889863 0.13153432 0.00047355
+v 0.05558543 0.16241087 0.01211299
+v 0.05893489 0.16656663 0.03932710
+v -0.04707330 0.16328953 0.01136677
+v -0.03882909 0.18487082 0.02704835
+v -0.03232162 0.15139293 -0.00629686
+v 0.05516068 0.17511272 0.02855291
+v 0.02609168 0.15740601 0.00075308
+v 0.05646645 0.18264012 0.04391563
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 9 6 2
+f 9 4 6
+f 9 2 8
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 11 10 4
+f 12 5 7
+f 12 7 10
+f 12 11 5
+f 12 10 11
+f 13 8 5
+f 14 13 5
+f 14 5 11
+f 14 11 13
+f 15 9 8
+f 15 8 13
+f 15 4 9
+f 15 13 11
+f 15 11 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f2552175889dcbd63ea30acbd82ab1be1726abd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05516068 0.17511272 0.02855291
+v 0.05646645 0.18264012 0.04391563
+v -0.04776003 0.18401751 0.04391563
+v -0.03718171 0.37160212 0.04253809
+v 0.03596149 0.37152726 0.02291163
+v 0.03519877 0.37152472 0.04457462
+v -0.03882909 0.18487082 0.02704835
+v -0.03613070 0.37172784 0.02435294
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 3
+f 8 6 5
+f 8 4 6
+f 8 5 7
+f 8 7 3
+f 8 3 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8704833489228307920e9aa675f946a572698268
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.29203766 -0.08135967 0.01168961
+v 0.25215835 -0.03158833 -0.04255656
+v 0.25165738 0.00015061 0.00564667
+v 0.24595732 -0.08118614 -0.03082437
+v 0.29136982 -0.00432327 0.03974442
+v 0.28180661 -0.00075212 0.03378487
+v 0.23945629 -0.05303030 -0.05015396
+v 0.27011004 -0.08742724 -0.04590401
+v 0.24721351 -0.01176349 -0.03603161
+v 0.24530855 -0.00387034 -0.00309499
+v 0.29408384 -0.01866104 0.03641656
+v 0.26899505 -0.01559022 -0.01369423
+v 0.24459592 -0.02776883 -0.04909724
+v 0.23945629 -0.08333333 -0.05015396
+v 0.26787922 -0.07380632 -0.04391553
+v 0.25516582 -0.01584075 -0.02965774
+f 6 4 1
+f 6 3 4
+f 6 1 5
+f 8 1 4
+f 9 6 5
+f 9 3 6
+f 10 4 3
+f 10 3 9
+f 11 5 1
+f 11 1 8
+f 12 11 8
+f 12 5 11
+f 12 9 5
+f 13 8 7
+f 13 10 9
+f 13 7 10
+f 13 12 2
+f 14 8 4
+f 14 7 8
+f 14 10 7
+f 14 4 10
+f 15 12 8
+f 15 2 12
+f 15 13 2
+f 15 8 13
+f 16 13 9
+f 16 9 12
+f 16 12 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ae182837ad55c67ef346e112727e1e225d6d27
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.23986807 -0.26533409 -0.02853677
+v 0.25460780 -0.21969697 -0.05015396
+v 0.19447948 -0.00714377 -0.03291226
+v -0.15474687 -0.00747897 -0.03489455
+v -0.15448311 -0.26515152 -0.05015396
+v 0.19400174 -0.00757575 -0.05015396
+v 0.25477613 -0.08328673 -0.02789991
+v 0.23945629 -0.26515152 -0.05015396
+v -0.15467820 -0.26511107 -0.03545048
+v -0.15448311 -0.00757575 -0.05015396
+v 0.24024425 -0.05259717 -0.02941095
+v 0.25515009 -0.21981880 -0.02879651
+v 0.25460780 -0.08333333 -0.05015396
+v 0.23945629 -0.05303030 -0.05015396
+f 6 2 5
+f 7 4 1
+f 8 5 2
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 4 3
+f 10 3 6
+f 10 6 5
+f 10 5 4
+f 11 3 4
+f 11 4 7
+f 11 6 3
+f 12 7 1
+f 12 8 2
+f 12 1 8
+f 13 2 6
+f 13 11 7
+f 13 12 2
+f 13 7 12
+f 14 13 6
+f 14 6 11
+f 14 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93265ae189a4994b8f67a8827366ab3a43cd7494
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.18497314 0.04431152 -0.02114443
+v 0.17885022 0.03787879 -0.05015396
+v 0.17207837 0.11809074 0.01261405
+v 0.07221637 0.14138879 -0.01026011
+v 0.07277778 0.03816706 -0.03509534
+v 0.12453494 0.09603604 -0.04255505
+v 0.18584129 0.06113593 -0.00635078
+v 0.10289222 0.14333277 0.00336918
+v 0.16754599 0.06885138 -0.04358094
+v 0.06869266 0.11399008 -0.04590224
+v 0.14330082 0.13351966 0.01185225
+v 0.16817030 0.11192258 0.00312424
+v 0.07060988 0.13424011 -0.01976809
+v 0.08231523 0.11175572 -0.04391611
+v 0.07278962 0.03787879 -0.05015396
+v 0.11155378 0.12659378 -0.01309750
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 5 1
+f 7 3 5
+f 8 4 5
+f 9 3 2
+f 10 9 2
+f 10 6 9
+f 11 8 5
+f 11 5 3
+f 12 9 6
+f 12 3 9
+f 12 11 3
+f 12 6 11
+f 13 10 5
+f 13 5 4
+f 13 4 10
+f 14 6 10
+f 14 10 4
+f 14 4 8
+f 15 10 2
+f 15 2 5
+f 15 5 10
+f 16 11 6
+f 16 8 11
+f 16 14 8
+f 16 6 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2467c8743d4bcab7b25332e352b40508c618145
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.17344237 -0.45257499 0.04391563
+v 0.32587538 -0.26366884 0.04421946
+v 0.17910062 -0.26525502 -0.03499810
+v 0.22316709 -0.32819417 -0.04181528
+v 0.25424018 -0.38674307 0.03988071
+v 0.25723811 -0.26032297 -0.04739251
+v 0.17035185 -0.37547598 -0.04709290
+v 0.25443931 -0.38693209 0.04391563
+v 0.31822636 -0.26114320 0.02761960
+v 0.17078339 -0.41907516 -0.00064088
+v 0.17885022 -0.26515152 -0.05015396
+v 0.18108073 -0.37138241 -0.04249393
+v 0.28566098 -0.34694245 0.04391563
+v 0.24024611 -0.40157923 0.04391563
+v 0.27094448 -0.25976300 -0.03105111
+v 0.19781031 -0.43087048 0.03233030
+v 0.29827639 -0.31616282 0.03216395
+v 0.18224599 -0.41512886 0.00347253
+v 0.24005725 -0.40138028 0.03988071
+v 0.17315216 -0.45206355 0.03928726
+v 0.31220289 -0.28740402 0.03245134
+v 0.26790166 -0.30096728 -0.01235388
+v 0.27004523 -0.35961231 0.03171395
+v 0.18389937 -0.44616538 0.04391563
+v 0.31660168 -0.28935219 0.04391563
+v 0.25403503 -0.27333442 -0.04448644
+v 0.28542928 -0.34679707 0.03988071
+v 0.26850090 -0.34449992 0.01818661
+v 0.18375381 -0.44593316 0.03988071
+v 0.26793514 -0.27277731 -0.02827961
+f 1 2 3
+f 7 6 4
+f 9 3 2
+f 10 1 3
+f 10 3 7
+f 11 7 3
+f 11 3 6
+f 11 6 7
+f 12 7 4
+f 12 4 5
+f 13 2 8
+f 14 8 2
+f 15 6 3
+f 15 3 9
+f 16 7 12
+f 18 16 10
+f 18 10 7
+f 18 7 16
+f 19 16 12
+f 19 12 5
+f 19 5 8
+f 19 8 14
+f 20 1 10
+f 20 10 16
+f 21 9 2
+f 21 15 9
+f 21 6 15
+f 23 5 4
+f 24 14 2
+f 24 2 1
+f 25 21 2
+f 25 2 13
+f 25 17 21
+f 26 22 4
+f 26 4 6
+f 26 21 17
+f 26 17 22
+f 27 5 23
+f 27 13 8
+f 27 8 5
+f 27 25 13
+f 27 17 25
+f 28 22 17
+f 28 27 23
+f 28 17 27
+f 28 23 4
+f 28 4 22
+f 29 24 1
+f 29 1 20
+f 29 20 16
+f 29 16 19
+f 29 19 14
+f 29 14 24
+f 30 26 6
+f 30 6 21
+f 30 21 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82e25652639a5a76aee97708e6fe0cbbae94f87f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.07241930 -0.49077647 0.04511003
+v 0.18427760 -0.42437157 0.03714401
+v 0.07498871 -0.47191841 0.03641009
+v 0.17922679 -0.37164868 -0.01279136
+v 0.14667304 -0.39855415 -0.03987893
+v 0.18415705 -0.37736499 -0.00412784
+v 0.15591858 -0.46181498 0.03988071
+v 0.07099275 -0.46927126 0.00918387
+v 0.17497118 -0.39600851 -0.02223734
+v 0.17344237 -0.45257499 0.04391563
+v 0.07412629 -0.43664487 -0.00144124
+v 0.11243809 -0.47484575 0.03146873
+v 0.15910257 -0.39425583 -0.03596148
+v 0.12679554 -0.47530735 0.04391563
+v 0.17037852 -0.44716477 0.03051264
+v 0.07052199 -0.48233318 0.02578949
+v 0.10638107 -0.40892916 -0.01953704
+v 0.09948718 -0.45120228 -0.00340161
+v 0.12596209 -0.44535577 0.00187422
+v 0.15436611 -0.37947124 -0.02236729
+v 0.15604089 -0.46206062 0.04391563
+v 0.12669411 -0.47505165 0.03988071
+v 0.17049473 -0.40480532 -0.01624880
+v 0.15480398 -0.40261798 -0.02977311
+v 0.15446713 -0.44510994 0.01765022
+v 0.14276161 -0.40645107 -0.03353511
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 9 4 6
+f 9 6 2
+f 10 2 1
+f 10 9 2
+f 11 1 3
+f 11 3 4
+f 11 5 8
+f 13 4 9
+f 15 10 7
+f 15 9 10
+f 16 11 8
+f 16 1 11
+f 16 12 1
+f 16 8 12
+f 17 5 11
+f 18 12 8
+f 18 8 5
+f 19 12 18
+f 20 13 5
+f 20 4 13
+f 20 5 17
+f 20 17 11
+f 20 11 4
+f 21 10 1
+f 21 1 14
+f 21 14 7
+f 21 7 10
+f 22 7 14
+f 22 14 1
+f 22 1 12
+f 23 13 9
+f 23 9 15
+f 24 15 5
+f 24 5 13
+f 24 23 15
+f 24 13 23
+f 25 15 7
+f 25 7 22
+f 25 22 12
+f 25 12 19
+f 25 5 15
+f 26 19 18
+f 26 18 5
+f 26 25 19
+f 26 5 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d15adb46ccaed6e4d15b2d1c43ff5fca17b285d1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.04858687 0.05325582 -0.03484476
+v -0.04842251 0.05303031 -0.05015396
+v -0.04852453 0.09966318 -0.03003710
+v -0.10572332 0.13536983 -0.00519606
+v -0.13933160 0.05303031 -0.05015396
+v -0.07778240 0.14053080 -0.00954909
+v -0.14402328 0.07559326 -0.02103823
+v -0.07436567 0.11303073 -0.04513800
+v -0.13964647 0.05362013 -0.03232987
+v -0.13578380 0.12173820 -0.00619062
+v -0.04842251 0.09848485 -0.05015396
+v -0.08788557 0.11064671 -0.04301605
+v -0.13293880 0.08719639 -0.04773921
+v -0.07582796 0.13346885 -0.01905716
+v -0.11721023 0.09791280 -0.04448653
+v -0.11665436 0.11181219 -0.02827961
+v -0.13248575 0.11519285 -0.01570098
+v -0.10308689 0.12853487 -0.01470103
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 9 7 5
+f 9 5 1
+f 9 1 7
+f 10 7 1
+f 10 1 4
+f 11 3 2
+f 11 2 5
+f 11 6 3
+f 12 4 6
+f 12 6 8
+f 13 5 7
+f 13 7 10
+f 13 11 5
+f 13 8 11
+f 14 11 8
+f 14 8 6
+f 14 6 11
+f 15 12 8
+f 15 8 13
+f 16 15 10
+f 16 10 4
+f 16 12 15
+f 17 15 13
+f 17 13 10
+f 17 10 15
+f 18 16 4
+f 18 4 12
+f 18 12 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c4624961a549d781612479d016314a94e7e9ea2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.25775636 -0.05181579 -0.01529608
+v 0.25460780 -0.05303030 -0.05015396
+v 0.24831524 0.04766445 0.00923747
+v 0.17638070 0.10973540 0.00642743
+v 0.19414430 -0.05283296 -0.03453570
+v 0.17216044 0.05960839 -0.04935687
+v 0.26151453 -0.03481651 -0.00363702
+v 0.22497300 0.01142485 -0.04358095
+v 0.18820715 0.10540994 0.01061661
+v 0.17949143 -0.00728340 -0.03398013
+v 0.19400174 -0.05303030 -0.05015396
+v 0.18292061 0.05533785 -0.04466878
+v 0.24083904 -0.01537366 -0.04554300
+v 0.18399718 0.09943665 0.00112767
+v 0.17246375 0.10355111 -0.00306649
+v 0.17885022 -0.00757575 -0.05015396
+v 0.24266345 0.04302665 -0.00024713
+v 0.23924485 0.01190601 -0.02810682
+f 5 2 1
+f 7 5 1
+f 7 1 2
+f 7 2 3
+f 9 7 3
+f 9 4 5
+f 9 5 7
+f 10 5 4
+f 11 2 5
+f 12 8 6
+f 12 9 3
+f 12 6 9
+f 13 3 2
+f 13 2 6
+f 13 6 8
+f 14 9 6
+f 14 4 9
+f 15 10 4
+f 15 6 10
+f 15 14 6
+f 15 4 14
+f 16 6 2
+f 16 2 11
+f 16 10 6
+f 16 11 5
+f 16 5 10
+f 17 12 3
+f 17 3 8
+f 17 8 12
+f 18 13 8
+f 18 8 3
+f 18 3 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f468b887a45019c4084ea5c478adcefff956e69
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.27678222 0.04730400 0.04391563
+v 0.27611910 0.04683718 0.03886318
+v 0.21233788 0.11345168 0.03988071
+v 0.10195056 0.17078372 0.04511003
+v 0.10705521 0.10876329 -0.00662127
+v 0.21250410 0.11366739 0.04391563
+v 0.26957516 0.05621214 0.03988071
+v 0.18584129 0.06113593 -0.00635078
+v 0.10892955 0.14392426 0.03127858
+v 0.12675718 0.14411302 0.01537588
+v 0.16949013 0.14256800 0.04391563
+v 0.26979034 0.05638115 0.04391563
+v 0.24831524 0.04766445 0.00923747
+v 0.23476655 0.06298598 0.03315070
+v 0.10005679 0.14990254 0.01031873
+v 0.14081988 0.15681203 0.03988071
+v 0.23970909 0.08358614 0.03283346
+v 0.18368717 0.11414313 0.01653924
+v 0.09945771 0.16323418 0.02672612
+v 0.14093090 0.15706408 0.04391563
+v 0.24360329 0.05868873 0.01396347
+v 0.16935431 0.14232967 0.03988071
+v 0.12677558 0.15708104 0.03138183
+v 0.18379256 0.12781511 0.03189355
+f 7 1 2
+f 9 1 4
+f 9 4 5
+f 11 6 3
+f 11 4 6
+f 12 6 4
+f 12 4 1
+f 12 1 7
+f 12 7 3
+f 12 3 6
+f 13 2 1
+f 13 1 8
+f 13 7 2
+f 14 8 1
+f 14 5 8
+f 14 9 5
+f 14 1 9
+f 17 3 7
+f 18 3 17
+f 18 13 8
+f 18 15 10
+f 18 8 5
+f 18 5 15
+f 19 15 5
+f 19 5 4
+f 19 4 16
+f 20 16 4
+f 20 4 11
+f 21 17 7
+f 21 7 13
+f 21 18 17
+f 21 13 18
+f 22 11 3
+f 22 20 11
+f 22 16 20
+f 23 19 16
+f 23 10 15
+f 23 15 19
+f 23 22 10
+f 23 16 22
+f 24 18 10
+f 24 10 22
+f 24 22 3
+f 24 3 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7414b9c0e1a708722bc426f83123fcf5d008f3f5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.15454673 -0.08320650 -0.03567644
+v -0.15448311 -0.08333333 -0.05015396
+v -0.15448311 -0.00757575 -0.05015396
+v -0.23986853 -0.00148208 -0.00694637
+v -0.24658679 -0.08300260 -0.03078497
+v -0.15474687 -0.00747897 -0.03489455
+v -0.24539221 -0.08333333 -0.05015396
+v -0.24881418 -0.00540991 -0.00061489
+v -0.23624314 -0.01336884 -0.04939062
+v -0.25267399 -0.01860304 -0.00433838
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 6 4
+f 8 1 6
+f 9 4 3
+f 9 3 7
+f 9 8 4
+f 10 5 1
+f 10 1 8
+f 10 7 5
+f 10 9 7
+f 10 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a0d8851e0f0f2a1fe29104a43e5d413e7a5ae4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.33465352 -0.08370365 0.04511003
+v -0.24539221 -0.08333333 -0.05015396
+v -0.25133018 -0.08168933 -0.02896836
+v -0.28555557 -0.00199110 0.03630859
+v -0.23624314 -0.01336884 -0.04939062
+v -0.31579520 -0.08113390 0.03641032
+v -0.30601582 -0.08673468 -0.00030536
+v -0.30579790 -0.01438217 0.03022483
+v -0.25515215 -0.00139662 0.00812591
+v -0.26630068 -0.08593272 -0.05015396
+v -0.31167309 -0.01177740 0.04391563
+v -0.31872280 -0.04368486 0.03146873
+v -0.25824123 -0.04561928 -0.04302416
+v -0.32621023 -0.08560095 0.02578949
+v -0.31892870 -0.02942884 0.03988071
+v -0.30397842 -0.07293424 0.00147352
+v -0.25827961 -0.01743905 -0.02716148
+v -0.28811740 -0.05893546 -0.01291319
+v -0.31918441 -0.02932740 0.04391563
+v -0.24395343 -0.01697162 -0.04304734
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 2 3
+f 7 3 1
+f 8 4 5
+f 9 5 4
+f 9 3 5
+f 9 6 3
+f 9 4 6
+f 10 5 2
+f 10 2 7
+f 11 1 4
+f 11 4 8
+f 13 5 10
+f 13 12 8
+f 14 7 1
+f 14 1 12
+f 15 11 8
+f 15 8 12
+f 15 12 1
+f 16 10 7
+f 16 14 12
+f 16 7 14
+f 17 13 8
+f 17 8 5
+f 18 13 10
+f 18 12 13
+f 18 16 12
+f 18 10 16
+f 19 15 1
+f 19 1 11
+f 19 11 15
+f 20 17 5
+f 20 5 13
+f 20 13 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5e87466ef7819c15c6896b270b4d36b962f52fa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.14036195 0.10030391 0.00107410
+v -0.04889863 0.13153432 0.00047355
+v -0.05111537 0.15945823 0.03178047
+v -0.04776003 0.18401751 0.04391563
+v -0.08930250 0.15771571 0.01595671
+v -0.03882909 0.18487082 0.02704835
+v -0.14335686 0.13678237 0.03770159
+v -0.14405538 0.10682251 0.00981230
+v -0.11295845 0.10735141 -0.00548330
+v -0.04707330 0.16328953 0.01136677
+v -0.13322925 0.16047873 0.04391563
+v -0.05018127 0.13891845 0.00921224
+v -0.06567687 0.12299474 -0.00539253
+v -0.13207769 0.14272453 0.01653726
+v -0.10303020 0.17123530 0.03988071
+v -0.13128107 0.15607994 0.03245134
+v -0.10311667 0.17149396 0.04391563
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 3 7
+f 10 6 2
+f 10 5 6
+f 10 9 5
+f 11 7 4
+f 12 8 2
+f 12 2 3
+f 12 3 8
+f 13 2 1
+f 13 1 9
+f 13 10 2
+f 13 9 10
+f 14 9 1
+f 14 5 9
+f 14 1 8
+f 14 8 7
+f 15 4 6
+f 16 14 7
+f 16 7 11
+f 16 11 15
+f 16 15 6
+f 16 6 5
+f 16 5 14
+f 17 15 11
+f 17 11 4
+f 17 4 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..049f1a3097e16859e71db401563b439b41ce64e4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.17657680 -0.39622032 0.00769320
+v -0.15343647 -0.38487785 -0.05015396
+v -0.15473812 -0.34146851 -0.03314415
+v -0.28899298 -0.33973534 0.04511003
+v -0.26379209 -0.37609823 0.04391563
+v -0.20888703 -0.33555987 -0.05015396
+v -0.22185646 -0.39347244 0.03668505
+v -0.15998759 -0.39417762 -0.00536276
+v -0.15448311 -0.34090909 -0.05015396
+v -0.28183497 -0.33520355 0.02603243
+v -0.21576148 -0.37188443 -0.01164357
+v -0.25660268 -0.34966023 0.03338738
+v -0.26032506 -0.37310661 0.03276791
+v -0.17487712 -0.37366872 -0.04532728
+v -0.26317941 -0.34724548 0.01455627
+v -0.20413104 -0.34562960 -0.04607850
+v -0.27573273 -0.36056541 0.03988071
+v -0.27595628 -0.36072233 0.04391563
+v -0.27758828 -0.34671916 0.02980659
+f 7 1 3
+f 7 4 5
+f 7 2 1
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 4 3
+f 10 3 6
+f 12 7 3
+f 12 3 4
+f 12 4 7
+f 13 7 5
+f 13 2 7
+f 13 11 2
+f 14 6 2
+f 14 2 11
+f 15 10 6
+f 15 6 13
+f 16 13 6
+f 16 11 13
+f 16 14 11
+f 16 6 14
+f 17 13 5
+f 17 4 10
+f 18 17 5
+f 18 5 4
+f 18 4 17
+f 19 15 13
+f 19 13 17
+f 19 17 10
+f 19 10 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c7bb5e29af917f3b4882835c09c4dc9957d8e25
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.06940646 -0.49251895 0.04391563
+v 0.07612976 -0.44387937 0.00730123
+v -0.09631107 -0.46948991 0.03911457
+v -0.09434994 -0.43324996 0.00158352
+v -0.07469779 -0.47449564 0.01689270
+v -0.09669741 -0.44035982 0.01031632
+v 0.07498871 -0.47191841 0.03641009
+v 0.06894326 -0.47529873 0.01626669
+v -0.07505710 -0.49124930 0.04391563
+v -0.09080787 -0.46618321 0.01172567
+v -0.04629401 -0.49029568 0.03067064
+v 0.06934867 -0.49225165 0.03988071
+v 0.07412629 -0.43664487 -0.00144124
+v -0.09234857 -0.48690175 0.04391563
+v 0.05450342 -0.48951852 0.03132895
+v -0.07499967 -0.49098275 0.03988071
+v -0.09020734 -0.47916552 0.02801984
+f 6 2 4
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 2 7
+f 10 3 6
+f 10 6 4
+f 10 8 5
+f 11 5 8
+f 12 8 7
+f 12 7 1
+f 12 1 9
+f 13 4 2
+f 13 2 8
+f 13 10 4
+f 13 8 10
+f 14 9 1
+f 14 1 3
+f 14 3 10
+f 15 12 11
+f 15 11 8
+f 15 8 12
+f 16 12 9
+f 16 11 12
+f 16 9 14
+f 16 5 11
+f 17 16 14
+f 17 14 10
+f 17 10 5
+f 17 5 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38a96f07b440860cfda11ecd07107ccc10bb931c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.10430716 0.10163341 -0.01529608
+v 0.10705521 0.10876329 -0.00662127
+v 0.06020090 0.15871838 0.03256478
+v 0.05646645 0.18264012 0.04391563
+v 0.09776377 0.14296259 0.00082783
+v 0.10588375 0.15239323 0.03776375
+v 0.05593853 0.14928447 -0.00459414
+v 0.09846635 0.17267991 0.03988071
+v 0.07502837 0.10657522 -0.02066132
+v 0.05823373 0.11628712 -0.01470812
+v 0.09853911 0.17294171 0.04391563
+v 0.05516068 0.17511272 0.02855291
+v 0.06155574 0.13107274 0.00271087
+v 0.08299656 0.17153231 0.03149160
+v 0.09719920 0.15640483 0.01720887
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 8 6 5
+f 9 7 5
+f 9 5 1
+f 10 3 4
+f 10 7 9
+f 10 9 1
+f 11 8 4
+f 11 4 6
+f 11 6 8
+f 12 10 4
+f 12 7 10
+f 13 10 1
+f 13 1 3
+f 13 3 10
+f 14 12 4
+f 14 4 8
+f 14 7 12
+f 15 14 8
+f 15 8 5
+f 15 5 7
+f 15 7 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ed17f9b847089de515cc721f96716f9a60ba62c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.16984235 -0.00743716 -0.03440421
+v -0.13933160 0.02272728 -0.05015396
+v -0.13950699 0.02290246 -0.03435362
+v -0.13842139 0.15703805 0.04511003
+v -0.28898578 -0.00165791 0.01764842
+v -0.13248575 0.11519285 -0.01570098
+v -0.23624314 -0.01336884 -0.04939062
+v -0.31167309 -0.01177740 0.04391563
+v -0.13293880 0.08719639 -0.04773921
+v -0.13499513 0.14931000 0.02605640
+v -0.16963463 -0.00757575 -0.05015396
+v -0.28555557 -0.00199110 0.03630859
+v -0.24525733 0.08393430 0.03988071
+v -0.29255888 -0.01434253 0.01435456
+v -0.24545628 0.08412317 0.04391563
+v -0.28981021 0.02763086 0.03988071
+v -0.19067412 0.12930633 0.03988071
+v -0.17207122 0.06704414 -0.04181528
+v -0.31101242 -0.01206989 0.03903355
+v -0.29004243 0.02777643 0.04391563
+v -0.27474753 0.04168737 0.03233030
+v -0.16003987 0.14215344 0.03216395
+v -0.19081950 0.12953803 0.04391563
+v -0.23080914 0.09831636 0.04391563
+v -0.21525946 0.02495778 -0.04249393
+v -0.18837698 0.11237795 0.01818661
+v -0.30569204 -0.00020436 0.03988071
+v -0.25900591 0.02612304 0.00347253
+v -0.16251345 0.14652024 0.04391563
+v -0.14484590 0.11177793 -0.01235392
+v -0.23062012 0.09811724 0.03988071
+v -0.14500895 0.08352223 -0.04409173
+v -0.30593768 -0.00008206 0.04391563
+v -0.23203714 -0.00108151 -0.04546973
+v -0.20348936 0.11392229 0.03171395
+f 1 2 3
+f 1 3 4
+f 9 6 3
+f 9 3 2
+f 9 2 7
+f 10 4 3
+f 10 3 6
+f 11 7 2
+f 11 2 1
+f 11 1 7
+f 12 8 1
+f 12 1 4
+f 12 4 8
+f 14 7 1
+f 14 1 8
+f 14 5 7
+f 16 15 13
+f 18 9 7
+f 19 14 8
+f 19 5 14
+f 20 4 15
+f 20 15 16
+f 21 16 13
+f 21 5 16
+f 22 4 10
+f 22 10 6
+f 24 13 15
+f 24 23 17
+f 24 15 4
+f 24 4 23
+f 25 18 7
+f 25 21 13
+f 26 17 22
+f 27 16 5
+f 27 5 19
+f 27 19 8
+f 28 7 5
+f 28 5 21
+f 28 21 25
+f 29 22 17
+f 29 4 22
+f 29 23 4
+f 29 17 23
+f 30 22 6
+f 30 6 9
+f 31 24 17
+f 31 13 24
+f 31 25 13
+f 31 18 25
+f 32 9 18
+f 32 18 26
+f 32 30 9
+f 32 26 22
+f 32 22 30
+f 33 27 8
+f 33 20 16
+f 33 16 27
+f 33 8 4
+f 33 4 20
+f 34 28 25
+f 34 25 7
+f 34 7 28
+f 35 31 17
+f 35 17 26
+f 35 26 18
+f 35 18 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0314c6cc54ef36f4e1389ef4cece50badf520f9a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10310214 -0.40153656 -0.02748440
+v 0.10309265 -0.40151515 -0.05015396
+v 0.10309265 -0.26515152 -0.05015396
+v -0.06363985 -0.26517467 -0.03620956
+v -0.06374938 -0.40200705 -0.03187401
+v -0.06357402 -0.40151515 -0.05015396
+v 0.10310329 -0.26529836 -0.03598839
+v -0.06357402 -0.26515152 -0.05015396
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9988c80d172c38528b59882059d52676de102733
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.14034455 0.08512182 -0.01411533
+v 0.01233135 0.11960116 -0.01761769
+v 0.01252023 0.12732787 -0.00893195
+v -0.10562562 0.14879150 0.01121865
+v -0.11277814 0.09178704 -0.02151257
+v 0.01201622 0.15227731 -0.00702131
+v -0.14408936 0.09173301 -0.00544574
+v -0.13266529 0.12890507 0.00041372
+v 0.01219616 0.15960407 0.00248033
+v -0.13562886 0.13558836 0.00990381
+v -0.10333342 0.14185403 0.00172845
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 8 5 1
+f 8 1 7
+f 9 3 6
+f 10 7 3
+f 10 8 7
+f 10 9 4
+f 10 3 9
+f 11 6 5
+f 11 5 8
+f 11 9 6
+f 11 4 9
+f 11 10 4
+f 11 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a90567d7e852cc3011dbf4dc73ba47c7d62f1dfb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.06374938 -0.40200705 -0.03187401
+v -0.06357402 -0.40151515 -0.05015396
+v -0.06363985 -0.26517467 -0.03620956
+v -0.18503005 -0.26525234 -0.03480205
+v -0.15561347 -0.38796818 -0.01403253
+v -0.18478614 -0.26515152 -0.05015396
+v -0.09387705 -0.40151515 -0.05015396
+v -0.06357402 -0.26515152 -0.05015396
+v -0.18545489 -0.34144493 -0.02931795
+v -0.09405744 -0.40198294 -0.02866243
+v -0.15343647 -0.38487785 -0.05015396
+v -0.12912236 -0.39508920 -0.02229118
+v -0.18478614 -0.34090909 -0.05015396
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 2 1
+f 7 6 2
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 5 4
+f 9 4 6
+f 10 7 1
+f 10 1 5
+f 11 6 7
+f 12 10 5
+f 12 7 10
+f 12 11 7
+f 12 5 11
+f 13 11 5
+f 13 5 9
+f 13 9 6
+f 13 6 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3514c2fc1ae7b5af92d6ca4cc1884737c7b5eacd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.15467820 -0.26511107 -0.03545048
+v -0.15448311 -0.26515152 -0.05015396
+v -0.15454673 -0.08320650 -0.03567644
+v -0.24658679 -0.08300260 -0.03078497
+v -0.25158511 -0.26789833 -0.01834100
+v -0.24539221 -0.08333333 -0.05015396
+v -0.23615285 -0.26878161 -0.02929799
+v -0.15448311 -0.08333333 -0.05015396
+v -0.25418862 -0.25339207 -0.02169498
+v -0.24539221 -0.26515152 -0.05015396
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
+f 9 5 4
+f 9 4 6
+f 10 6 2
+f 10 2 7
+f 10 9 6
+f 10 7 5
+f 10 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..880a86750ed15bf877dc6e544f68f341cd812c9b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.17949143 -0.00728340 -0.03398013
+v 0.17885022 -0.00757575 -0.05015396
+v 0.07278962 0.09848485 -0.05015396
+v -0.04852453 0.09966318 -0.03003710
+v -0.16984235 -0.00743716 -0.03440421
+v 0.07283624 0.09865326 -0.02790001
+v 0.17885022 0.03787879 -0.05015396
+v -0.16963463 -0.00757575 -0.05015396
+v 0.17908924 0.03812985 -0.02828112
+v -0.16992303 0.02332441 -0.03288702
+v -0.04842251 0.09848485 -0.05015396
+v -0.13933160 0.05303031 -0.05015396
+v -0.13964647 0.05362013 -0.03232987
+v -0.16963463 0.02272728 -0.05015396
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 8 3 2
+f 8 2 5
+f 9 5 1
+f 9 1 7
+f 9 7 3
+f 9 3 6
+f 10 6 4
+f 10 9 6
+f 10 5 9
+f 10 8 5
+f 11 4 3
+f 11 3 8
+f 12 4 11
+f 12 11 8
+f 13 12 10
+f 13 10 4
+f 13 4 12
+f 14 12 8
+f 14 8 10
+f 14 10 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85516dcd2d38dcf50864e3f8788b594bd23e4332
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.03519877 0.37152472 0.04457462
+v 0.03596149 0.37152726 0.02291163
+v 0.03804470 0.50000001 0.03837678
+v -0.03299239 0.50000001 0.04832162
+v -0.03718171 0.37160212 0.04253809
+v -0.03652529 0.48744704 0.01765190
+v 0.03299239 0.50000001 0.04832162
+v 0.03890913 0.38716698 0.03867763
+v 0.01048250 0.37149528 0.04710166
+v 0.03609447 0.48897779 0.01782066
+v -0.03575087 0.50000001 0.02446548
+v -0.03613070 0.37172784 0.02435294
+v 0.03533414 0.41729679 0.04812107
+v -0.03157086 0.37171409 0.04711408
+v -0.00063254 0.41684029 0.01825519
+v 0.03912933 0.38700579 0.02755338
+v 0.03764145 0.50000001 0.02818684
+v -0.03533899 0.41746639 0.04812577
+v 0.03538487 0.41730768 0.01918721
+v -0.03623697 0.44773075 0.01836262
+f 7 3 4
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 11 4 3
+f 11 10 6
+f 11 6 5
+f 12 2 5
+f 12 5 6
+f 13 1 8
+f 13 9 1
+f 13 8 3
+f 13 3 7
+f 14 5 9
+f 14 9 13
+f 15 6 10
+f 15 2 12
+f 16 8 2
+f 16 3 8
+f 17 11 3
+f 17 10 11
+f 17 16 10
+f 17 3 16
+f 18 11 5
+f 18 4 11
+f 18 5 14
+f 18 14 13
+f 18 13 7
+f 18 7 4
+f 19 15 10
+f 19 2 15
+f 19 16 2
+f 19 10 16
+f 20 15 12
+f 20 12 6
+f 20 6 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33a8f80d50a95c56cef804c3440d4bc52615a535
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.30761800 -0.26806555 0.03871873
+v 0.32735825 -0.25915315 0.03988071
+v 0.32761596 -0.25924033 0.04391563
+v 0.29136982 -0.00432327 0.03974442
+v 0.27717035 -0.08547540 -0.03639200
+v 0.32906537 -0.05758364 0.04391563
+v 0.27621360 -0.23244055 -0.03562791
+v 0.32876720 -0.23108456 0.03049960
+v 0.31318703 -0.01519205 0.04391563
+v 0.27778041 -0.26240124 -0.02153875
+v 0.31352878 -0.13003106 0.00075284
+v 0.29797698 -0.25945637 0.00172845
+v 0.31320399 -0.02934737 0.03138183
+v 0.29269701 -0.26815327 0.02525363
+v 0.27554222 -0.01229057 -0.00418467
+v 0.32765526 -0.07312639 0.03149160
+v 0.31331585 -0.18729165 0.00098185
+v 0.28252942 -0.22999649 -0.02857001
+v 0.28465782 -0.25920984 -0.01470103
+v 0.32880311 -0.05765732 0.03988071
+v 0.27600471 -0.04179681 -0.01992978
+v 0.31293498 -0.01530307 0.03988071
+v 0.29818546 -0.10143804 -0.01410387
+v 0.31252755 -0.05892276 0.01720882
+v 0.29770472 -0.21576211 -0.01359356
+v 0.28311672 -0.01610582 0.00236231
+v 0.28321487 -0.08711793 -0.02927800
+v 0.28271673 -0.04456916 -0.01309750
+f 1 2 3
+f 1 3 4
+f 8 6 3
+f 8 3 2
+f 9 4 3
+f 9 3 6
+f 10 2 1
+f 12 8 2
+f 12 2 10
+f 14 10 1
+f 14 1 4
+f 15 7 10
+f 15 14 4
+f 15 10 14
+f 16 8 11
+f 17 11 8
+f 17 7 5
+f 17 5 11
+f 18 12 7
+f 18 8 12
+f 19 12 10
+f 19 10 7
+f 19 7 12
+f 20 9 6
+f 20 6 8
+f 20 8 16
+f 21 5 7
+f 21 7 15
+f 22 15 4
+f 22 4 9
+f 22 20 13
+f 22 9 20
+f 23 16 11
+f 23 11 5
+f 24 16 5
+f 24 20 16
+f 24 13 20
+f 25 17 8
+f 25 8 18
+f 25 18 7
+f 25 7 17
+f 26 21 15
+f 26 13 21
+f 26 22 13
+f 26 15 22
+f 27 23 5
+f 27 5 16
+f 27 16 23
+f 28 21 13
+f 28 13 24
+f 28 24 5
+f 28 5 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58a7a71f6a9545f0cd5ad5db455b2b8a6e0a433d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.08513711 -0.46714247 0.01096083
+v 0.14590520 -0.42715499 -0.00814304
+v 0.14670515 -0.39860586 -0.00930668
+v -0.11177538 -0.40770806 -0.01834100
+v 0.05455359 -0.43038233 -0.04473707
+v -0.09080787 -0.46618321 0.01172567
+v 0.10178168 -0.45815346 0.00609013
+v 0.14275558 -0.39236490 -0.04938828
+v -0.09738317 -0.42575610 -0.00552100
+v -0.04535705 -0.44445758 -0.02877053
+v 0.09718749 -0.44424035 -0.01291319
+v -0.10902857 -0.40151515 -0.05015396
+v 0.04036136 -0.44487229 -0.02919286
+v 0.08318871 -0.46010137 0.00147352
+v 0.11050366 -0.41436417 -0.04302416
+v 0.13147876 -0.39813165 -0.05015396
+v -0.05970186 -0.42971687 -0.04411608
+v -0.10766439 -0.44343278 -0.00935341
+v 0.12947962 -0.43813794 -0.00483003
+v -0.10294818 -0.41605412 -0.04471632
+v 0.13868389 -0.41440256 -0.02716148
+v 0.12651178 -0.43144125 -0.01433478
+v -0.08885954 -0.45914541 0.00223982
+v -0.10238862 -0.42975977 -0.02837404
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 8 3 2
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 1 6
+f 12 4 3
+f 12 3 8
+f 13 10 5
+f 13 5 1
+f 13 1 10
+f 14 1 5
+f 14 5 11
+f 14 11 7
+f 14 7 1
+f 15 11 5
+f 15 7 11
+f 16 12 8
+f 16 5 12
+f 16 15 5
+f 16 8 2
+f 17 12 5
+f 17 5 10
+f 17 10 6
+f 18 6 4
+f 18 4 12
+f 19 2 7
+f 19 7 15
+f 20 18 12
+f 20 12 17
+f 21 16 2
+f 21 2 19
+f 22 19 15
+f 22 15 16
+f 22 21 19
+f 22 16 21
+f 23 17 6
+f 23 6 18
+f 24 23 18
+f 24 18 20
+f 24 20 17
+f 24 17 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/model.xml b/Assets/robocasa/data/objects/objaverse/pan/pan_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d46ba39775a857f888be149f2860893b99f5cf23
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/model.xml
@@ -0,0 +1,87 @@
+<mujoco model="pan_28">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="-1.1102230246251565e-16 0.0 0.0 1.0"/>
+    <material name="Material.270" specular="0.5" shininess="0.15999998099999999" rgba="0.066825 0.066825 0.066825 1.0"/>
+  </asset>
+  <default>
+    <default class="region">
+      <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <body pos="0.0 -0.033 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_0_vis" conaffinity="0" contype="0" group="1" material="Material.270"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+          <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom rgba="0 0 0 0" size="0.0672 0.0003" pos="0 0.0015 0.004" type="cylinder" name="liquid" class="region"/>
+        <geom rgba="0 0 0 0" size="0.058 0.008" pos="0 0.001 0.001" type="cylinder" name="reg_int" class="region"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/pan/pan_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..24d617ddea95d270d63bdf6fbd3fb1377dbd68e5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.06666667 0.06666667 0.06666667
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/pan/pan_9/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/pan/pan_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..629166054bfd72c01b0e089bd5a3dcb27c1f09eb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/pan/pan_9/visual/model_normalized_0.obj
@@ -0,0 +1,54639 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd414f0270484545c45d181b6c8767cb3bcf747
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,1534 @@
+# https://github.com/mikedh/trimesh
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+v -0.25526029 -0.07119061 0.43065351
+v -0.23304945 -0.10765927 0.43184125
+v -0.18575130 -0.13039646 0.43616813
+v -0.14380561 -0.11318752 0.43803465
+v -0.15319969 -0.07047729 0.44032532
+v -0.17308021 -0.04274685 0.44024050
+v -0.22034195 -0.01073647 0.43837398
+v -0.26461795 -0.01635389 0.43277448
+v -0.29429308 -0.11996410 0.40766168
+v -0.26702109 -0.17087755 0.40800101
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b3fae35f42d0eb77142629e29ab12d8346db1d8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f7a809eaf66e29185bf25d062621c31d54263bd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f84c04517ba5a98abd95d5a37054ac6e24186dcd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,1123 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef7f059cb4ed0422dba267f73e3ab2fec52f83bd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e0533254e3ecb9e6a8aa1a810c53ea1a549d406
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ea9a9b7a300045f2c5bbee63959266b5a8565e4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_5.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34c36958a606d2d78236e8869f8722ac698e36d4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_6.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e98b07e2e95d27f7216b8925d625858345a5beab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_7.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad6141a1c1715cbaaa37384ac4cca7b249d0c721
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_8.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eb2b7275db727bbcd6e80dee337af6d91f6d5d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/collision_mesh_collision_9.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b326e195f3c48780e00efc0c96692498330bee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4d592a06c444958b3f752fb3f84c951cf46eee4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
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+v 0.48975924 -0.02692710 0.01246215
+v 0.47338297 -0.01274977 0.21612274
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+v 0.40467560 0.19892775 -0.15844993
+v 0.48930013 0.11744002 0.12865492
+v 0.45796651 -0.08727515 0.23047688
+v 0.42842632 -0.23839103 0.00486033
+v 0.49046715 0.00206998 0.15790588
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+v 0.42972171 -0.01899316 -0.17287153
+v 0.45848436 -0.17512451 0.14488226
+v 0.49017896 0.01723783 -0.01730414
+v 0.47443771 -0.07253094 0.18749188
+v 0.45906204 0.19072268 0.15666190
+v 0.47392825 0.07394562 0.21524834
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+v 0.44203825 -0.15900514 0.23048174
+v 0.44333498 -0.21875197 0.13047967
+v 0.45913611 -0.17613368 0.07214901
+v 0.48971979 -0.04166811 0.12959020
+v 0.49020302 -0.04151577 0.04206099
+v 0.48901712 0.11811120 0.01320131
+v 0.47471653 0.10199050 0.20033856
+v 0.44390888 0.19046772 0.19960706
+v 0.48896276 0.08872582 0.15784075
+v 0.44104195 -0.14916746 -0.06353884
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+v 0.44293303 0.16038689 -0.11600749
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..688503a0835051848e594e1276e2e7fda7245a3d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.37960911 -0.25799575 0.25055848
+v -0.35606059 -0.24191836 0.13143817
+v -0.35606059 0.19747557 0.13143817
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+v -0.47499935 -0.13103201 0.12907877
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+v -0.49350548 0.07421963 0.13068677
+v -0.47329367 -0.09984434 0.18628869
+v -0.42029993 -0.23582830 0.18741609
+v -0.45895244 -0.10008218 0.22936996
+v -0.48932400 -0.01275237 0.18854077
+v -0.45664399 0.14487090 0.22943868
+v -0.48881881 -0.05696066 0.15911259
+v -0.44257127 -0.17360766 0.20032547
+v -0.41248881 -0.21735384 0.22965031
+v -0.47221765 -0.07029677 0.21526203
+v -0.45062343 0.19216223 0.18872228
+v -0.47430303 0.07313533 0.23106674
+v -0.47292619 -0.13027522 0.14333946
+v -0.40310235 -0.23512007 0.23145243
+v -0.43548921 0.19226868 0.23274359
+v -0.47414177 0.11752174 0.20216390
+v -0.48976811 0.04440658 0.18825835
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+v -0.46054717 0.16056436 0.20146839
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+v -0.49082442 0.07398427 0.15993480
+v -0.44351973 0.18898412 0.21554184
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c004561eca39b9946b9a862d94e6a455e91abb27
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23360886 0.19317295 0.39499712
+v -0.23357080 0.19621469 -0.33603440
+v -0.22796725 0.21942198 -0.32514352
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+v -0.26803293 0.21512307 -0.30443417
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+v -0.40467871 0.19025219 0.28902849
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+v -0.28410773 0.37632134 0.17084153
+v -0.28628032 0.39115306 0.02723243
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+f 25 4 16
+f 25 17 4
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50713e2c3e287e57662ce8e87dcabf0e65bfae45
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00876173 -0.15141962 0.41523502
+v 0.00757577 -0.15100927 0.23749877
+v 0.00757577 0.22777860 0.23749877
+v -0.23341134 0.22240556 0.37963057
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ace957e73b2e780e39421f0b6b6bfd76d44465a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
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+v 0.28500736 -0.27593085 -0.22571445
+v 0.14393940 -0.25706988 -0.20189516
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41c79ddc4ec394140f833e955489af9317f6b192
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v 0.14289509 0.41940975 -0.16886336
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+v 0.10988871 0.40561348 -0.20465397
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aebc5e4b0d5c293bd006e89d00358c78d647d0e9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v 0.43367511 -0.22169769 -0.00201815
+v 0.41727942 -0.22002171 0.23082894
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+v 0.27622762 -0.32622820 0.27750368
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+v 0.39752465 -0.27729051 -0.04468066
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc462dc7ea5c55913ed7b7af3874fed585371745
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22945723 -0.42632770 0.12834739
+v -0.22737385 -0.33515547 -0.22205047
+v -0.23484847 -0.24191836 0.23749877
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17bc015c2ca3443c08ceb00841a6d60e8843d09d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.43630479 -0.22247914 0.01226796
+v 0.49132561 -0.01449716 0.01040812
+v 0.47692174 -0.08635317 0.01286441
+v 0.26515152 -0.01464564 0.01022605
+v 0.26515152 -0.22676685 -0.15644062
+v 0.26515152 -0.22676685 0.01022605
+v 0.26515152 -0.01464564 -0.15644062
+v 0.44084953 -0.01364519 -0.15330818
+v 0.38362347 -0.24073076 -0.12473586
+v 0.47346694 -0.02638603 -0.06070313
+v 0.46183901 -0.01210702 -0.10552423
+v 0.38151446 -0.21916397 -0.14548333
+v 0.47457159 -0.08573919 -0.00188713
+v 0.44345599 -0.13010714 -0.07377597
+v 0.44972629 -0.01267396 -0.13544125
+v 0.47592812 -0.01245548 -0.06086666
+v 0.37837114 -0.23828742 -0.13681788
+v 0.45963091 -0.13108722 -0.01597321
+v 0.41307954 -0.21984226 -0.07373675
+v 0.45832095 -0.05588135 -0.08920066
+v 0.41157049 -0.17481232 -0.11740508
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+v 0.42770394 -0.21952112 -0.02961884
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+v 0.42687972 -0.08447010 -0.14664250
+v 0.38780704 -0.23652311 -0.12007603
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37fe1d2a3b4684d15dbc666e80ac820c454d870c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.27501017 -0.34855230 0.24787324
+v 0.44886664 -0.13292142 0.23183309
+v 0.28761903 -0.14595551 0.40019797
+v 0.26150512 0.19436133 0.37931915
+v 0.26515152 0.19747557 0.23749877
+v 0.43017092 0.05840792 0.30073361
+v 0.26066215 -0.16025594 0.40501559
+v 0.35579750 -0.22976483 0.31353608
+v 0.33106690 -0.32053688 0.23097287
+v 0.34440867 0.04288556 0.38626518
+v 0.42521063 0.19467518 0.23368426
+v 0.26019379 -0.32468881 0.29098178
+v 0.28626204 -0.21411282 0.37023846
+v 0.39972343 -0.08735450 0.32869034
+v 0.41727942 -0.22002171 0.23082894
+v 0.26220944 0.04337468 0.41890674
+v 0.35669777 0.17652552 0.32741316
+v 0.46502236 0.08823051 0.23180074
+v 0.43436799 0.17708666 0.23041534
+v 0.32744490 -0.28584195 0.28349470
+v 0.25912889 -0.24749406 0.36003828
+v 0.26059786 0.14929677 0.39036032
+v 0.34360993 -0.17397272 0.35766475
+v 0.28781663 -0.18692060 0.38408458
+v 0.42954629 -0.04271116 0.30023675
+v 0.39862493 -0.17445506 0.30155472
+v 0.26090234 -0.08904087 0.41990155
+v 0.30366800 0.06982489 0.39957458
+v 0.40065812 0.08442005 0.32705488
+v 0.31358873 0.19245983 0.35528934
+v 0.44708358 0.14632654 0.23023888
+v 0.38617650 -0.25957944 0.24307381
+v 0.28411000 -0.31569484 0.28408618
+v 0.32798556 -0.31631674 0.24181576
+v 0.30113547 -0.24469054 0.34233303
+v 0.32977330 -0.10320922 0.38607083
+v 0.27399641 -0.16018809 0.40104332
+v 0.30113444 -0.17185149 0.38513889
+v 0.34407038 -0.02798669 0.38578998
+v 0.45911598 -0.04259241 0.24405700
+v 0.36960134 -0.18777869 0.32728109
+v 0.42702357 -0.18793200 0.24245072
+v 0.41353792 -0.13083704 0.29970393
+v 0.31678598 0.04350190 0.40111477
+v 0.27575917 0.04202598 0.41620052
+v 0.37275298 0.06978272 0.35733285
+v 0.39922305 0.17543070 0.28342344
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+v 0.46109017 0.08653184 0.24114106
+v 0.44350831 -0.10164286 0.25897286
+v 0.36953359 -0.22911864 0.29825334
+v 0.43102837 -0.18972843 0.23085243
+v 0.41376377 -0.07211570 0.31509720
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0346cf8a6cb7adcc789833a42e7fd3f493bde500
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.22777860 0.22234726
+v 0.25777558 0.22253024 -0.29918819
+v 0.25517353 0.42125893 -0.00276164
+v 0.14003862 0.45510581 0.12854019
+v 0.14393940 0.22777860 0.22234726
+v 0.13921594 0.36408259 -0.24966277
+v 0.25842198 0.38073607 0.21540735
+v 0.25495493 0.40746009 -0.07551844
+v 0.24274342 0.22110815 -0.31053425
+v 0.13908401 0.43945443 0.18737776
+v 0.25679214 0.42102324 0.08376646
+v 0.13951597 0.42696901 0.21587323
+v 0.25251146 0.33255507 -0.21882047
+v 0.14087727 0.45540959 -0.06284647
+v 0.14355721 0.22723415 -0.35228479
+v 0.13948112 0.27861853 -0.32320773
+v 0.22647987 0.42012722 0.15501848
+v 0.25388826 0.36377185 -0.17628318
+v 0.25294336 0.30422898 -0.24703860
+v 0.21109554 0.43639934 -0.04698894
+v 0.14031505 0.42303000 -0.16298069
+v 0.18359516 0.22153213 -0.33981685
+v 0.14008989 0.25053397 -0.34055867
+v 0.25636784 0.40621540 0.15651436
+v 0.18234898 0.42007668 0.19897207
+v 0.21277349 0.43531251 0.11294459
+v 0.18269779 0.43567343 0.15630037
+v 0.25445654 0.39305104 -0.11881475
+v 0.21035104 0.36087830 -0.21773328
+v 0.25451676 0.26317634 -0.27671110
+v 0.18122540 0.30390078 -0.29017343
+v 0.24091426 0.42208590 -0.04700255
+v 0.18340946 0.45202475 0.06887150
+v 0.15434635 0.43715554 -0.12032371
+v 0.16673049 0.24733889 -0.33353705
+v 0.25595022 0.39045497 0.19802239
+v 0.24171925 0.39017629 0.21269274
+v 0.15303616 0.43575109 0.18554987
+v 0.24163789 0.42086268 0.12686116
+v 0.15427357 0.45155848 0.12785925
+v 0.19547049 0.40559936 -0.16130072
+v 0.23832572 0.37514061 -0.17560986
+v 0.25532444 0.23447715 -0.29409874
+v 0.20938271 0.30424284 -0.27497439
+v 0.15345300 0.36184221 -0.24703396
+v 0.19719818 0.43641509 -0.07573433
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+v 0.18268370 0.45161521 -0.01805583
+v 0.14101777 0.43995741 -0.12157733
+v 0.15300589 0.27697677 -0.32014337
+v 0.19658150 0.27550892 -0.30408954
+v 0.15337109 0.42317933 0.21397587
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+v 0.15542532 0.45249425 -0.06231732
+v 0.16884298 0.45185642 -0.04749776
+v 0.22671747 0.43648010 0.01118949
+v 0.18131856 0.23309002 -0.33504569
+v 0.16762979 0.39079876 -0.20468438
+v 0.23896986 0.23222930 -0.30625588
+f 8 1 2
+f 9 2 1
+f 9 1 5
+f 11 7 1
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+f 11 1 8
+f 12 5 1
+f 12 1 7
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+f 16 10 6
+f 16 12 10
+f 16 5 12
+f 19 18 2
+f 19 13 18
+f 21 6 10
+f 21 10 14
+f 22 9 5
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+f 56 55 28
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+f 59 58 14
+f 59 14 48
+f 60 47 3
+f 60 3 20
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+f 61 22 15
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+f 62 45 6
+f 62 6 21
+f 62 21 53
+f 62 41 54
+f 62 54 29
+f 62 29 45
+f 63 57 43
+f 63 43 9
+f 63 9 51
+f 63 51 57
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc476f063e7078eec35747dedccf6c76896fb25
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.25706988 0.23749877
+v 0.28500736 -0.27593085 -0.22571445
+v 0.26515152 0.22777860 0.23749877
+v -0.23484847 0.22777860 0.23749877
+v -0.23484847 -0.25706988 0.23749877
+v 0.15344751 0.24592668 -0.33916846
+v 0.26423439 0.22709177 -0.29155166
+v -0.23746814 0.23116379 -0.31236164
+v 0.27321299 -0.15553259 -0.30470387
+v -0.23135649 -0.25168698 -0.30147216
+v 0.14535597 -0.25953341 -0.31204096
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 9 7 2
+f 9 6 7
+f 10 2 5
+f 10 5 8
+f 10 8 6
+f 11 9 2
+f 11 2 10
+f 11 10 6
+f 11 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f980be8ccab388c2e44dfbddd3648e4c1d86eb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd55b0ce04f3f9335b0e1ec7824e07a9e70b50f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.40189806 0.19144973 0.27183123
+v 0.46303276 0.19215763 -0.01766631
+v 0.41331474 0.29064918 0.14115009
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+v 0.41491861 0.29160472 -0.01636893
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+v 0.25809382 0.41241107 -0.04785878
+v 0.26757919 0.29034511 -0.24688828
+v 0.35436501 0.26007696 0.28359550
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+v 0.27422054 0.19282908 0.37456064
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+v 0.42743070 0.26187800 -0.04469161
+v 0.42864096 0.27645869 0.11362761
+v 0.37034072 0.33203004 -0.04487341
+v 0.26763881 0.39049746 -0.10341569
+v 0.28560138 0.40671874 0.08504847
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+v 0.35505253 0.28838018 0.25463204
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+v 0.34133498 0.33168602 0.21320757
+v 0.42824645 0.26162015 0.15506035
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19dc43d87459e9d8b8238e7fa23d3a83d794d337
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.37693738 -0.22282186 -0.15094668
+v 0.43308744 -0.05648344 -0.14988284
+v 0.41873338 0.17775453 -0.14905730
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+v 0.25822061 -0.05826062 -0.34162295
+v 0.38933290 -0.19194319 -0.14976824
+v 0.26515152 -0.22676685 -0.15644062
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+v 0.35270566 -0.11440017 -0.24882718
+v 0.25897835 -0.22168704 -0.28331162
+v 0.43582737 0.11885388 -0.15007214
+v 0.41014982 0.19472987 -0.15253225
+v 0.31245575 0.07317837 -0.30604966
+v 0.39744748 -0.12917538 -0.17567887
+v 0.39881326 -0.02674026 -0.21866695
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+v 0.39813814 0.13152100 -0.20378960
+v 0.38174344 -0.17397056 -0.17472766
+v 0.41227278 -0.05475951 -0.18953122
+v 0.42879822 -0.01210340 -0.17615789
+v 0.29818954 -0.01318672 -0.32083056
+v 0.35382251 -0.21884500 -0.18955788
+v 0.25845132 -0.16167300 -0.31216270
+v 0.30947064 -0.18752641 -0.26099276
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+v 0.42804076 0.08751878 -0.17502966
+v 0.41321538 0.14653561 -0.17512171
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cb064caef4e8c1f82ad54447c80608c9726a22d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23484847 -0.24191836 -0.18674364
+v -0.23021937 -0.23530622 -0.31390194
+v -0.23484847 0.19747557 -0.18674364
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+v -0.32675758 0.12985746 -0.30601596
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+v -0.33888758 -0.12977079 -0.29269614
+v -0.22850465 -0.13064209 -0.36901510
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+v -0.31133678 0.18654985 -0.29036964
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+v -0.41763653 -0.13224055 -0.17978565
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+v -0.35405566 -0.18933337 -0.24831976
+v -0.35418340 -0.07212285 -0.29319829
+v -0.22921920 -0.07251661 -0.38574516
+v -0.29724287 -0.15850902 -0.32014629
+v -0.23928909 0.15936490 -0.35054777
+v -0.29821785 0.04355027 -0.35036123
+v -0.35480214 0.18880551 -0.24707556
+v -0.38384155 0.19061159 -0.20670467
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+v -0.41799211 0.13378169 -0.17964927
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+v -0.24072821 0.11621013 -0.36472703
+v -0.26890743 0.18783379 -0.31966985
+v -0.31212438 0.07253812 -0.33538172
+v -0.27059753 -0.07106580 -0.36588606
+v -0.31255858 0.15815406 -0.30518917
+v -0.39835634 0.17478317 -0.19199490
+v -0.36761064 0.15945808 -0.24816913
+v -0.41331762 -0.07313274 -0.20698343
+v -0.39897502 0.07359483 -0.23617353
+v -0.41203325 0.13238874 -0.19189561
+v -0.38431072 0.10248558 -0.25048260
+v -0.41215236 -0.13127284 -0.19146644
+v -0.36797203 -0.11573932 -0.26331317
+v -0.38291584 -0.21774493 -0.18996420
+v -0.31034449 -0.12952589 -0.32043145
+v -0.27022496 0.05704228 -0.36528534
+v -0.24203988 -0.21562545 -0.32144130
+v -0.24132047 -0.12850587 -0.36421988
+v -0.31121649 -0.21439194 -0.27533268
+v -0.29779427 -0.22890149 -0.27557661
+v -0.24162386 0.05773962 -0.37962257
+v -0.24016657 0.18928819 -0.33611542
+v -0.32617078 0.08676127 -0.32120278
+v -0.26865150 0.15848231 -0.33378976
+f 5 1 3
+f 7 3 1
+f 7 4 3
+f 8 2 1
+f 8 1 5
+f 9 5 3
+f 9 3 4
+f 11 7 1
+f 11 1 2
+f 15 7 11
+f 22 20 10
+f 24 21 14
+f 26 10 20
+f 27 4 7
+f 27 7 17
+f 28 9 4
+f 28 4 27
+f 30 19 5
+f 30 5 9
+f 32 8 5
+f 33 21 32
+f 34 22 10
+f 34 14 22
+f 35 13 20
+f 35 20 22
+f 36 34 10
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+f 40 6 25
+f 40 15 6
+f 40 7 15
+f 41 25 6
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+f 53 14 21
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+f 53 35 22
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+f 53 52 13
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+f 56 26 43
+f 56 44 26
+f 57 15 11
+f 57 24 38
+f 57 39 24
+f 57 11 2
+f 57 2 39
+f 58 23 15
+f 58 57 38
+f 58 15 57
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+f 58 38 44
+f 59 21 24
+f 59 32 21
+f 60 39 2
+f 60 2 8
+f 60 8 32
+f 60 32 59
+f 60 59 24
+f 60 24 39
+f 61 41 6
+f 61 6 37
+f 61 37 23
+f 61 23 44
+f 61 44 56
+f 61 56 16
+f 61 16 41
+f 62 42 7
+f 62 7 25
+f 63 12 16
+f 63 16 43
+f 63 31 12
+f 63 20 31
+f 63 43 26
+f 63 26 20
+f 64 45 42
+f 64 25 16
+f 64 16 45
+f 64 62 25
+f 64 42 62
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc7725ca3fc9d56bb0c404840c51e332a3f6c42c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23945645 -0.37316354 0.24405666
+v -0.22913286 -0.34884518 0.28709239
+v -0.46231864 -0.08598345 0.23148265
+v -0.35736380 0.18752124 0.34268096
+v -0.23484847 0.19747557 0.23749877
+v -0.29978129 -0.11645980 0.39975020
+v -0.35492021 -0.27292749 0.27143817
+v -0.31669354 -0.33549154 0.23015234
+v -0.43548921 0.19226868 0.23274359
+v -0.44430740 0.03005358 0.30153104
+v -0.23366607 0.17596342 0.40234812
+v -0.28420387 -0.23165554 0.36929261
+v -0.28903119 -0.35303382 0.23195929
+v -0.38709734 -0.26259444 0.23020171
+v -0.29925867 -0.30066674 0.29964710
+v -0.23360886 0.19317295 0.39499712
+v -0.35883044 0.05673768 0.38579833
+v -0.46432472 0.11807789 0.23206769
+v -0.38504428 -0.14402911 0.32845454
+v -0.23030386 -0.16245458 0.41802252
+v -0.32779522 -0.30119939 0.27097400
+v -0.31312725 -0.24551712 0.34143127
+v -0.25692051 -0.28717968 0.34164552
+v -0.27001027 -0.32991917 0.28502052
+v -0.30068788 0.17345069 0.38434398
+v -0.40036567 0.09977495 0.34240377
+v -0.45822639 -0.02598233 0.27387205
+v -0.44898730 0.16169050 0.23236750
+v -0.32801844 -0.15978480 0.37088463
+v -0.39801400 -0.18770928 0.28655243
+v -0.38717619 -0.05560725 0.35739213
+v -0.27017415 -0.17597754 0.39972183
+v -0.30315233 -0.01263653 0.41614090
+v -0.23317945 0.11854103 0.41782720
+v -0.31323909 -0.33073239 0.24250402
+v -0.29958381 -0.25864503 0.34191586
+v -0.23098261 -0.23345701 0.38942462
+v -0.28601539 -0.34801086 0.24341636
+v -0.24140779 -0.34488268 0.28472782
+v -0.25665476 -0.31540530 0.31318787
+v -0.31578689 0.18756265 0.36994857
+v -0.27435124 0.18888799 0.38711413
+v -0.33032534 0.13144212 0.38497601
+v -0.42990575 0.07280691 0.31518957
+v -0.41336913 0.15852276 0.29937102
+v -0.45822721 0.05816507 0.27341911
+v -0.31326445 -0.18934405 0.37049240
+v -0.38313663 -0.21664912 0.28581545
+v -0.41741193 -0.20529984 0.23147936
+v -0.42784621 -0.11408797 0.28582805
+v -0.35971573 -0.01149258 0.38651125
+v -0.42863386 -0.04084162 0.31577005
+v -0.37095229 -0.14455963 0.34283141
+v -0.27255539 -0.10247380 0.41507087
+v -0.30375201 0.02934036 0.41631114
+v -0.30287565 0.13106066 0.39890247
+v -0.28495344 -0.28585919 0.32714871
+v -0.24449845 -0.27482122 0.35756393
+v -0.24416781 -0.20402182 0.40034826
+v -0.23044363 -0.27696411 0.36057096
+v -0.24624457 0.17494895 0.40026328
+v -0.34525805 0.10165502 0.38452385
+v -0.37138367 0.12965329 0.35677333
+v -0.33018709 0.17274519 0.36997499
+f 5 2 1
+f 9 5 8
+f 13 8 5
+f 13 5 1
+f 14 8 7
+f 16 9 4
+f 16 5 9
+f 16 2 5
+f 18 14 3
+f 20 2 16
+f 21 7 8
+f 22 7 21
+f 27 18 3
+f 28 9 8
+f 28 8 14
+f 28 14 18
+f 32 6 29
+f 34 20 16
+f 34 16 11
+f 35 21 8
+f 35 8 13
+f 35 15 21
+f 36 22 21
+f 36 21 15
+f 36 12 22
+f 38 13 1
+f 38 1 24
+f 38 35 13
+f 38 24 15
+f 38 15 35
+f 39 24 1
+f 39 1 2
+f 40 15 24
+f 40 24 39
+f 40 39 2
+f 41 16 4
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+f 45 26 4
+f 45 4 9
+f 45 9 28
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+f 46 10 44
+f 47 22 12
+f 47 32 29
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+f 48 14 7
+f 48 7 22
+f 48 22 19
+f 48 19 30
+f 49 3 14
+f 49 48 30
+f 49 14 48
+f 50 27 3
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+f 50 3 49
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+f 51 6 33
+f 51 31 29
+f 51 29 6
+f 52 10 27
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+f 52 51 10
+f 52 31 51
+f 53 31 19
+f 53 29 31
+f 53 47 29
+f 53 19 22
+f 53 22 47
+f 54 32 20
+f 54 6 32
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+f 54 20 33
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+f 55 20 34
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+f 57 36 15
+f 57 23 36
+f 57 40 23
+f 57 15 40
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+f 58 37 12
+f 59 32 12
+f 59 12 37
+f 59 37 20
+f 59 20 32
+f 60 2 20
+f 60 20 37
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+f 60 58 23
+f 60 40 2
+f 60 23 40
+f 61 11 16
+f 61 16 42
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+f 61 56 34
+f 61 34 11
+f 62 26 17
+f 62 56 43
+f 62 17 55
+f 62 55 56
+f 63 4 26
+f 63 62 43
+f 63 26 62
+f 64 41 4
+f 64 63 43
+f 64 4 63
+f 64 25 41
+f 64 56 25
+f 64 43 56
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa7347e1041a9b02c96770fc983ee9f0dafd962
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 0.22777860 0.22234726
+v 0.14393940 0.22777860 -0.17159213
+v 0.15979126 0.39741900 0.25466838
+v -0.24496103 0.36757995 0.23448466
+v -0.23484847 0.22777860 0.22234726
+v 0.16019280 0.39519488 -0.20197774
+v -0.23728934 0.35469496 -0.17467611
+v -0.23484847 0.22777860 -0.17159213
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 4 6
+f 8 5 4
+f 8 4 7
+f 8 2 5
+f 8 7 6
+f 8 6 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670e592c6b399c58e00618e76c3e2af584f29c40
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15050932 -0.27982551 0.37488722
+v 0.14393940 -0.25706988 0.23749877
+v 0.15212811 0.24586619 0.38705499
+v 0.00688861 0.23801155 0.39454394
+v 0.00711387 -0.28075516 0.38247795
+v 0.00757577 0.22777860 0.23749877
+v 0.00757577 -0.25706988 0.23749877
+v 0.14393940 0.22777860 0.23749877
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 4
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94bafd927efb890569bdf74147783bb5d2f1bce4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00711387 -0.28075516 0.38247795
+v 0.00757577 -0.25706988 0.23749877
+v 0.00757577 -0.15100927 0.34355938
+v -0.23484847 -0.15100927 0.34355938
+v -0.23484847 -0.25706988 0.23749877
+v -0.23484847 -0.15100927 0.23749877
+v -0.24096512 -0.27102495 0.36168016
+v 0.00757577 -0.15100927 0.23749877
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..962a8366c568bafeb1313a71b586ad7d53fbd006
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23484847 -0.24191836 0.23749877
+v -0.23484847 -0.24191836 -0.18674364
+v -0.23484847 0.19747557 0.23749877
+v -0.39845453 0.22771910 0.26431194
+v -0.37960911 -0.25799575 0.25055848
+v -0.37828196 0.20948394 -0.20085614
+v -0.23484847 0.19747557 -0.18674364
+v -0.36447357 -0.24724829 -0.19324224
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39fe79f18d53e7e031a5ac426690ce09336b411b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.45300349 -0.02096411 0.26255162
+v 0.42972171 -0.01899316 -0.17287153
+v 0.40467560 0.19892775 -0.15844993
+v 0.26515152 0.19747557 0.23749877
+v 0.26515152 -0.01464564 0.23749877
+v 0.41426057 0.20345629 0.24516490
+v 0.26515152 -0.01464564 -0.15644062
+v 0.26515152 0.19747557 -0.15644062
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2da41eecdfbb07d363fdc0b00a772a5e89f9915
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.10930392 -0.44992936 0.12746066
+v 0.14629392 -0.44798566 0.08708908
+v 0.14340978 -0.35872914 0.29459405
+v -0.27435159 -0.35305478 0.24649387
+v -0.16265553 -0.45401288 0.08727639
+v 0.00757577 -0.37828200 0.08598362
+v 0.14924245 -0.39395999 0.23982112
+v 0.00692207 -0.47300160 0.08472706
+v -0.15909089 -0.37828200 0.08598362
+v 0.13927943 -0.43440271 0.15570885
+v -0.08080578 -0.40674432 0.25550902
+v 0.12491724 -0.45370419 0.08366887
+v -0.27752847 -0.35841142 0.23464102
+v -0.08136827 -0.46951992 0.08430679
+v -0.00842199 -0.40632946 0.25600148
+v -0.06654745 -0.35554846 0.32003321
+v 0.12462131 -0.45153426 0.09828292
+v 0.00628776 -0.46928548 0.11263763
+v 0.14266894 -0.44913063 0.08538713
+v -0.19845294 -0.39030547 0.24163615
+v -0.08112428 -0.45075431 0.17080534
+v 0.14203914 -0.37614903 0.27114214
+v 0.03532202 -0.43542005 0.19791131
+v -0.00859051 -0.35536973 0.32108739
+v -0.06630151 -0.46708665 0.11333372
+v -0.24240436 -0.37906850 0.23164034
+v -0.20192590 -0.35492292 0.29224706
+v -0.13950387 -0.43473152 0.18356581
+v 0.14242854 -0.36454447 0.28740990
+v 0.08005562 -0.43533738 0.18321698
+v 0.03472375 -0.41990239 0.22624848
+v 0.02072451 -0.45028374 0.16917819
+v -0.14271402 -0.35490778 0.30557971
+v -0.06606299 -0.36300007 0.31314520
+v -0.02228594 -0.46687938 0.12752372
+v -0.08113188 -0.46784162 0.09924631
+v -0.26915510 -0.35940870 0.24111840
+v -0.22920124 -0.39453357 0.21447923
+v -0.22767525 -0.36047772 0.27093162
+v -0.18497187 -0.37545682 0.26999067
+v -0.10960752 -0.43478743 0.19846269
+v 0.03489032 -0.39109058 0.26971323
+v 0.12595146 -0.40455274 0.22746217
+v 0.06480185 -0.45037972 0.15435789
+v -0.00995827 -0.36214996 0.31384526
+v -0.14152177 -0.36205870 0.29811043
+v -0.00842065 -0.46641959 0.12760621
+v -0.27224467 -0.36466159 0.22944996
+v -0.22688968 -0.38878193 0.22641015
+v -0.19944389 -0.36064424 0.28534062
+v -0.23144753 -0.35468918 0.27725364
+v -0.13935568 -0.40479991 0.24079228
+v 0.09443524 -0.44990042 0.13986700
+v -0.11018495 -0.39106814 0.27025473
+v -0.24084508 -0.37412261 0.24139056
+v -0.10975072 -0.42023204 0.22614679
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 9 4 6
+f 10 1 2
+f 10 2 7
+f 12 9 6
+f 13 9 5
+f 13 4 9
+f 14 5 9
+f 14 12 8
+f 14 9 12
+f 17 2 1
+f 17 1 12
+f 18 12 1
+f 18 8 12
+f 19 12 6
+f 19 6 2
+f 19 17 12
+f 19 2 17
+f 21 15 11
+f 24 3 4
+f 25 14 8
+f 28 5 21
+f 29 22 7
+f 29 7 3
+f 30 10 7
+f 31 22 15
+f 31 15 23
+f 31 7 22
+f 32 23 15
+f 32 15 21
+f 33 24 4
+f 33 16 24
+f 33 4 27
+f 34 24 16
+f 34 11 15
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+f 35 25 8
+f 35 8 18
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+f 45 29 3
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+f 47 35 18
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+f 47 44 32
+f 47 18 44
+f 48 37 13
+f 48 26 37
+f 48 38 26
+f 48 13 5
+f 48 5 38
+f 49 38 20
+f 49 26 38
+f 50 39 20
+f 50 27 39
+f 50 40 27
+f 50 20 40
+f 51 39 27
+f 51 27 4
+f 52 40 20
+f 53 1 10
+f 53 10 44
+f 53 44 18
+f 53 18 1
+f 54 11 34
+f 54 34 46
+f 54 52 11
+f 54 40 52
+f 54 46 27
+f 54 27 40
+f 55 26 49
+f 55 39 51
+f 55 37 26
+f 55 51 4
+f 55 4 37
+f 55 49 20
+f 55 20 39
+f 56 41 11
+f 56 11 52
+f 56 52 20
+f 56 20 41
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b0cb46f2cbbea36d5f43cf24183a2348b65d27
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.01464564 0.34355938
+v 0.26515152 -0.01464564 0.23749877
+v 0.27070863 0.23522467 0.35730711
+v 0.15212811 0.24586619 0.38705499
+v 0.14393940 -0.01464564 0.23749877
+v 0.14393940 -0.01464564 0.34355938
+v 0.14393940 0.22777860 0.23749877
+v 0.26515152 0.22777860 0.23749877
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 2 5
+f 7 6 4
+f 7 5 6
+f 8 3 2
+f 8 2 7
+f 8 7 4
+f 8 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92856b7f9b039e877630843efe9dfaf548b5bf40
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.40702359 -0.22997141 0.24020559
+v 0.42842632 -0.23839103 0.00486033
+v 0.45300349 -0.02096411 0.26255162
+v 0.26515152 -0.01464564 0.23749877
+v 0.26515152 -0.22676685 0.01022605
+v 0.40151516 -0.01464564 0.01022605
+v 0.26515152 -0.22676685 0.23749877
+v 0.40151516 -0.01464564 0.22234726
+v 0.26515152 -0.01464564 0.01022605
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdbd53e189d854f63223bfda57edc309cf72c245
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.15979126 0.39741900 0.25466838
+v 0.16019280 0.39519488 -0.20197774
+v 0.11144527 0.46838522 -0.00328298
+v -0.00368142 0.46733476 0.11289780
+v -0.27831250 0.34550734 -0.15449228
+v 0.13947556 0.45232457 0.14295215
+v -0.11094979 0.34080868 -0.25557888
+v -0.28242002 0.35263230 0.22453213
+v -0.06246247 0.45102999 -0.06157857
+v 0.09639202 0.46734614 0.11253172
+v 0.14065353 0.45246658 -0.07686494
+v -0.09661050 0.34353397 -0.25792877
+v -0.02073499 0.43648144 0.21618548
+v -0.00494699 0.46671361 -0.04674723
+v -0.04815206 0.42125707 -0.16304516
+v -0.24302781 0.40668755 0.12867344
+v 0.10992983 0.46666535 0.09849515
+v 0.05319971 0.46799850 0.12754600
+v -0.16890304 0.40612335 0.21462169
+v 0.11017543 0.43630486 0.21282489
+v -0.03401689 0.46792290 0.04038320
+v 0.06674391 0.46736435 -0.04723972
+v -0.19841799 0.37410465 -0.16188931
+v -0.10804030 0.37762841 -0.20610798
+v -0.01906467 0.45074372 -0.10504499
+v -0.00518650 0.43664222 -0.14921026
+v -0.27189642 0.39059381 -0.03173944
+v -0.01991801 0.45221966 0.17125581
+v -0.10894715 0.42156065 0.21415781
+v -0.25598604 0.39093680 0.17114288
+v 0.13788873 0.43514092 0.19889901
+v 0.10989217 0.45202106 0.17079179
+v -0.19913413 0.42032765 0.12890280
+v -0.03363324 0.46727208 0.01086794
+v -0.14184331 0.34178500 -0.24197411
+v -0.09368147 0.34982572 -0.25128367
+v -0.12243803 0.38996924 -0.17664857
+v -0.21404061 0.40537622 -0.06071352
+v 0.09631318 0.43629375 -0.14902249
+v 0.02302518 0.46757973 0.12756832
+v -0.06531092 0.43557998 0.20106475
+v -0.25519462 0.37537042 0.21221802
+v -0.27046767 0.39183547 0.14231255
+v 0.13951597 0.42696901 0.21587323
+v -0.01825982 0.46653257 0.09835397
+v -0.12442834 0.43697368 0.14329122
+v -0.22864488 0.40627402 0.15781261
+v -0.19924452 0.42165674 0.01199956
+v -0.25678116 0.36071243 -0.14703200
+v -0.13876911 0.34798804 -0.23492606
+v -0.09173928 0.43479931 -0.09032630
+v 0.14113599 0.43550082 -0.13480087
+v 0.09657191 0.45107533 -0.10584761
+v -0.27228879 0.37831263 0.18502009
+v -0.16921440 0.42051930 0.17237272
+v -0.24347094 0.40601795 -0.00270412
+v -0.07752732 0.45122129 -0.03249492
+v -0.27212140 0.37600884 -0.08952730
+v -0.06212591 0.43487116 -0.11897576
+v 0.14031505 0.42303000 -0.16298069
+v 0.12633677 0.45133878 -0.09091128
+v -0.27177902 0.36518224 0.21382329
+v -0.13876624 0.42010749 0.19997573
+v -0.25777863 0.39062235 -0.06050918
+f 8 7 1
+f 8 5 7
+f 11 6 1
+f 11 1 2
+f 11 3 6
+f 12 2 1
+f 12 1 7
+f 17 10 6
+f 17 6 3
+f 17 3 10
+f 18 10 3
+f 19 8 1
+f 20 13 1
+f 21 18 3
+f 22 3 11
+f 22 21 3
+f 22 14 21
+f 25 9 14
+f 25 14 22
+f 26 15 25
+f 27 5 8
+f 28 13 18
+f 29 19 1
+f 29 1 13
+f 31 1 6
+f 32 18 13
+f 32 13 20
+f 32 10 18
+f 32 6 10
+f 32 31 6
+f 32 20 31
+f 34 21 14
+f 35 7 5
+f 36 24 15
+f 36 12 7
+f 36 7 35
+f 36 15 26
+f 36 26 2
+f 36 2 12
+f 37 24 23
+f 37 23 15
+f 37 15 24
+f 39 2 26
+f 40 28 18
+f 40 4 28
+f 40 21 4
+f 40 18 21
+f 41 29 13
+f 41 13 28
+f 42 8 19
+f 43 27 8
+f 43 16 27
+f 44 31 20
+f 44 20 1
+f 44 1 31
+f 45 4 21
+f 45 21 33
+f 46 28 4
+f 46 45 33
+f 46 4 45
+f 46 41 28
+f 47 42 19
+f 47 30 42
+f 47 33 16
+f 47 43 30
+f 47 16 43
+f 48 16 33
+f 48 33 21
+f 48 21 34
+f 49 35 5
+f 50 23 24
+f 50 36 35
+f 50 24 36
+f 50 49 23
+f 50 35 49
+f 51 38 9
+f 51 9 25
+f 52 11 2
+f 53 52 39
+f 53 25 22
+f 53 39 26
+f 53 26 25
+f 54 42 30
+f 54 43 8
+f 54 30 43
+f 55 41 46
+f 55 47 19
+f 55 46 33
+f 55 33 47
+f 56 27 16
+f 56 16 48
+f 56 9 38
+f 57 48 34
+f 57 56 48
+f 57 9 56
+f 57 34 14
+f 57 14 9
+f 58 49 5
+f 58 5 27
+f 58 38 49
+f 59 51 25
+f 59 25 15
+f 59 15 23
+f 59 23 49
+f 59 49 38
+f 59 38 51
+f 60 52 2
+f 60 2 39
+f 60 39 52
+f 61 53 22
+f 61 22 11
+f 61 11 52
+f 61 52 53
+f 62 54 8
+f 62 8 42
+f 62 42 54
+f 63 29 41
+f 63 41 55
+f 63 55 19
+f 63 19 29
+f 64 56 38
+f 64 27 56
+f 64 58 27
+f 64 38 58
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a96cc84f8691e031d39b2c638edd56b3f2ee1c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.20213767 -0.32522026 0.32119318
+v 0.31004829 -0.25630433 0.32753181
+v 0.15619436 -0.19091346 0.41549403
+v -0.23114097 -0.14798574 0.42105185
+v -0.23484847 -0.15100927 0.34355938
+v -0.05137042 -0.29868818 0.36697662
+v 0.21304934 -0.26031764 0.36996898
+v 0.29017521 -0.27911812 0.31950537
+v 0.26180957 -0.14812552 0.40868885
+v -0.20256253 -0.19020296 0.41541806
+v -0.24096512 -0.27102495 0.36168016
+v 0.15089588 -0.28940873 0.36746603
+v 0.30573973 -0.26561532 0.32160184
+v 0.24438068 -0.30832963 0.31825090
+v 0.22602113 -0.27425516 0.35588145
+v 0.28548619 -0.17235172 0.39161168
+v 0.15530816 -0.23304132 0.40070183
+v 0.21753191 -0.14740976 0.41974433
+v 0.14378112 -0.33159293 0.32733917
+v -0.21545767 -0.24547238 0.38607098
+v 0.28606974 -0.27291669 0.32764341
+v 0.23994622 -0.30270350 0.32636454
+v 0.19877271 -0.28841898 0.35541125
+v 0.25819900 -0.23075568 0.37120213
+v 0.21448984 -0.20304364 0.39959865
+v 0.15557599 -0.26121015 0.38625971
+v -0.00485511 -0.23660621 0.40091533
+v 0.21584292 -0.15941849 0.41655822
+v 0.08278270 -0.28871435 0.37240791
+v 0.14327662 -0.32433894 0.33574968
+v -0.03541079 -0.26471057 0.38681074
+v -0.23098261 -0.23345701 0.38942462
+v 0.30203859 -0.26008555 0.32924692
+v 0.19959327 -0.31835986 0.32888791
+v 0.18417080 -0.27454762 0.37044846
+v 0.30561038 -0.25052337 0.33519110
+v 0.25904562 -0.17233737 0.40067422
+v 0.24373401 -0.21661378 0.38439911
+v -0.04870151 -0.29251990 0.37105649
+v -0.21601200 -0.21837748 0.40107338
+v -0.22932803 -0.17561741 0.41488943
+v -0.23199627 -0.25033280 0.37896577
+f 10 3 4
+f 11 4 5
+f 13 8 5
+f 13 5 2
+f 13 2 8
+f 14 1 5
+f 14 5 8
+f 16 2 5
+f 16 5 9
+f 18 9 5
+f 18 5 4
+f 18 4 3
+f 19 11 5
+f 19 5 1
+f 19 6 11
+f 20 11 6
+f 22 1 14
+f 22 21 15
+f 22 14 8
+f 22 8 21
+f 23 22 15
+f 24 7 15
+f 26 25 17
+f 27 26 17
+f 27 17 3
+f 27 3 10
+f 28 18 3
+f 28 3 17
+f 28 17 25
+f 28 9 18
+f 29 12 26
+f 30 19 1
+f 30 12 29
+f 30 29 6
+f 30 6 19
+f 31 27 10
+f 31 29 26
+f 31 26 27
+f 33 21 8
+f 33 8 2
+f 34 23 12
+f 34 1 22
+f 34 22 23
+f 34 30 1
+f 34 12 30
+f 35 23 15
+f 35 15 7
+f 35 7 26
+f 35 26 12
+f 35 12 23
+f 36 2 16
+f 36 16 24
+f 36 33 2
+f 36 24 15
+f 36 15 21
+f 36 21 33
+f 37 16 9
+f 37 28 25
+f 37 9 28
+f 38 7 24
+f 38 37 25
+f 38 24 16
+f 38 16 37
+f 38 26 7
+f 38 25 26
+f 39 20 6
+f 39 6 29
+f 39 29 31
+f 40 31 10
+f 40 39 31
+f 40 20 39
+f 40 32 20
+f 41 4 11
+f 41 11 32
+f 41 32 40
+f 41 40 10
+f 41 10 4
+f 42 32 11
+f 42 11 20
+f 42 20 32
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1afe661f9139c7a3d69f79b3793a3c8748414267
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.41111240 -0.24690837 0.19568720
+v -0.36447357 -0.24724829 -0.19324224
+v -0.35606059 0.19747557 0.13143817
+v -0.44715361 0.19756057 0.19209737
+v -0.48997801 -0.05837019 0.01267263
+v -0.35606059 -0.24191836 0.13143817
+v -0.44246208 -0.23366828 -0.01595327
+v -0.48551923 0.07522212 0.19065319
+v -0.37828196 0.20948394 -0.20085614
+v -0.44185431 -0.11704624 -0.13319886
+v -0.47300124 -0.14526636 0.11357410
+v -0.44746897 -0.15394764 0.20863592
+v -0.45916584 0.19121886 0.01195547
+v -0.47296981 -0.10195813 -0.04611372
+v -0.41253534 -0.23326636 -0.11798968
+v -0.42888418 -0.07294874 -0.17764039
+v -0.44309688 -0.23316264 0.09821812
+v -0.47396873 -0.14693516 0.01260618
+v -0.49014372 -0.07173198 0.12958283
+v -0.47479391 0.14656278 0.15887799
+v -0.41168139 -0.16029761 -0.17697073
+v -0.42800056 -0.23411118 -0.07417729
+v -0.45893868 -0.01395854 -0.11957667
+v -0.45746484 -0.15895780 0.17160108
+v -0.45908834 -0.20487723 0.05498861
+v -0.45807758 -0.19081887 -0.01598102
+v -0.47312677 -0.13153166 -0.01633000
+v -0.49233375 0.07421072 0.14504819
+v -0.48973921 -0.07225056 0.02760460
+v -0.45884435 -0.14401243 0.18640088
+v -0.47397058 0.13132298 0.18761107
+v -0.45850454 0.18916981 0.15878353
+v -0.42740906 -0.17506868 -0.13322694
+v -0.39783042 -0.20337025 -0.17646771
+v -0.44275044 -0.07294469 -0.14807571
+v -0.47348582 -0.07334561 -0.06019843
+v -0.48950509 0.04441821 -0.00210330
+v -0.42767788 0.08816661 -0.17744028
+v -0.45866344 -0.18961326 0.11334111
+v -0.42660696 -0.23321084 0.17131257
+v -0.45914878 -0.20527930 0.04120410
+v -0.44180232 -0.21945741 -0.04541284
+v -0.48946752 0.08797611 0.04188304
+v -0.44162969 -0.18796389 0.18563828
+v -0.49020654 0.08815692 0.14486014
+v -0.45842560 0.17489158 0.18753215
+v -0.44265610 -0.16058427 -0.10391114
+v -0.38430367 -0.23318136 -0.17583194
+v -0.41193394 -0.20411174 -0.14723556
+v -0.45750895 -0.08728275 -0.10410455
+v -0.49022053 -0.02877532 -0.00213621
+v -0.45881865 0.02982251 -0.11966517
+v -0.41389083 0.19103135 -0.14849757
+v -0.47429178 0.14722790 0.02734342
+v -0.42029993 -0.23582830 0.18741609
+v -0.45062343 0.19216223 0.18872228
+v -0.45730563 -0.11673896 -0.08903554
+v -0.44424139 0.19128049 -0.06034681
+v -0.41156814 0.16027281 -0.17810617
+v -0.47323254 0.11787242 -0.03091434
+v -0.42868008 -0.21894355 0.18513255
+v -0.39970929 0.19038601 -0.17753733
+v -0.45742103 0.11677309 -0.08936980
+v -0.45823803 0.16134337 -0.04566755
+f 1 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 1
+f 9 3 2
+f 9 4 3
+f 12 1 4
+f 12 4 8
+f 13 4 9
+f 16 9 2
+f 17 7 1
+f 19 18 11
+f 21 16 2
+f 21 10 16
+f 22 15 2
+f 22 2 7
+f 25 11 18
+f 27 5 14
+f 27 26 18
+f 27 14 26
+f 28 19 8
+f 28 5 19
+f 29 19 5
+f 29 18 19
+f 29 27 18
+f 29 5 27
+f 30 12 8
+f 30 8 19
+f 30 19 11
+f 30 11 24
+f 31 8 4
+f 32 4 13
+f 32 13 20
+f 33 10 21
+f 33 15 22
+f 34 21 2
+f 35 23 16
+f 35 16 10
+f 36 14 5
+f 38 9 16
+f 39 24 11
+f 39 25 17
+f 39 11 25
+f 40 17 1
+f 40 39 17
+f 40 24 39
+f 41 7 17
+f 41 17 25
+f 41 26 7
+f 41 25 18
+f 41 18 26
+f 42 22 7
+f 42 7 26
+f 43 37 28
+f 44 30 24
+f 44 12 30
+f 44 24 40
+f 45 28 8
+f 45 8 31
+f 45 31 20
+f 45 43 28
+f 46 31 4
+f 46 32 20
+f 46 20 31
+f 47 10 33
+f 47 33 22
+f 47 22 42
+f 47 42 26
+f 47 26 14
+f 48 34 2
+f 48 2 15
+f 49 33 21
+f 49 21 34
+f 49 15 33
+f 49 48 15
+f 49 34 48
+f 50 36 23
+f 50 23 35
+f 50 35 10
+f 51 5 28
+f 51 28 37
+f 51 36 5
+f 51 23 36
+f 52 38 16
+f 52 16 23
+f 52 51 37
+f 52 23 51
+f 54 20 13
+f 54 45 20
+f 54 43 45
+f 55 40 1
+f 55 1 12
+f 56 46 4
+f 56 4 32
+f 56 32 46
+f 57 14 36
+f 57 36 50
+f 57 47 14
+f 57 50 10
+f 57 10 47
+f 58 13 9
+f 58 9 53
+f 59 9 38
+f 60 37 43
+f 60 43 54
+f 60 54 13
+f 61 44 40
+f 61 40 55
+f 61 55 12
+f 61 12 44
+f 62 59 53
+f 62 53 9
+f 62 9 59
+f 63 58 53
+f 63 53 59
+f 63 59 38
+f 63 38 52
+f 63 52 37
+f 63 37 60
+f 64 60 13
+f 64 13 58
+f 64 63 60
+f 64 58 63
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2d5a837efed555dfaef3ae25d6941eef9f64ad1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.14535597 -0.25953341 -0.31204096
+v 0.27321299 -0.15553259 -0.30470387
+v -0.23135649 -0.25168698 -0.30147216
+v -0.23746814 0.23116379 -0.31236164
+v 0.02075961 0.05820376 -0.42654919
+v 0.26423439 0.22709177 -0.29155166
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b365f0e7fa702ebe78ea64c36a278eecc1b9d8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fb56a1198d09eed46248d71c5cadb68d00722d1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_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 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57df00e29a5b2b868a256e20bbbff0ae3b4ed2bb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_0/visual/model_normalized_0.obj
@@ -0,0 +1,135605 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4dc3f8ecdc00f0bc0c75a194de00898025f9a33
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e67ef5a5b8afd8714b255a995eb2424ebd93576
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89b8c5c686ce6996fcd231f50cc87f37239b5769
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01672791 0.17573565 0.33552068
+v -0.02426619 0.17573565 0.33575282
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+
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6927dfa497c4ad470b4e7d8a41572b8cd985f681
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_11.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.05499289 0.04403457 -0.45632005
+v -0.00172791 0.04403457 -0.45632005
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dc6a74f81d1dced1722153622479425a040e6b6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026e3d5071f74abe69497e9405c40b78a3bca84e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,1312 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f09a406b7062507909a2bc94464ece16554bc44
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..149a42c6250ed63cbcc3feb800f6ca9aca1ac746
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1de81f58a4b561d79b6d5ec3dc6944b363a9e3f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_5.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246d841b316b9e4654c739c36230fb6852016ce6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_6.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd406b35daf010147f6209074c412c027812ea67
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03172220 0.02901694 -0.45632005
+v -0.03172220 0.07503459 -0.45632005
+v 0.04164015 0.02901694 -0.45632005
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+v -0.03172220 0.08500746 -0.45607984
+v 0.00500924 0.08500746 -0.45623997
+v 0.02498713 0.08500746 -0.45632005
+v 0.04164015 0.08500746 -0.45632005
+v 0.04164015 0.02901694 0.34799331
+v 0.01540033 0.02901694 0.36040309
+v -0.03172220 0.05320510 0.35263696
+v -0.03172220 0.19073567 -0.44559160
+v 0.04164015 0.09504364 -0.45559946
+v 0.04161142 0.02901694 0.34807336
+v 0.04164015 0.06029691 0.35904202
+v 0.02390278 0.02901694 0.36144391
+v 0.02498713 0.04503684 0.36160403
+v -0.03172220 0.05500971 0.35255691
+v 0.04164015 0.19073567 -0.43950680
+v -0.03172220 0.19073567 0.33550346
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+v 0.03610350 0.02901694 0.35615975
+v 0.04164015 0.06330460 0.35904202
+v 0.02503739 0.02901694 0.36144391
+v 0.03221852 0.02901694 0.36104357
+v 0.03238368 0.04503684 0.36104357
+v 0.04055580 0.06240230 0.36032301
+v 0.03698678 0.06240230 0.36032301
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+v 0.04164015 0.19073567 0.33622405
+v 0.04164015 0.14953032 0.34983477
+v 0.04164015 0.08166734 0.35792112
+v 0.04164015 0.09504364 0.35648000
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+
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7e9a9e9f2e0fbf8834e5c44be650c12464ec811
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.04164587 -0.00498286 0.36409330
+v 0.04164587 -0.01499296 0.36409330
+v 0.04164587 0.05901694 0.34789497
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+v 0.03610367 0.05901694 0.35615942
+v 0.03222413 0.05901694 0.36103547
+v 0.00068765 0.01067428 0.38797760
+v 0.00084986 0.00747055 0.38797760
+v 0.04164587 -0.02486593 0.36343214
+v 0.04164587 0.05901694 -0.45632011
+v 0.02504630 0.05901694 0.36153132
+v -0.04502875 0.04057991 0.38797760
+v -0.04044630 0.03996908 0.38797760
+v -0.03760761 0.03828619 0.38797760
+v -0.00978846 0.01888929 0.38797760
+v -0.00362445 0.01416472 0.38797760
+v -0.00047486 0.00250913 0.38797760
+v 0.04164587 -0.06833443 0.36045694
+v 0.04164587 -0.06833443 -0.45632011
+v -0.05499120 0.05901694 -0.45632011
+v 0.02391082 0.05901694 0.36153132
+v -0.04958417 0.04065471 0.38797760
+v -0.00196179 -0.00276393 0.38797760
+v -0.04498820 -0.06833443 0.34359744
+v -0.00267822 -0.00498286 0.38797760
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+v -0.01301916 -0.03498822 0.38797760
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+
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bcc60f7c46195bc64b864cecb9683f8808d3111
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.04164587 -0.03834084 0.36053079
+v -0.04498820 -0.03834084 0.34365967
+v 0.04164587 -0.05463965 0.36037090
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+v -0.09644957 -0.03834084 0.33190584
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+v -0.06499420 -0.03834084 -0.45632005
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+v -0.09644957 -0.03834084 -0.25018835
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+
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5279406eb4d75d8e3980f15ca5341d69d73b004
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23173365 -0.44777886 0.12419817
+v -0.23185901 -0.44835739 -0.20799105
+v -0.23484847 -0.02275984 -0.21597153
+v -0.42231037 -0.02519246 0.18770560
+v -0.45926541 -0.26909161 -0.07599208
+v -0.23484847 -0.02275984 0.19311937
+v -0.23060090 -0.37256892 0.25483196
+v -0.37530054 -0.39833311 -0.06046110
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+v -0.45575034 -0.02435155 -0.21343962
+v -0.23136081 -0.43090667 0.15350588
+v -0.25787901 -0.28651453 0.29838979
+v -0.37184257 -0.37181726 -0.19192855
+v -0.25657716 -0.46357406 0.00854497
+v -0.44540181 -0.24640875 0.12284194
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+v -0.39831931 -0.37534384 -0.06046475
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9669a02a72deca34fc4917d977c8d6ec69c1f49
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.34486280 0.21121177 -0.23947800
+v 0.34960758 0.21479335 -0.22720635
+v 0.02272728 0.21966440 -0.23112305
+v 0.02086664 0.45350218 -0.22615622
+v 0.19690304 0.37491669 -0.22347908
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+v 0.34370666 0.22549058 -0.22362477
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+v -0.07231731 0.33527057 -0.38478369
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+v 0.09987542 0.37055936 -0.33750279
+v 0.29366922 0.28301175 -0.23683702
+v 0.28506238 0.29751813 -0.22358270
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+v 0.13552131 0.21640928 -0.41220785
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..150c6bb92a30d65a9d8fd77ccdb0112b3e0954ef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.23423539 -0.44417289 -0.21433489
+v -0.23080916 -0.37253841 -0.33963925
+v -0.23484847 -0.02275984 -0.21597153
+v -0.45575034 -0.02435155 -0.21343962
+v -0.43651359 -0.25818329 -0.20896955
+v -0.23470259 -0.02418790 -0.44387427
+v -0.23148617 -0.43148520 -0.23729876
+v -0.35520567 -0.35517742 -0.23340953
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+v -0.38593398 -0.13956538 -0.35407218
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+v -0.25814518 -0.43653856 -0.20896404
+v -0.41865340 -0.28667275 -0.20715568
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+v -0.45890228 -0.10935409 -0.23602367
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ff6e87c4300433d72e3f6b303a4f3655e52850a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.44526087 -0.26123187 -0.02463499
+v 0.41944033 -0.20189521 0.17080799
+v 0.25575054 -0.22617380 0.31743477
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+v 0.43216723 -0.01911946 0.18661776
+v 0.38512739 -0.10878802 0.26835677
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2004590d01cb2054a2299efc4427a9f4e976ec8d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.45425243 0.08197643 0.08572638
+v 0.44733228 0.08009536 -0.20741682
+v 0.39944984 0.20929305 -0.00759601
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+v 0.36592374 0.07833211 -0.34137802
+v 0.36809219 0.20759865 -0.20547871
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+v 0.46720546 0.08160642 0.00959654
+v 0.27910948 0.08262607 -0.38003255
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+v 0.36344676 0.09040841 -0.33646813
+v 0.35240475 0.19209324 -0.25062549
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+f 37 10 35
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e83fa0098a049dbc2f1ad218da2ac0b744b3ae
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.42351159 -0.29048352 -0.00565771
+v 0.46508789 -0.20252729 -0.10784772
+v 0.45991430 -0.06413788 0.15312967
+v 0.37832478 0.19913057 0.11197893
+v 0.38636364 0.08330077 -0.03415335
+v 0.47448707 0.08283193 -0.03462504
+v 0.39150832 -0.24279927 0.17176133
+v 0.47539238 -0.20171152 -0.03703730
+v 0.42552119 -0.27654251 -0.10854081
+v 0.44560527 0.08845659 0.12242951
+v 0.38308239 0.20253627 0.08634490
+v 0.47392097 -0.14595788 -0.11190894
+v 0.41002256 -0.03947176 0.23486625
+v 0.38636364 -0.02275984 -0.03415335
+v 0.44558561 -0.21028557 0.12246458
+v 0.49300879 -0.02521149 -0.03661992
+v 0.39103043 -0.25816417 0.15579571
+v 0.44526087 -0.26123187 -0.02463499
+v 0.44335509 -0.25346628 -0.09099123
+v 0.46070657 0.10325968 0.00797475
+v 0.38421949 0.19324822 0.10905742
+v 0.43872762 -0.25434689 -0.11129832
+v 0.47561373 -0.20174877 -0.04645841
+v 0.37834857 0.13811356 0.17299639
+v 0.45981901 -0.05716196 0.15307649
+v 0.47477243 -0.06498801 0.11460961
+v 0.40849384 -0.12690111 0.21886164
+v 0.47771662 0.06567393 -0.03664374
+v 0.42372479 -0.29061194 -0.07784690
+v 0.42912345 -0.20786068 0.15183271
+v 0.39637962 -0.26174565 0.14422604
+v 0.44362766 -0.22333345 0.09849682
+v 0.44953400 0.12089570 0.00877371
+v 0.42914322 0.08603014 0.15179744
+v 0.44338559 0.10190504 0.09844822
+v 0.49309707 -0.09608062 -0.03660498
+v 0.41011802 -0.08182800 0.23491952
+v 0.41408677 -0.04207567 0.22867910
+v 0.45942184 -0.14031005 0.12476465
+v 0.45933067 0.01901382 0.12472160
+v 0.42813195 -0.28413993 -0.07550910
+v 0.45882141 -0.22335981 0.02274773
+v 0.41300922 0.07922404 0.18223927
+v 0.45857934 0.10193142 0.02269912
+v 0.48861504 -0.07990029 0.00834493
+v 0.47798222 -0.14154133 -0.09231401
+v 0.47473800 -0.14354536 -0.10948173
+v 0.41418219 -0.07922421 0.22873235
+v 0.45823611 -0.15564399 0.11439370
+v 0.47467661 -0.05630676 0.11459468
+v 0.45814030 0.03434922 0.11437876
+v 0.48851923 -0.04139448 0.00832999
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+f 44 35 10
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+f 45 36 16
+f 45 26 36
+f 46 36 23
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+f 46 2 12
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+f 47 46 12
+f 47 36 46
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+f 48 38 13
+f 48 13 37
+f 49 39 15
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+f 52 45 16
+f 52 16 50
+f 52 50 26
+f 52 26 45
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3313e345587a45db6381b0ff071943b1b60862b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.23561631 -0.25538862 0.32953250
+v -0.23484847 -0.26518408 0.19311937
+v -0.21248647 0.18710249 0.33390347
+v -0.29397042 0.27866817 0.23652048
+v -0.43523138 -0.12606365 0.18656895
+v -0.21969696 0.21966440 0.19311937
+v -0.21969696 -0.02275984 0.19311937
+v -0.39458825 -0.26017695 0.18882284
+v -0.31077834 -0.10222125 0.33529957
+v -0.21642726 0.21864008 0.32461687
+v -0.36015321 0.21683050 0.18668622
+v -0.22361493 -0.02194404 0.34411480
+v -0.41878820 -0.20175386 0.18558215
+v -0.37150271 -0.23648337 0.25365362
+v -0.32432045 0.19990294 0.25637710
+v -0.37280941 0.17073653 0.18523465
+v -0.28117253 -0.08128645 0.34839566
+v -0.40753806 -0.24343393 0.18745719
+v -0.35852569 -0.25148793 0.25132494
+v -0.28334632 -0.24359158 0.31182551
+v -0.39877117 -0.10946608 0.25889058
+v -0.30966497 0.25348636 0.24374369
+v -0.43517558 -0.07133974 0.18653781
+v -0.25178632 -0.25280550 0.32750751
+v -0.25349380 -0.15794873 0.34345911
+v -0.21736070 0.11208136 0.34642031
+v -0.40241916 -0.24020525 0.19947257
+v -0.38473320 -0.25305320 0.21301309
+v -0.38596461 -0.13935643 0.26926024
+v -0.38318463 -0.05795010 0.27334689
+v -0.28293084 0.21574100 0.28054153
+v -0.28883221 0.27312080 0.24456271
+v -0.30164267 0.27379125 0.23301421
+v -0.32355756 0.23036950 0.24363175
+v -0.39911301 -0.08801749 0.25908134
+v -0.23932826 -0.12759015 0.34199185
+v -0.37670650 -0.10944153 0.28140427
+v -0.30027010 0.26911146 0.23942450
+f 7 1 2
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+f 37 30 35
+f 38 32 4
+f 38 22 32
+f 38 33 22
+f 38 4 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6e4c4461bbee9b09d2173626219c845c45e47e8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.38942349 -0.02596404 0.24697783
+v -0.34090908 -0.02275984 -0.21597153
+v -0.34090908 -0.02275984 0.19311937
+v -0.35143258 0.22236110 0.19924108
+v -0.47773251 -0.02618294 -0.07719048
+v -0.34090908 0.23481592 0.01130119
+v -0.37942634 0.00570486 0.24985416
+v -0.39972827 -0.02724840 0.22912165
+v -0.41474967 0.23083921 0.00833487
+v -0.38523839 -0.02305802 0.25309751
+v -0.46321898 -0.02615239 -0.16832580
+v -0.39834386 0.21496910 0.12185462
+v -0.36822678 0.25456261 -0.23291585
+v -0.41254306 0.23032510 -0.10656112
+v -0.44943205 -0.02600643 0.14043959
+v -0.45575034 -0.02435155 -0.21343962
+v -0.42972429 0.20049496 -0.03715042
+v -0.47752226 -0.02623192 -0.00630234
+v -0.39891634 0.21511580 -0.20564587
+v -0.44414637 0.13971895 -0.04618104
+v -0.46301998 -0.02620043 0.08483655
+v -0.41356622 0.15444532 -0.20718824
+v -0.39922251 0.23075169 -0.18263690
+v -0.39179073 0.23232399 -0.21031467
+v -0.47350877 0.00313598 -0.06134398
+v -0.42751767 0.19998086 -0.06107584
+v -0.47329852 0.00308700 -0.02214884
+v -0.41357700 0.15439961 0.12234986
+v -0.44392494 0.13966736 -0.03731566
+v -0.44385293 0.00286916 0.13726282
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+f 25 5 18
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+f 28 10 12
+f 29 17 20
+f 29 20 27
+f 29 27 21
+f 29 21 17
+f 30 28 21
+f 30 21 15
+f 30 15 10
+f 30 10 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16e2b490fae33d652f0f192482530923abe517c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00761565 -0.06820532 0.32933263
+v 0.02164639 -0.02333603 0.33381656
+v -0.06760360 -0.03279805 0.45082003
+v -0.03795702 0.14427397 0.32658768
+v 0.02054802 0.14479103 0.32859330
+v -0.09954504 -0.03565023 0.32890186
+v -0.02423144 -0.03249705 0.45082003
+v -0.03924211 0.08387967 0.32323795
+v -0.05681491 0.02220135 0.45082003
+v -0.06794698 -0.06826500 0.32843899
+v 0.02509578 -0.02197144 0.35266891
+v -0.06471028 -0.06896265 0.32920085
+v -0.03755435 0.14238443 0.32633720
+v 0.02859792 0.13821086 0.34433439
+v -0.07393658 0.00976147 0.45082003
+v -0.09854909 -0.03777431 0.32852947
+v 0.00999220 -0.06015574 0.34309687
+v -0.08401873 0.08304332 0.32628254
+v -0.01732622 0.00927461 0.45082003
+v -0.08277738 0.00625252 0.41898769
+v -0.08358710 0.08329952 0.34052453
+v -0.03444790 0.02171449 0.45082003
+v -0.09953511 0.02361558 0.33848217
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+f 11 1 2
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+f 16 10 3
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+f 17 7 1
+f 17 1 11
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+f 18 16 6
+f 18 13 8
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+f 23 15 21
+f 23 6 20
+f 23 21 18
+f 23 18 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf8aa531a062b77e18f2d1326626ce29ed1e913
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.00422101 -0.47363872 0.00823887
+v 0.00472054 -0.37479077 -0.35406588
+v 0.00757577 -0.28033560 0.01130119
+v -0.23484847 -0.28033560 0.01130119
+v -0.23185901 -0.44835739 -0.20799105
+v -0.23453525 -0.27390301 -0.40313636
+v -0.23332083 -0.46822849 0.00976473
+v 0.00757577 -0.28698338 -0.39989109
+v -0.08678435 -0.47379383 -0.19791018
+v -0.13952766 -0.38591318 -0.35408250
+v -0.24808284 -0.38374429 -0.30523571
+v 0.00483568 -0.44840443 -0.22332512
+v 0.00757577 -0.27634781 -0.40682144
+v -0.23176227 -0.47411955 -0.06135237
+v -0.10931393 -0.45889753 -0.23600284
+v -0.23080916 -0.37253841 -0.33963925
+v 0.00425888 -0.47385120 -0.09173167
+v -0.09424316 -0.31749181 -0.39381827
+v -0.11014926 -0.47337263 -0.19784451
+v -0.23172453 -0.45874380 -0.15222350
+v -0.11035129 -0.48962984 0.00849807
+v -0.10955847 -0.39933288 -0.34264457
+v -0.08702185 -0.45945490 -0.23631386
+v -0.23877803 -0.38602490 -0.31240372
+v -0.24452076 -0.37881704 -0.31733097
+v 0.00424765 -0.45930701 -0.18286230
+v -0.10950984 -0.37832316 -0.36403443
+v -0.15492507 -0.45807996 -0.22000220
+v -0.08658005 -0.49005020 0.00856362
+v -0.23172503 -0.47389827 -0.02214331
+v -0.11038851 -0.48983353 -0.09198806
+v -0.04151081 -0.45908039 -0.22078681
+v -0.08729011 -0.44300516 -0.26589246
+v -0.24234011 -0.39095215 -0.30030846
+v -0.23431340 -0.28449865 -0.39619207
+v -0.04176151 -0.38275749 -0.35700153
+v -0.05624876 -0.48955477 -0.06151848
+v -0.14083961 -0.48919044 -0.02211950
+v -0.10901187 -0.44245960 -0.26558803
+v -0.07094137 -0.37735455 -0.36405304
+v -0.07213094 -0.39758766 -0.34167071
+v -0.05628663 -0.48934230 -0.02197432
+v -0.08654241 -0.49025373 -0.09205357
+v -0.14087686 -0.48941173 -0.06137618
+v -0.07103790 -0.31643222 -0.39370597
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+f 44 29 21
+f 44 21 38
+f 45 40 18
+f 45 18 13
+f 45 13 40
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db70db1354b7d6038a0b00ce84c61df836e97b46
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.05574790 -0.43384914 0.18577942
+v 0.05460982 -0.37917037 0.24306896
+v -0.13931873 -0.38594379 0.26927056
+v -0.30249868 -0.25643143 0.28796320
+v 0.00757577 -0.26518408 0.19311937
+v -0.04466936 -0.25997247 0.33824513
+v -0.23336434 -0.40984997 0.18915743
+v -0.07224859 -0.39701621 0.25789306
+v 0.00538315 -0.42084853 0.18687948
+v -0.25733384 -0.25794352 0.31946495
+v -0.06001731 -0.25720795 0.33574396
+v 0.00801505 -0.26221690 0.32490047
+v -0.12602326 -0.43522748 0.18654859
+v -0.23484847 -0.26518408 0.19311937
+v -0.04185283 -0.38270384 0.27228668
+v 0.05239181 -0.38319231 0.23675684
+v -0.23060090 -0.37256892 0.25483196
+v 0.05208338 -0.36674355 0.26610758
+v -0.10942590 -0.39876640 0.25886974
+v -0.31277527 -0.26752595 0.27187812
+v -0.20171479 -0.41878724 0.18556282
+v -0.23956339 -0.32884651 0.28208700
+v -0.30475626 -0.28917173 0.26078360
+v -0.25332436 -0.26938153 0.31432694
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+f 9 8 1
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+f 11 4 10
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+f 12 5 11
+f 14 4 5
+f 15 6 3
+f 15 8 9
+f 16 9 5
+f 16 5 2
+f 16 15 9
+f 17 7 3
+f 18 2 5
+f 18 5 12
+f 18 12 6
+f 18 6 15
+f 18 16 2
+f 18 15 16
+f 19 3 7
+f 19 7 13
+f 19 15 3
+f 19 8 15
+f 19 13 1
+f 19 1 8
+f 20 4 14
+f 21 13 7
+f 21 7 14
+f 21 1 13
+f 21 14 5
+f 21 5 1
+f 22 17 3
+f 22 20 17
+f 22 4 20
+f 23 20 14
+f 23 14 7
+f 23 7 17
+f 23 17 20
+f 24 22 3
+f 24 3 10
+f 24 10 4
+f 24 4 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d6b38e472f3753b299a190c5c18ff844ce62ef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.21967066 0.34084928 0.16279486
+v 0.26162253 0.37702564 -0.02355543
+v 0.10782072 0.44543089 0.12269539
+v 0.01971008 0.46248292 0.12622395
+v 0.02272728 0.34087653 -0.03415335
+v 0.09571612 0.47594069 -0.03693820
+v 0.10539426 0.42896883 0.15206332
+v 0.20958238 0.38604085 0.10935118
+v 0.02272728 0.34087653 0.16281634
+v 0.12357422 0.46889037 -0.03582959
+v 0.03434317 0.45999241 0.12504770
+v 0.02198875 0.48800350 -0.03489619
+v 0.20991363 0.35656758 0.15303101
+v 0.01936660 0.44657982 0.15384528
+v 0.11693431 0.45825645 0.03779320
+v 0.22359438 0.40795241 -0.03274610
+v 0.09530772 0.47351410 -0.02219746
+v 0.01974427 0.47606701 0.03905896
+v 0.11690943 0.44306508 0.11354277
+f 5 2 1
+f 8 1 2
+f 8 3 7
+f 9 5 1
+f 11 6 4
+f 11 4 3
+f 12 6 5
+f 12 4 6
+f 13 8 7
+f 13 7 1
+f 13 1 8
+f 14 5 9
+f 14 7 3
+f 14 3 4
+f 14 9 1
+f 14 1 7
+f 15 10 6
+f 16 2 5
+f 16 5 6
+f 16 6 10
+f 16 8 2
+f 16 10 15
+f 17 11 3
+f 17 6 11
+f 17 15 6
+f 17 3 15
+f 18 12 5
+f 18 5 14
+f 18 14 4
+f 18 4 12
+f 19 15 3
+f 19 3 8
+f 19 16 15
+f 19 8 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345266a7a6cb99118093629d86144fd2ce76f650
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.38717166 -0.02699239 0.27056282
+v 0.43216723 -0.01911946 0.18661776
+v 0.37297615 0.21070098 0.10839745
+v 0.02245816 0.22092730 0.33467524
+v 0.02272728 -0.02275984 -0.03415335
+v 0.25359842 0.21534332 0.27286114
+v 0.37184257 0.07758420 0.25402051
+v 0.38636364 -0.02275984 -0.03415335
+v 0.01454403 -0.03025059 0.33145555
+v 0.02272728 0.21966440 -0.03415335
+v 0.12041955 0.21609442 0.34169757
+v 0.40424709 0.10462696 0.17026443
+v 0.29430257 0.20845069 0.22835050
+v 0.40123150 -0.02638486 0.24511202
+v 0.39531004 0.22505367 -0.03220698
+v 0.26963152 0.09049962 0.31262306
+v 0.01933453 0.02761866 0.35669003
+v 0.40013394 0.08650248 0.19801622
+v 0.24944203 0.19851470 0.28367277
+v 0.35981798 0.06295316 0.26554812
+v 0.10034307 0.21681528 0.34261685
+v 0.14145661 0.02196613 0.34324716
+v 0.24993662 0.12226236 0.31266615
+v 0.27137232 0.07909786 0.31483286
+v 0.21737670 0.08261988 0.32917821
+v 0.21716732 0.09425883 0.32869692
+f 9 8 1
+f 9 5 8
+f 10 8 5
+f 10 9 4
+f 10 5 9
+f 11 6 4
+f 13 7 3
+f 13 3 6
+f 13 6 7
+f 14 8 2
+f 14 1 8
+f 14 7 1
+f 14 2 7
+f 15 2 8
+f 15 12 2
+f 15 3 12
+f 15 8 10
+f 15 6 3
+f 15 10 4
+f 15 4 6
+f 17 4 9
+f 18 7 2
+f 18 2 12
+f 18 12 3
+f 18 3 7
+f 19 16 7
+f 19 7 6
+f 19 6 11
+f 20 1 7
+f 21 17 11
+f 21 11 4
+f 21 4 17
+f 22 11 17
+f 22 17 9
+f 22 9 1
+f 23 19 11
+f 23 16 19
+f 24 1 20
+f 24 22 1
+f 24 23 11
+f 24 16 23
+f 24 20 7
+f 24 7 16
+f 25 11 22
+f 25 22 24
+f 26 25 24
+f 26 24 11
+f 26 11 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098c2c50e62b050b34696052ee503c77c1c4a605
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.26437467 -0.26446455 0.28303284
+v 0.36609554 -0.12682581 0.27615953
+v 0.24977290 -0.12036041 0.35766110
+v 0.16698452 0.08561716 0.33661097
+v 0.00200513 -0.03062489 0.32923351
+v 0.33554610 0.08077687 0.27523088
+v 0.25495199 -0.20984156 0.33036801
+v 0.01933453 0.02761866 0.35669003
+v 0.35950122 -0.05762845 0.29632098
+v 0.25707369 -0.04254132 0.35844576
+v 0.01488162 0.02602617 0.33528316
+v 0.00496468 -0.28282095 0.31126701
+v 0.35956266 -0.06367299 0.29641549
+v 0.36603371 0.00552435 0.27606444
+v 0.25374069 0.07793068 0.32591594
+v 0.10234689 -0.08146849 0.36592881
+v 0.15810380 0.08301110 0.33805893
+v 0.14070076 -0.25260105 0.32581142
+v 0.00915868 -0.21953973 0.34327332
+v 0.25660022 -0.07992024 0.35965104
+v 0.35015171 0.05069411 0.27494100
+v 0.06356997 -0.00795026 0.36193910
+v 0.21670501 -0.25355948 0.31209365
+v 0.11041998 -0.23753599 0.34109227
+v 0.01038638 -0.02124038 0.34867283
+v 0.22362798 -0.11113613 0.36252178
+v 0.28372799 -0.04248304 0.34175145
+v 0.24574080 -0.22322781 0.32737422
+v 0.02444431 -0.23843474 0.34187425
+v 0.25327970 -0.25418832 0.29911664
+v 0.00903184 -0.25534888 0.32944496
+f 6 2 1
+f 7 1 2
+f 7 2 3
+f 11 6 5
+f 11 4 6
+f 11 5 8
+f 12 6 1
+f 12 5 6
+f 13 3 2
+f 14 13 2
+f 14 9 13
+f 15 10 6
+f 15 6 4
+f 15 4 10
+f 17 10 4
+f 17 11 8
+f 17 4 11
+f 19 5 12
+f 19 16 8
+f 20 3 13
+f 20 13 9
+f 20 9 10
+f 21 14 2
+f 21 2 6
+f 21 6 10
+f 21 9 14
+f 22 16 10
+f 22 8 16
+f 22 17 8
+f 22 10 17
+f 23 18 12
+f 23 12 1
+f 24 7 3
+f 24 12 18
+f 25 19 8
+f 25 8 5
+f 25 5 19
+f 26 3 20
+f 26 24 3
+f 26 20 10
+f 26 10 16
+f 27 21 10
+f 27 10 9
+f 27 9 21
+f 28 7 24
+f 28 24 18
+f 28 18 23
+f 29 12 24
+f 29 24 26
+f 29 26 16
+f 29 16 19
+f 30 28 23
+f 30 23 1
+f 30 1 7
+f 30 7 28
+f 31 29 19
+f 31 19 12
+f 31 12 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef9d767dd4c5876ac70cc6a5c97ced001342f5c7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.28030304 -0.02275984 -0.23112305
+v 0.27265528 -0.02708304 -0.41139688
+v 0.31431644 0.24355096 -0.24974274
+v 0.17104348 0.27409011 -0.36124692
+v 0.15909092 -0.02275984 -0.23112305
+v 0.27187060 0.21634624 -0.34050903
+v 0.15758661 -0.02521426 -0.43314763
+v 0.15909092 0.21966440 -0.23112305
+v 0.27105350 0.04776907 -0.39274851
+v 0.18442026 0.27066132 -0.35778517
+v 0.15258230 0.10913259 -0.42831495
+v 0.18726753 -0.02622929 -0.42897216
+v 0.15352603 0.21751256 -0.40244030
+v 0.18092555 0.24875804 -0.38127153
+v 0.16758174 0.26740203 -0.36964606
+v 0.26697356 0.19926774 -0.34879266
+v 0.16754877 0.25218683 -0.38473328
+f 1 2 3
+f 5 2 1
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 11 7 5
+f 11 5 8
+f 12 2 5
+f 12 5 7
+f 12 11 2
+f 12 7 11
+f 13 9 2
+f 13 2 11
+f 13 11 8
+f 14 9 13
+f 14 10 6
+f 15 13 8
+f 15 8 4
+f 15 4 10
+f 15 10 14
+f 16 14 6
+f 16 6 9
+f 16 9 14
+f 17 15 14
+f 17 14 13
+f 17 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b046e83c18378277d63e0ad3e053cd904021831e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.21635205 -0.41509550 0.12284506
+v 0.25543638 -0.32750131 -0.32884757
+v 0.25882718 -0.25932643 0.29107474
+v 0.00801505 -0.26221690 0.32490047
+v 0.00483568 -0.44840443 -0.22332512
+v 0.00757577 -0.25878191 -0.41826774
+v 0.00601590 -0.36661752 0.27226674
+v 0.25557364 -0.43104867 -0.00702728
+v 0.25933451 -0.25979606 -0.37518340
+v 0.15731411 -0.25828071 0.31915618
+v 0.00472054 -0.37479077 -0.35406588
+v 0.21588454 -0.33890752 0.25532681
+v 0.00463636 -0.47596862 -0.00653350
+v 0.25570658 -0.40259255 0.12306740
+v 0.25603320 -0.40308037 -0.20685226
+v 0.17232352 -0.25772649 -0.40178625
+v 0.11031947 -0.28319227 0.31083387
+v 0.00412520 -0.41453641 0.19845107
+v 0.24262834 -0.25814847 0.30456567
+v 0.06465231 -0.44385515 0.12548765
+v 0.12562707 -0.45957914 -0.04629113
+v 0.00423993 -0.41511204 -0.28223577
+v 0.25394221 -0.41389895 0.08345410
+v 0.24529585 -0.40046931 0.13817880
+v 0.25293071 -0.33918638 0.22808784
+v 0.25566623 -0.43126032 -0.07647071
+v 0.21597257 -0.33889256 -0.34016099
+v 0.08142325 -0.25810389 -0.41735332
+v 0.08012554 -0.35935424 0.26599272
+v 0.24296427 -0.25866721 -0.38877306
+v 0.12558758 -0.45935766 -0.03720475
+v 0.21626747 -0.42776927 0.05348581
+v 0.00472096 -0.44782880 0.13954043
+v 0.04976598 -0.37059694 0.26006035
+v 0.00467425 -0.47618110 -0.07695930
+v 0.23836842 -0.34000153 0.24374494
+v 0.20122778 -0.44354790 -0.06129307
+v 0.21646800 -0.41567629 -0.20663841
+v 0.23869323 -0.34045089 -0.32748186
+v 0.08008476 -0.31374855 0.29606649
+v 0.23802139 -0.31469490 -0.35213547
+v 0.24163080 -0.26934052 -0.38209934
+v 0.20118829 -0.44332642 -0.02220280
+v 0.03486007 -0.47552363 -0.03690894
+v 0.00466034 -0.46153880 -0.16805876
+v 0.23097733 -0.35185345 0.22738462
+v 0.23763314 -0.31419279 0.26796011
+v 0.25406334 -0.41409295 -0.16695128
+v 0.24538221 -0.40105561 -0.22197281
+v 0.03448259 -0.47340621 -0.06135622
+v 0.06469905 -0.44384676 -0.21032598
+v 0.24287095 -0.38400714 0.16754694
+v 0.25234718 -0.29877915 0.26761850
+v 0.24656772 -0.42775371 -0.10663836
+v 0.24053242 -0.36813128 -0.28070907
+f 10 6 4
+f 11 4 6
+f 14 8 3
+f 15 2 9
+f 17 10 4
+f 17 4 7
+f 18 7 4
+f 18 4 11
+f 19 16 10
+f 19 3 9
+f 22 11 5
+f 22 18 11
+f 22 13 18
+f 23 14 1
+f 23 1 8
+f 23 8 14
+f 24 1 14
+f 25 14 3
+f 26 15 9
+f 26 9 3
+f 26 3 8
+f 28 6 10
+f 28 10 16
+f 28 16 11
+f 28 11 6
+f 29 12 19
+f 30 19 9
+f 30 16 19
+f 32 20 8
+f 32 8 1
+f 32 1 20
+f 33 18 13
+f 33 13 20
+f 34 20 1
+f 34 33 20
+f 34 18 33
+f 34 1 24
+f 34 24 12
+f 34 12 29
+f 34 29 7
+f 34 7 18
+f 35 13 22
+f 36 14 25
+f 37 26 8
+f 39 2 15
+f 40 17 7
+f 40 7 29
+f 40 10 17
+f 40 29 19
+f 40 19 10
+f 41 9 2
+f 41 2 39
+f 41 39 27
+f 42 27 11
+f 42 11 16
+f 42 16 30
+f 42 41 27
+f 42 30 9
+f 42 9 41
+f 43 31 21
+f 43 8 20
+f 43 20 31
+f 43 37 8
+f 43 21 37
+f 44 21 31
+f 44 13 35
+f 44 31 20
+f 44 20 13
+f 45 35 22
+f 45 22 5
+f 45 37 21
+f 46 36 12
+f 47 19 12
+f 47 12 36
+f 48 38 15
+f 48 15 26
+f 49 38 11
+f 49 11 27
+f 49 15 38
+f 50 44 35
+f 50 21 44
+f 50 45 21
+f 50 35 45
+f 51 45 5
+f 51 26 37
+f 51 37 45
+f 51 5 11
+f 51 11 38
+f 52 36 46
+f 52 24 14
+f 52 14 36
+f 52 46 12
+f 52 12 24
+f 53 47 36
+f 53 36 25
+f 53 25 3
+f 53 3 19
+f 53 19 47
+f 54 48 26
+f 54 38 48
+f 54 51 38
+f 54 26 51
+f 55 49 27
+f 55 27 39
+f 55 39 15
+f 55 15 49
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9800afa43a1e1d2bbbc9d1de6417817c5d45a244
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25795337 -0.43547437 -0.03646812
+v 0.44617192 -0.21037194 -0.20625859
+v 0.49068455 -0.11082610 -0.03701348
+v 0.28030304 0.08330077 -0.03415335
+v 0.25999354 -0.02567559 -0.41683231
+v 0.26515152 -0.02275984 -0.03415335
+v 0.39150229 -0.35519452 -0.03769244
+v 0.25686307 -0.28780990 -0.35686461
+v 0.44733228 0.08009536 -0.20741682
+v 0.25625862 -0.22664397 -0.40154453
+v 0.27367405 0.07955346 -0.38331794
+v 0.46082470 -0.24012486 -0.03773218
+v 0.25802177 -0.40528089 -0.19852725
+v 0.47497611 -0.06502524 -0.19809959
+v 0.47530409 0.08041941 -0.03705224
+v 0.25601720 -0.37375940 -0.25358837
+v 0.37184257 -0.19942316 -0.33886049
+v 0.38969901 -0.35339123 -0.06042757
+v 0.45901540 -0.22348095 -0.10624491
+v 0.46014521 0.08041817 -0.13731383
+v 0.49059626 -0.01046601 -0.03702842
+v 0.25807450 -0.43566836 -0.04702905
+v 0.36831051 -0.32885442 -0.20388305
+v 0.28360493 -0.20728773 -0.39649833
+v 0.39831004 -0.07905452 -0.34209198
+v 0.48847869 -0.11045485 -0.06122275
+v 0.44382166 -0.22345458 -0.18199400
+v 0.45870009 -0.23884508 -0.06041528
+v 0.45931241 0.01912109 -0.20955295
+v 0.49081761 -0.01042876 -0.04646728
+v 0.34517941 -0.38348353 -0.04537439
+v 0.34403573 -0.35236028 -0.19460504
+v 0.38440490 -0.31477350 -0.19392689
+v 0.28158477 -0.31294321 -0.31940882
+v 0.25766875 -0.17323613 -0.41677914
+v 0.45787469 -0.07880993 -0.23545025
+v 0.38509678 -0.10899687 -0.35316843
+v 0.37184257 0.07758420 -0.33886049
+v 0.45843979 -0.15568122 -0.19788368
+v 0.47552544 0.08045666 -0.04644346
+v 0.47488029 -0.05626953 -0.19808465
+v 0.48881873 -0.07993751 -0.09183491
+v 0.26936989 -0.42885183 -0.03810259
+v 0.28452265 -0.38522015 -0.20503850
+v 0.37527044 -0.33896266 -0.16668451
+v 0.41273431 -0.26841939 -0.19698803
+v 0.25681722 -0.34456314 -0.29972937
+v 0.33793593 -0.29850349 -0.27959271
+v 0.45940357 -0.14041732 -0.20959600
+v 0.44394559 -0.05733196 -0.26643540
+v 0.37716715 -0.07906462 -0.36397328
+v 0.41358775 0.07934943 -0.26603214
+v 0.48872291 -0.04135725 -0.09181997
+v 0.26949831 -0.42906502 -0.04540202
+v 0.31230472 -0.30717888 -0.29533738
+v 0.35593192 -0.23617277 -0.32168417
+v 0.44404089 -0.06396790 -0.26648858
+v 0.45777927 -0.04248998 -0.23539700
+v 0.39821461 -0.04224537 -0.34203873
+v 0.28600626 -0.07894685 -0.40891677
+v 0.37711850 -0.04223562 -0.36387454
+v 0.38501880 -0.01230538 -0.35308425
+v 0.28595762 -0.04235339 -0.40881804
+v 0.27265528 -0.02708304 -0.41139688
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 10 6 5
+f 10 1 6
+f 11 6 4
+f 11 5 6
+f 11 4 9
+f 12 3 7
+f 16 10 8
+f 16 1 10
+f 18 12 7
+f 19 3 12
+f 20 9 4
+f 21 15 4
+f 21 4 3
+f 22 16 13
+f 22 1 16
+f 24 17 8
+f 24 8 10
+f 26 3 19
+f 27 19 18
+f 27 2 19
+f 28 19 12
+f 28 12 18
+f 28 18 19
+f 29 9 20
+f 30 21 3
+f 31 22 13
+f 31 13 18
+f 31 18 7
+f 32 18 13
+f 33 23 17
+f 33 17 2
+f 34 8 17
+f 35 24 10
+f 35 10 5
+f 37 25 2
+f 37 2 17
+f 37 17 24
+f 39 26 19
+f 39 19 2
+f 40 15 21
+f 40 21 30
+f 40 20 4
+f 40 4 15
+f 40 29 20
+f 41 40 30
+f 41 29 40
+f 42 26 14
+f 42 30 3
+f 42 3 26
+f 43 31 7
+f 43 7 1
+f 44 32 13
+f 44 13 16
+f 45 32 23
+f 45 18 32
+f 45 33 18
+f 45 23 33
+f 46 27 18
+f 46 18 33
+f 46 33 2
+f 46 2 27
+f 47 16 8
+f 47 8 34
+f 47 44 16
+f 47 32 44
+f 47 23 32
+f 49 36 14
+f 49 39 2
+f 49 14 26
+f 49 26 39
+f 50 9 29
+f 51 37 24
+f 51 24 35
+f 51 25 37
+f 52 38 11
+f 52 11 9
+f 53 41 30
+f 53 30 42
+f 53 42 14
+f 53 14 41
+f 54 43 1
+f 54 1 22
+f 54 22 31
+f 54 31 43
+f 55 47 34
+f 55 23 47
+f 55 48 23
+f 55 34 48
+f 56 48 34
+f 56 34 17
+f 56 17 23
+f 56 23 48
+f 57 36 49
+f 57 14 36
+f 57 41 14
+f 57 49 2
+f 57 2 25
+f 58 50 29
+f 58 29 41
+f 58 57 50
+f 58 41 57
+f 59 9 50
+f 59 57 25
+f 59 50 57
+f 60 51 35
+f 60 35 5
+f 61 59 25
+f 61 25 51
+f 61 51 60
+f 62 38 52
+f 62 52 9
+f 62 9 59
+f 62 61 38
+f 62 59 61
+f 63 38 61
+f 63 61 60
+f 63 60 5
+f 64 63 5
+f 64 38 63
+f 64 5 11
+f 64 11 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12d566411f1e5753a01ef68cbc02c61c17be01d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02164639 -0.02333603 0.33381656
+v 0.02272728 -0.02275984 0.01130119
+v 0.02245816 0.22092730 0.33467524
+v -0.21511647 0.21177620 0.34518303
+v -0.21969696 -0.02275984 0.01130119
+v -0.18953154 -0.02628742 0.35117121
+v -0.21969696 0.21966440 0.01130119
+v -0.22342981 -0.00683107 0.34485526
+v 0.02272728 0.21966440 0.01130119
+v -0.19339731 0.21565207 0.34207514
+v -0.22005881 -0.02268450 0.34318719
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 2
+f 6 2 1
+f 7 2 5
+f 8 6 4
+f 8 7 5
+f 8 4 7
+f 9 7 3
+f 9 3 2
+f 9 2 7
+f 10 7 4
+f 10 4 3
+f 10 3 7
+f 11 8 5
+f 11 5 6
+f 11 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0ccaac64724ad80e96d136f8c8866f0a059b3c5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.25792700 -0.42028063 0.03928097
+v 0.46729670 -0.22887185 -0.03632398
+v 0.36782268 -0.32852781 0.12009818
+v 0.27290270 -0.22689111 0.30409164
+v 0.26515152 -0.23488105 -0.03415335
+v 0.43391494 -0.22614040 0.12377176
+v 0.25649241 -0.34411378 0.21599244
+v 0.39150229 -0.35519452 -0.03769244
+v 0.37526164 -0.22685614 0.21653662
+v 0.46520310 -0.22734462 -0.02142539
+v 0.25790063 -0.40508689 0.11503007
+v 0.25635634 -0.28734095 0.27275661
+v 0.38446341 -0.31467680 0.10909622
+v 0.46082470 -0.24012486 -0.03773218
+v 0.26458887 -0.43091667 -0.03435659
+v 0.31749354 -0.22595859 0.27259350
+v 0.29712501 -0.30895440 0.22532567
+v 0.25707323 -0.39037186 0.14073324
+v 0.37508949 -0.33878170 0.08317714
+v 0.25728886 -0.24275011 0.30425476
+v 0.41254032 -0.26829826 0.11349085
+v 0.31607295 -0.40062149 -0.03765161
+v 0.34259804 -0.26697070 0.22244960
+v 0.28419604 -0.38473233 0.12125363
+v 0.26129803 -0.23131191 0.30939288
+v 0.42856630 -0.23771081 0.12019029
+v 0.41524318 -0.31580596 -0.03775981
+v 0.28709491 -0.41797266 -0.03717300
+v 0.33744811 -0.29817687 0.19580785
+v 0.26892169 -0.39847193 0.11370181
+f 10 2 5
+f 11 1 8
+f 12 5 1
+f 12 1 7
+f 13 9 3
+f 14 5 2
+f 14 2 10
+f 15 1 5
+f 16 9 6
+f 16 6 10
+f 16 10 5
+f 16 5 4
+f 17 7 3
+f 17 12 7
+f 18 7 1
+f 18 1 11
+f 19 11 8
+f 19 13 3
+f 19 8 13
+f 20 5 12
+f 20 12 16
+f 21 9 13
+f 21 13 8
+f 21 8 10
+f 22 5 14
+f 22 8 1
+f 23 3 9
+f 23 9 16
+f 23 16 12
+f 23 12 17
+f 24 18 11
+f 24 3 7
+f 24 7 18
+f 25 4 5
+f 25 5 20
+f 25 20 16
+f 25 16 4
+f 26 21 10
+f 26 10 6
+f 26 6 9
+f 26 9 21
+f 27 22 14
+f 27 8 22
+f 27 14 10
+f 27 10 8
+f 28 15 5
+f 28 5 22
+f 28 22 1
+f 28 1 15
+f 29 23 17
+f 29 17 3
+f 29 3 23
+f 30 19 3
+f 30 3 24
+f 30 24 11
+f 30 11 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..337199023e1d1b2601af30ef54d98970413da166
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.25359842 0.21534332 0.27286114
+v 0.39058065 0.21307750 -0.10753203
+v 0.37427268 0.21238085 0.09957978
+v 0.21289866 0.40534863 0.00884648
+v 0.21969698 0.21966440 -0.23112305
+v 0.30899933 0.32642720 -0.03838950
+v 0.23429141 0.37049542 0.10729182
+v 0.36168651 0.21247402 -0.21018992
+v 0.21332253 0.25374195 0.27221827
+v 0.38560630 0.23575396 -0.02309144
+v 0.29255730 0.28155415 0.15094908
+v 0.24877518 0.38736255 -0.00798993
+v 0.37448584 0.21250926 -0.18308438
+v 0.36063614 0.21182664 0.12512805
+v 0.21976396 0.21967320 0.28416909
+v 0.21205529 0.37491778 -0.20832829
+v 0.21172865 0.37442993 0.12454337
+v 0.39036749 0.21294909 0.02402743
+v 0.38579682 0.23592418 -0.06041575
+v 0.30890361 0.29683303 0.08359145
+v 0.24919301 0.23690705 0.26907487
+v 0.21215175 0.38939876 0.08463291
+v 0.32315948 0.26711639 0.12011868
+v 0.21101485 0.29946862 0.22941440
+v 0.21302705 0.40556176 -0.09235106
+v 0.34960758 0.21479335 -0.22720635
+v 0.23418701 0.37061021 -0.19211415
+v 0.38389526 0.22420176 0.02261933
+v 0.30919259 0.32659383 -0.04511758
+v 0.38410843 0.22433018 -0.10612394
+v 0.27889426 0.32525378 0.09856287
+v 0.26850601 0.21525209 0.25747385
+v 0.22358460 0.38278410 0.08299165
+v 0.21227285 0.38959271 -0.16813007
+v 0.35512337 0.22289269 0.12127846
+v 0.36836107 0.22013905 0.09850667
+v 0.22329919 0.36908155 0.12096166
+v 0.23962729 0.39941499 -0.03789869
+v 0.21382197 0.36240490 -0.22524685
+v 0.32341456 0.26706477 -0.20535315
+v 0.26446619 0.22485555 0.25793727
+v 0.24896844 0.38752918 -0.07551715
+v 0.22362583 0.36956939 -0.20474659
+v 0.35578560 0.22317125 -0.20660834
+v 0.22276026 0.35866787 -0.22125580
+v 0.36931988 0.21958849 -0.18128715
+v 0.22371299 0.38299723 -0.16649623
+v 0.23834787 0.39729111 -0.06024908
+v 0.29376027 0.30983292 -0.18195821
+v 0.33780576 0.23618781 -0.22004319
+f 8 1 5
+f 14 1 8
+f 14 8 13
+f 15 9 5
+f 15 5 1
+f 18 3 14
+f 18 14 13
+f 18 13 2
+f 19 18 2
+f 19 10 18
+f 20 10 6
+f 20 6 12
+f 21 15 1
+f 21 9 15
+f 21 11 7
+f 22 17 7
+f 23 7 11
+f 24 16 5
+f 24 5 9
+f 24 17 16
+f 24 9 21
+f 24 21 7
+f 26 8 5
+f 28 18 10
+f 28 3 18
+f 28 10 20
+f 29 6 10
+f 29 10 19
+f 30 19 2
+f 30 2 13
+f 31 20 12
+f 31 12 7
+f 31 23 20
+f 31 7 23
+f 32 1 14
+f 33 22 7
+f 33 7 12
+f 33 12 22
+f 34 16 17
+f 34 17 22
+f 34 22 4
+f 34 4 25
+f 34 27 16
+f 35 14 3
+f 35 3 23
+f 35 21 14
+f 35 23 11
+f 35 11 21
+f 36 23 3
+f 36 20 23
+f 36 28 20
+f 36 3 28
+f 37 24 7
+f 37 7 17
+f 37 17 24
+f 38 25 4
+f 38 12 6
+f 38 6 29
+f 38 22 12
+f 38 4 22
+f 39 26 5
+f 39 5 16
+f 40 8 26
+f 41 32 14
+f 41 14 21
+f 41 21 1
+f 41 1 32
+f 42 38 29
+f 42 29 19
+f 43 39 16
+f 43 16 27
+f 44 40 13
+f 44 13 8
+f 44 8 40
+f 45 27 40
+f 45 43 27
+f 45 39 43
+f 45 26 39
+f 46 30 13
+f 46 13 40
+f 47 42 27
+f 47 27 34
+f 47 34 42
+f 48 25 38
+f 48 38 42
+f 48 42 34
+f 48 34 25
+f 49 40 27
+f 49 27 42
+f 49 42 19
+f 49 46 40
+f 49 19 30
+f 49 30 46
+f 50 45 40
+f 50 40 26
+f 50 26 45
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27ceb2021be2f24ffebc08271fed7a4d981b604b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26437467 -0.26446455 0.28303284
+v 0.26515152 -0.26518408 -0.23112305
+v 0.29190925 -0.01016732 0.32792241
+v 0.00200513 -0.03062489 0.32923351
+v 0.00496468 -0.28282095 0.31126701
+v 0.00757577 -0.02275984 -0.23112305
+v 0.26515152 -0.02275984 -0.23112305
+v 0.00757577 -0.26518408 -0.23112305
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a1d8b575f5aef06cad589f6f0d1dd438307013c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.21969698 0.21966440 0.16281634
+v 0.21969698 0.21966440 -0.23112305
+v 0.26162253 0.37702564 -0.02355543
+v 0.02272728 0.34087653 0.16281634
+v 0.02272728 0.21966440 0.16281634
+v 0.02272728 0.34087653 -0.23112305
+v 0.21967066 0.34084928 0.16279486
+v 0.22460041 0.34595172 -0.23512557
+v 0.02272728 0.21966440 -0.23112305
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 9 2 5
+f 9 5 6
+f 9 8 2
+f 9 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7d3db71625f6d72035340c8979a4ee446187b66
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02272728 -0.02275984 0.01130119
+v 0.02272728 -0.02275984 -0.21597153
+v 0.02272728 0.23481592 0.01130119
+v -0.34090908 0.23481592 0.01130119
+v -0.34090908 -0.02275984 -0.21597153
+v -0.36822678 0.25456261 -0.23291585
+v -0.34090908 -0.02275984 0.01130119
+v 0.02272728 0.23481592 -0.21597153
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f87b62a4e109b4853f9e85db81b1c12ce93fdf1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.02245816 0.22092730 0.33467524
+v 0.02963585 0.26797756 -0.41731050
+v 0.01933615 0.47383353 0.05386225
+v -0.19217942 0.44498285 0.12190370
+v -0.41800474 0.21644608 0.00890057
+v -0.19337346 0.44540266 -0.20479728
+v 0.00285772 0.38560757 0.26890759
+v 0.01971008 0.46248292 0.12622395
+v -0.06743800 0.23432191 -0.43745213
+v -0.21860747 0.22161160 0.33877517
+v 0.01849016 0.45768673 -0.21981239
+v -0.09556667 0.49020429 -0.04636972
+v -0.29966908 0.41362886 -0.04535513
+v 0.01916204 0.37877840 0.26848614
+v -0.04878518 0.45915972 0.15272676
+v 0.02272728 0.21966440 0.01130119
+v -0.09362722 0.38447822 -0.35253292
+v -0.32413003 0.23051621 -0.32742299
+v -0.30031529 0.21644054 0.26871319
+v -0.18003706 0.37181724 0.25402051
+v -0.04152975 0.28688360 0.32706375
+v 0.01937337 0.47403722 -0.13735222
+v -0.04095193 0.47557373 -0.19819785
+v -0.18645208 0.47491211 -0.04634591
+v 0.01920090 0.38646410 0.26049606
+v -0.02702318 0.39833824 0.25866715
+v -0.04098914 0.47537005 0.11470787
+v -0.20881096 0.23140636 -0.41189292
+v -0.06378460 0.37618144 -0.36424660
+v -0.18003706 0.37181724 -0.33886049
+v -0.31612756 0.37183002 -0.19193058
+v -0.37079095 0.21567383 0.16890896
+v -0.31458846 0.23790893 0.25342326
+v -0.07893999 0.38663023 0.27001159
+v 0.02131746 0.26939804 0.32818099
+v 0.00445955 0.48902758 -0.06132204
+v -0.04891727 0.45972413 -0.23650043
+v -0.22398799 0.45921038 -0.04538276
+v -0.12509092 0.45868389 -0.20926967
+v -0.02726720 0.45790505 0.15202661
+v -0.09437054 0.45825348 0.13668223
+v -0.19674709 0.46016708 0.03837425
+v -0.09552942 0.48998300 -0.03712596
+v 0.00442230 0.48880628 -0.02217365
+v -0.41557670 0.21588038 0.02363012
+v -0.06648828 0.25698999 -0.43103073
+v 0.00306664 0.38557695 -0.35371942
+v -0.17005511 0.44276507 -0.21994558
+v -0.29836428 0.23728451 -0.35047748
+v -0.19310744 0.25452517 -0.41343544
+v -0.32785751 0.38352189 -0.10570066
+v -0.38568358 0.25451907 -0.20536985
+v -0.31785865 0.21707441 0.25692664
+v -0.22329663 0.23482260 0.33016806
+v -0.31593477 0.37166017 0.10753700
+v -0.18519532 0.41240988 0.18191173
+v -0.06356948 0.39698966 0.25791460
+v -0.04892245 0.37762846 0.28127125
+v -0.04994861 0.49067852 -0.09212996
+v -0.02713517 0.45846931 -0.23580023
+v -0.19683969 0.46037867 -0.12187223
+v -0.04970934 0.47421762 -0.19798641
+v -0.06370197 0.39755594 -0.34168936
+v -0.04967212 0.47401394 0.11449643
+f 8 1 2
+f 8 2 3
+f 16 9 2
+f 16 2 1
+f 19 1 10
+f 19 16 1
+f 21 10 1
+f 22 3 2
+f 22 2 11
+f 23 22 11
+f 25 8 7
+f 25 7 14
+f 26 7 8
+f 28 9 16
+f 28 5 18
+f 31 6 30
+f 32 16 19
+f 35 14 7
+f 35 21 1
+f 35 25 14
+f 35 1 8
+f 35 8 25
+f 36 3 22
+f 36 22 23
+f 39 23 37
+f 40 26 8
+f 40 15 26
+f 40 27 15
+f 40 8 27
+f 41 15 27
+f 42 24 38
+f 42 38 13
+f 43 12 24
+f 43 24 42
+f 44 27 8
+f 44 8 3
+f 44 3 36
+f 44 43 27
+f 44 12 43
+f 45 28 16
+f 45 5 28
+f 45 16 32
+f 46 29 2
+f 46 2 9
+f 47 11 2
+f 47 2 29
+f 48 30 6
+f 48 17 30
+f 48 6 39
+f 49 28 18
+f 49 31 30
+f 49 18 31
+f 50 30 17
+f 50 49 30
+f 50 28 49
+f 50 17 29
+f 50 29 46
+f 50 46 9
+f 50 9 28
+f 51 13 6
+f 51 6 31
+f 52 31 18
+f 52 18 5
+f 52 51 31
+f 52 5 51
+f 53 19 10
+f 53 10 33
+f 53 33 32
+f 53 32 19
+f 54 33 10
+f 54 20 33
+f 54 34 20
+f 55 33 20
+f 55 20 4
+f 55 32 33
+f 55 45 32
+f 55 5 45
+f 55 51 5
+f 55 13 51
+f 55 42 13
+f 55 4 42
+f 56 34 4
+f 56 4 20
+f 56 20 34
+f 57 34 26
+f 57 26 15
+f 57 15 41
+f 57 41 4
+f 57 4 34
+f 58 7 26
+f 58 26 34
+f 58 35 7
+f 58 21 35
+f 58 10 21
+f 58 54 10
+f 58 34 54
+f 59 36 23
+f 59 44 36
+f 59 12 44
+f 60 37 23
+f 60 23 11
+f 60 47 37
+f 60 11 47
+f 61 38 24
+f 61 6 13
+f 61 13 38
+f 61 39 6
+f 62 23 39
+f 62 24 12
+f 62 59 23
+f 62 12 59
+f 62 61 24
+f 62 39 61
+f 63 39 37
+f 63 48 39
+f 63 17 48
+f 63 37 47
+f 63 47 29
+f 63 29 17
+f 64 41 27
+f 64 4 41
+f 64 42 4
+f 64 43 42
+f 64 27 43
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e49aa30f58ec1fa4d2c46197148df9789ec52b1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21969696 -0.02275984 0.19311937
+v -0.21969696 -0.02275984 0.01130119
+v -0.21969696 0.21966440 0.19311937
+v -0.35143258 0.22236110 0.19924108
+v -0.34090908 -0.02275984 0.01130119
+v -0.34090908 -0.02275984 0.19311937
+v -0.21969696 0.21966440 0.01130119
+v -0.34090908 0.21966440 0.01130119
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20b7c3700e005e3fbb3c1363f89991cccd9f95d0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.28030304 -0.02275984 -0.03415335
+v 0.28030304 -0.02275984 -0.23112305
+v 0.31431644 0.24355096 -0.24974274
+v 0.02272728 0.21966440 -0.03415335
+v 0.02272728 -0.02275984 -0.23112305
+v 0.28030304 0.21966440 -0.03415335
+v 0.02272728 -0.02275984 -0.03415335
+v 0.30761599 0.24948588 -0.25436903
+v 0.02272728 0.21966440 -0.23112305
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 9 8 5
+f 9 5 4
+f 9 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3090950918b0d0c57b1c8d30559efee1fe7b615c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.26162253 0.37702564 -0.02355543
+v 0.22460041 0.34595172 -0.23512557
+v 0.10790713 0.44601720 -0.20648940
+v 0.02198875 0.48800350 -0.03489619
+v 0.02272728 0.34087653 -0.03415335
+v 0.09571612 0.47594069 -0.03693820
+v 0.20967907 0.38598234 -0.19418185
+v 0.14735348 0.43121571 0.07787624
+v 0.02272728 0.34087653 -0.23112305
+v 0.01981735 0.46246467 -0.21105530
+v 0.20847358 0.36956831 -0.21989738
+v 0.16266783 0.44287438 -0.06027707
+v 0.20245869 0.39814058 0.07123634
+v 0.12089337 0.44944544 0.06936910
+v 0.09534497 0.47373540 -0.06129823
+v 0.02086664 0.45350218 -0.22615622
+v 0.01978149 0.47627070 -0.12254894
+v 0.11692736 0.43052970 -0.22094600
+v 0.20796252 0.41230598 -0.07537087
+v 0.21514758 0.39393042 0.05511306
+v 0.13193930 0.45802177 -0.00770846
+v 0.03445044 0.45997415 -0.20987905
+v 0.11705542 0.45845039 -0.12129035
+v 0.07941282 0.44399624 -0.22065752
+v 0.20924194 0.41442985 -0.02277690
+v 0.11703054 0.44325904 -0.19703993
+v 0.13206041 0.45821573 -0.07578870
+v 0.16253945 0.44266126 -0.02322750
+f 5 2 1
+f 7 1 2
+f 9 2 5
+f 10 9 5
+f 11 7 2
+f 13 8 5
+f 14 4 5
+f 14 5 8
+f 14 6 4
+f 15 4 6
+f 16 2 9
+f 16 9 10
+f 17 10 5
+f 17 5 4
+f 17 15 10
+f 17 4 15
+f 18 11 2
+f 18 3 7
+f 18 7 11
+f 18 2 16
+f 19 1 7
+f 20 13 5
+f 20 5 1
+f 20 8 13
+f 21 6 14
+f 22 15 3
+f 22 10 15
+f 22 16 10
+f 23 3 15
+f 23 12 19
+f 24 18 16
+f 24 3 18
+f 24 22 3
+f 24 16 22
+f 25 19 12
+f 25 1 19
+f 25 20 1
+f 25 14 8
+f 25 8 20
+f 26 19 7
+f 26 7 3
+f 26 23 19
+f 26 3 23
+f 27 21 12
+f 27 6 21
+f 27 12 23
+f 27 23 15
+f 27 15 6
+f 28 25 12
+f 28 12 21
+f 28 21 14
+f 28 14 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb6a65693fca9cc99514a9141935142359cba92c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.06520425 -0.44545146 0.11464378
+v 0.12941373 -0.45038226 0.01185200
+v 0.00757577 -0.26518408 0.19311937
+v -0.23484847 -0.26518408 0.19311937
+v -0.29846425 -0.43667060 0.01226866
+v 0.00538315 -0.42084853 0.18687948
+v 0.08284241 -0.44435082 0.10177820
+v -0.18667184 -0.47628298 0.00856339
+v 0.00757577 -0.26518408 0.01130119
+v -0.23098796 -0.41403447 0.18281359
+v -0.09722363 -0.47546805 0.11471300
+v 0.12898277 -0.44805475 0.02662422
+v -0.23484847 -0.26518408 0.01130119
+v 0.12676918 -0.45125122 0.00952449
+v -0.31299853 -0.41449173 0.07754678
+v -0.04162552 -0.45850475 0.13700212
+v -0.23173365 -0.44777886 0.12419817
+v -0.10918190 -0.45833322 0.15222920
+v -0.25657716 -0.46357406 0.00854497
+v -0.01047549 -0.47619112 0.00865423
+v -0.31778278 -0.42346393 0.01936474
+v 0.00442308 -0.43118260 0.16899575
+v -0.17006522 -0.42772451 0.18196820
+v -0.17077812 -0.46038761 0.12523435
+v -0.08713912 -0.45888536 0.15253731
+v -0.27421308 -0.45240116 0.00934358
+v -0.26890166 -0.44389529 0.06824228
+v 0.06555937 -0.46259495 0.00890734
+v -0.01124647 -0.44373467 0.15236997
+v -0.25392145 -0.45932112 0.03799432
+v -0.02625384 -0.42930648 0.18308323
+f 6 3 4
+f 7 6 1
+f 7 3 6
+f 9 4 3
+f 10 6 4
+f 11 7 1
+f 12 3 7
+f 12 9 3
+f 12 2 9
+f 13 4 9
+f 14 9 2
+f 14 7 11
+f 14 12 7
+f 14 2 12
+f 15 10 4
+f 16 11 1
+f 17 10 15
+f 18 10 17
+f 19 13 9
+f 20 11 8
+f 20 8 19
+f 20 19 9
+f 21 13 5
+f 21 15 4
+f 21 4 13
+f 22 1 6
+f 23 6 10
+f 23 10 18
+f 24 18 17
+f 24 11 18
+f 25 23 18
+f 25 22 6
+f 25 18 11
+f 25 11 16
+f 26 5 13
+f 26 13 19
+f 26 21 5
+f 26 19 21
+f 27 17 15
+f 27 15 21
+f 28 14 11
+f 28 11 20
+f 28 20 9
+f 28 9 14
+f 29 16 1
+f 29 1 22
+f 29 25 16
+f 29 22 25
+f 30 24 17
+f 30 11 24
+f 30 19 8
+f 30 8 11
+f 30 17 27
+f 30 27 21
+f 30 21 19
+f 31 25 6
+f 31 6 23
+f 31 23 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ddf26f22f982a514c083ea1b8214c8ab5b2d18
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.23189539 0.21277190 0.28110315
+v 0.21969698 0.21966440 0.16281634
+v 0.21394214 0.35007162 0.15811885
+v 0.02174308 0.44239527 0.16018911
+v 0.02245816 0.22092730 0.33467524
+v 0.02272728 0.21966440 0.16281634
+v 0.09413970 0.37223201 0.25446827
+v 0.23400722 0.21770089 0.27887878
+v 0.18142416 0.37442775 0.15484494
+v 0.01899373 0.42970761 0.18315298
+v 0.23175618 0.23441001 0.27753597
+v 0.06565271 0.43526581 0.15606508
+v 0.10145819 0.38463572 0.22812430
+v 0.01916204 0.37877840 0.26848614
+v 0.01920090 0.38646410 0.26049606
+v 0.13067338 0.35722413 0.23826931
+v 0.13216710 0.24693847 0.33017529
+v 0.10422083 0.41876049 0.16988876
+v 0.02131746 0.26939804 0.32818099
+v 0.20490665 0.34071961 0.18104649
+v 0.12209768 0.22050048 0.34005161
+v 0.10778276 0.42368793 0.15779359
+v 0.05146642 0.26820983 0.32638284
+v 0.13552605 0.40499536 0.15559717
+f 6 2 1
+f 6 1 5
+f 8 1 2
+f 8 2 3
+f 9 3 2
+f 9 2 6
+f 10 4 6
+f 11 8 3
+f 11 1 8
+f 12 9 6
+f 12 6 4
+f 14 10 6
+f 15 4 10
+f 15 12 4
+f 15 14 7
+f 15 10 14
+f 16 7 11
+f 16 13 7
+f 16 3 13
+f 17 11 7
+f 17 1 11
+f 17 7 14
+f 18 13 3
+f 18 7 13
+f 18 15 7
+f 18 12 15
+f 19 14 6
+f 19 6 5
+f 20 16 11
+f 20 11 3
+f 20 3 16
+f 21 5 1
+f 21 1 17
+f 21 19 5
+f 21 17 19
+f 22 18 3
+f 22 3 9
+f 22 12 18
+f 23 19 17
+f 23 17 14
+f 23 14 19
+f 24 22 9
+f 24 9 12
+f 24 12 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7c4e40bf18d055206cf71cf2b978e10c3b4012e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.15909092 -0.02275984 -0.23112305
+v 0.15758661 -0.02521426 -0.43314763
+v 0.15909092 0.21966440 -0.23112305
+v -0.39179073 0.23232399 -0.21031467
+v -0.45575034 -0.02435155 -0.21343962
+v 0.02131967 0.23425325 -0.43223115
+v 0.02272728 -0.02275984 -0.21597153
+v -0.40028706 -0.02710069 -0.31289216
+v 0.15352603 0.21751256 -0.40244030
+v 0.02272728 0.23481592 -0.21597153
+v -0.44999820 -0.02586157 -0.22422018
+v -0.40444693 0.18623001 -0.20886311
+v -0.24405187 -0.02531339 -0.44389103
+v 0.10820447 0.14059472 -0.44222011
+v -0.15688274 0.23334935 -0.42604895
+v -0.37586961 -0.02590615 -0.35608289
+v -0.44898530 0.00432024 -0.21243717
+v -0.26967965 -0.02637183 -0.42718062
+v 0.15103646 0.12322216 -0.42476915
+v 0.10814168 0.21628563 -0.42674284
+v -0.05095421 0.20313403 -0.44222889
+v 0.12168321 -0.02226902 -0.44160187
+v -0.29950295 0.23133836 -0.35096379
+v -0.36040859 -0.02628550 -0.36654537
+v 0.11890975 0.12493561 -0.43975578
+v -0.04002108 0.20365655 -0.44163443
+v -0.32413003 0.23051621 -0.32742299
+v -0.20881096 0.23140636 -0.41189292
+v -0.32430079 0.19998904 -0.34121141
+v -0.20916724 0.15576038 -0.42757463
+v -0.18745610 0.20270680 -0.42535256
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 9 6 3
+f 9 3 2
+f 10 3 6
+f 10 7 3
+f 11 7 5
+f 11 1 7
+f 11 8 1
+f 12 10 4
+f 12 7 10
+f 15 10 6
+f 15 4 10
+f 16 11 5
+f 16 8 11
+f 16 12 4
+f 17 5 7
+f 17 7 12
+f 17 16 5
+f 17 12 16
+f 18 13 2
+f 18 2 8
+f 19 9 2
+f 20 14 6
+f 20 6 9
+f 20 19 14
+f 20 9 19
+f 21 14 13
+f 21 15 6
+f 21 13 15
+f 22 14 2
+f 22 2 13
+f 22 13 14
+f 23 4 15
+f 24 18 8
+f 24 8 16
+f 25 19 2
+f 25 2 14
+f 25 14 19
+f 26 21 6
+f 26 6 14
+f 26 14 21
+f 27 4 23
+f 28 23 15
+f 28 13 18
+f 28 18 24
+f 28 24 16
+f 29 27 23
+f 29 16 4
+f 29 4 27
+f 29 28 16
+f 29 23 28
+f 30 13 28
+f 31 30 28
+f 31 28 15
+f 31 15 13
+f 31 13 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb8df5a3143aab5f59c4a06a90068856ad3e84b1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00903184 -0.25534888 0.32944496
+v 0.00757577 -0.28033560 -0.21597153
+v 0.00757577 -0.02275984 -0.21597153
+v -0.23787738 -0.02212916 0.34767093
+v -0.23484847 -0.28033560 0.01130119
+v 0.00725629 -0.02305252 0.33133549
+v 0.00999220 -0.06015574 0.34309687
+v 0.00757577 -0.28033560 0.01130119
+v -0.23561631 -0.25538862 0.32953250
+v -0.23484847 -0.28033560 -0.21597153
+v -0.16277038 -0.02149743 0.34494418
+v -0.04425482 -0.25270120 0.34373548
+v -0.23484847 -0.02275984 -0.21597153
+v -0.23749782 -0.08706993 0.34890710
+v -0.00590451 -0.17407460 0.34235195
+v -0.02085234 -0.23427255 0.34022712
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 10 3 2
+f 10 2 5
+f 10 5 9
+f 11 6 3
+f 11 7 6
+f 11 4 7
+f 12 9 1
+f 13 10 4
+f 13 3 10
+f 13 11 3
+f 13 4 11
+f 14 10 9
+f 14 4 10
+f 14 9 12
+f 14 12 7
+f 14 7 4
+f 15 1 7
+f 15 7 12
+f 16 15 12
+f 16 12 1
+f 16 1 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa6b2aec659ea3940aea77a6bef167e8e1d7e910
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.26518408 -0.23112305
+v 0.25378718 -0.25465782 -0.38322573
+v 0.26515152 -0.02275984 -0.23112305
+v -0.23484847 -0.02275984 -0.21597153
+v -0.23484847 -0.28033560 -0.21597153
+v -0.23470259 -0.02418790 -0.44387427
+v 0.00757577 -0.02275984 -0.21597153
+v 0.25999354 -0.02567559 -0.41683231
+v 0.00757577 -0.26941747 -0.41133739
+v 0.12168321 -0.02226902 -0.44160187
+v -0.23519309 -0.14059848 -0.44162243
+v 0.00757577 -0.28033560 -0.21597153
+v 0.25558363 -0.20978526 -0.41480216
+v -0.23453525 -0.27390301 -0.40313636
+v -0.00775723 -0.15734616 -0.44169736
+v 0.24738125 -0.11272579 -0.42566773
+v 0.14086260 -0.25322647 -0.41020670
+v -0.17351781 -0.24148408 -0.42635441
+v -0.23519477 -0.21633965 -0.42638931
+v -0.10961202 -0.27246245 -0.40994961
+v 0.14229664 -0.11179842 -0.44105915
+v 0.24713688 -0.04258280 -0.42402755
+v 0.23171496 -0.25300601 -0.39472542
+v 0.15630549 -0.22405583 -0.42705202
+v -0.09723832 -0.15722643 -0.44105653
+v -0.23441895 -0.25636308 -0.41464733
+v 0.21803558 -0.18753476 -0.42571091
+v 0.15651390 -0.05726750 -0.44109937
+v 0.24568452 -0.22385920 -0.41180826
+v 0.11195665 -0.14205936 -0.44066909
+v 0.11058179 -0.23816133 -0.42548740
+v 0.15647495 -0.08242377 -0.44083798
+v 0.23220334 -0.15817084 -0.42549059
+v 0.20286558 -0.20266524 -0.42551588
+f 7 1 3
+f 7 4 5
+f 8 3 1
+f 9 2 1
+f 10 6 4
+f 10 3 8
+f 10 7 3
+f 10 4 7
+f 11 4 6
+f 12 7 5
+f 12 1 7
+f 12 9 1
+f 13 8 1
+f 13 1 2
+f 14 12 5
+f 15 11 6
+f 16 8 13
+f 19 14 5
+f 19 11 18
+f 19 5 4
+f 19 4 11
+f 20 9 12
+f 20 12 14
+f 20 18 9
+f 21 15 6
+f 21 6 10
+f 22 10 8
+f 22 8 16
+f 23 2 9
+f 23 9 17
+f 25 18 11
+f 25 11 15
+f 25 15 18
+f 26 19 18
+f 26 14 19
+f 26 20 14
+f 26 18 20
+f 28 21 10
+f 28 10 22
+f 28 22 16
+f 29 13 2
+f 29 2 23
+f 29 24 13
+f 30 24 15
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_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
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c1e69be5a1bb8f956d33fee076266b61e02888
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_1/visual/model_normalized_0.obj
@@ -0,0 +1,1393 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..990f1b3f2dbeb370e311ba619796bf74d5b63568
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c5bc780aae3cacf09a06efaac3cd00ee7af3306
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f05bbac77780cc5e5e61e4b1c89b2619dcf466a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_10.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f83488872773b9beaf0cf6c4bffb6efd82cb15
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_11.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c90e510b55228a585dc4df4b00db42a67f693e9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_12.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ce6dd07fcd23c486f3d3e5e5230cec0f2461e9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_13.obj
@@ -0,0 +1,202 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02787b19f98a84e03d48e97015f73f9d0eb69d46
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_14.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_15.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f89d700d7ec1813211e361a225cdd54103b4f788
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_15.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1ec4a5e12f2f06b4b2a5f2b8aa6813c32945e1e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ef568ddd2efb4c38a12f1ff494ded5fba62f642
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..172f79bc4cae0c733cac0abf0536554e2f123da9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed069a2e9615377a7be1864c6ff8942f377b9d71
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,1411 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3fab73239db85f5778f95175f96e93f7c1c8d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_6.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cbcee2b0c5ac8d49cb4b7ae5a95c7d2b65e3f12
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_7.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56dc2a426be13080e062f7a58e4ad9a1806e0ae2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_8.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c061f574829cde8d6bfae68feffc5cb9a893872
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d24136ed474effed7d6438d485b74e1623d6744
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+f 60 47 36
+f 60 36 3
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+f 62 10 32
+f 62 32 49
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+f 63 53 34
+f 63 34 52
+f 63 52 53
+f 64 58 31
+f 64 19 58
+f 64 31 11
+f 64 11 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4fc78038f371df15ae11898f36899760cd440ca
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08152442 -0.46374851 -0.17554984
+v 0.23225999 -0.26183486 -0.34284591
+v 0.15887004 -0.14373951 -0.21201846
+v -0.23452232 -0.14373951 -0.21201846
+v -0.18177840 -0.24007089 -0.37620790
+v 0.23452241 -0.26478331 -0.18175751
+v 0.08164611 -0.35875953 -0.33087067
+v -0.23243250 -0.41104280 -0.17914430
+v 0.15518653 -0.14091306 -0.41055465
+v 0.23243259 -0.41104278 -0.17914428
+v -0.24434649 -0.15127787 -0.38363934
+v -0.23452232 -0.26478331 -0.18175751
+v -0.09578660 -0.42689298 -0.24801930
+v 0.05132774 -0.29780146 -0.37562917
+v 0.15273684 -0.44667263 -0.17408824
+v 0.22269660 -0.37041542 -0.25734603
+v -0.22295230 -0.31022688 -0.31819658
+v -0.05199055 -0.14140722 -0.42361114
+v 0.02043327 -0.42916375 -0.25898269
+v -0.08152432 -0.46374852 -0.17554985
+v -0.08164601 -0.35875953 -0.33087067
+v 0.16609416 -0.25447955 -0.37489894
+v 0.21475235 -0.42001759 -0.17595593
+v 0.18185125 -0.33799132 -0.31818327
+v 0.16575177 -0.41130429 -0.23196474
+v -0.22749911 -0.28589144 -0.33159467
+v -0.22269653 -0.37041544 -0.25734606
+v -0.09795132 -0.14322250 -0.41987880
+v 0.06567754 -0.21357449 -0.40582081
+v -0.12157269 -0.44449237 -0.20321990
+v -0.15273675 -0.44667266 -0.17408825
+v -0.02030348 -0.45843952 -0.20324838
+v -0.03621877 -0.34335700 -0.34560637
+v -0.16905363 -0.32849309 -0.32959533
+v -0.02043318 -0.42916376 -0.25898269
+v 0.20155176 -0.21586054 -0.38084269
+v 0.10850595 -0.28303920 -0.37488947
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+v 0.22792358 -0.40015706 -0.20376694
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+v -0.18703108 -0.21665536 -0.38371049
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+v 0.03621887 -0.34335700 -0.34560637
+v -0.19613045 -0.31470880 -0.32897680
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+v -0.06567745 -0.21357449 -0.40582082
+v -0.13980671 -0.22939710 -0.39022216
+v -0.05132764 -0.29780147 -0.37562918
+v -0.16575168 -0.41130431 -0.23196476
+v 0.03527956 -0.44213559 -0.23294296
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+f 36 9 2
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+f 41 11 28
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+f 48 26 5
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+f 49 21 35
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+f 49 34 21
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+f 60 18 43
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+f 61 5 41
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+f 61 41 28
+f 61 28 60
+f 62 14 33
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+f 62 34 5
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+f 63 44 30
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+f 63 31 8
+f 63 30 31
+f 64 46 19
+f 64 19 40
+f 64 40 1
+f 64 1 46
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97a39a95795263df25f47dddddd9713c87ce371a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.40792936 -0.13149682 0.18582566
+v 0.47310221 -0.12615526 -0.11676730
+v 0.46056583 0.11136630 0.11130521
+v 0.39319402 0.22856513 0.14533989
+v 0.43253694 -0.15682009 -0.19811416
+v 0.40520677 0.23778284 -0.18432047
+v 0.42756353 0.09587492 0.17019592
+v 0.46056583 -0.11136630 0.11130520
+v 0.45946609 0.12311356 -0.17307833
+v 0.44317385 0.21180943 -0.00138517
+v 0.40095764 -0.14373951 0.01493866
+v 0.42672878 0.13561252 0.15371495
+v 0.39205603 0.18544377 0.17568979
+v 0.47547705 -0.08107649 0.05707075
+v 0.44258355 -0.05046896 0.15499972
+v 0.47351041 -0.13618837 0.01375022
+v 0.45102536 -0.13940925 -0.17634273
+v 0.46215532 0.09644509 -0.17478085
+v 0.42788329 0.22687359 0.05635874
+v 0.45819741 0.18150419 -0.08623763
+v 0.44333842 0.11109024 0.14031842
+v 0.42852097 0.19687678 0.11116724
+v 0.45835845 0.06568427 0.12512222
+v 0.42756353 -0.09587492 0.17019592
+v 0.47314903 -0.13603868 -0.10132209
+v 0.47269347 -0.12610145 0.04138242
+v 0.44848224 -0.12322538 0.12768308
+v 0.47866218 -0.08149582 -0.11810024
+v 0.42775977 0.22682243 -0.13158360
+v 0.41560631 0.22805554 0.11116723
+v 0.45655294 0.16569256 0.04088604
+v 0.44451392 0.13671212 0.12514912
+v 0.45835844 -0.06568427 0.12512222
+v 0.44258355 0.05046896 0.15499972
+v 0.41902949 -0.12356015 0.17359058
+v 0.44333842 -0.11109024 0.14031842
+v 0.45777427 0.18132892 -0.03168068
+v 0.44201935 0.21133122 -0.10109859
+v 0.45766303 0.13589142 -0.16175252
+v 0.39793616 0.22700358 0.13952207
+v 0.44315861 0.16641169 0.10178132
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+v 0.41566491 0.22807982 -0.17370141
+v 0.44231996 0.16606431 -0.17183372
+v 0.42653334 0.21118395 -0.16152902
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+f 43 6 29
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+f 44 9 43
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+f 45 43 29
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+f 45 39 44
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee9ed3479e2c3975d57b0726f6a13aaca7f6fcef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.40339565 -0.27826409 0.01627240
+v 0.43253694 -0.15682009 -0.19811416
+v 0.38794078 0.22453418 0.15656403
+v 0.30238607 0.25176592 0.21902081
+v 0.27991384 -0.26478331 -0.18175751
+v 0.27991384 0.23452237 -0.18175751
+v 0.30502753 -0.23866231 0.22344599
+v 0.43328505 -0.23278233 0.01704612
+v 0.38593333 -0.26486478 -0.18182155
+v 0.40520677 0.23778284 -0.18432047
+v 0.27991384 -0.26478331 0.01493866
+v 0.38411935 0.21241724 0.17062186
+v 0.38411937 -0.21241725 0.17062187
+v 0.37462164 0.22592407 0.17304143
+f 6 2 5
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+f 10 4 3
+f 11 6 5
+f 11 4 6
+f 11 7 4
+f 11 5 1
+f 11 1 7
+f 12 4 7
+f 12 8 3
+f 13 7 1
+f 13 1 8
+f 13 12 7
+f 13 8 12
+f 14 12 3
+f 14 3 4
+f 14 4 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d469b475c1084e3e128232c176655079c5a6223d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23207616 0.20238440 0.27690321
+v -0.23128781 0.20177949 -0.37258811
+v -0.22592406 0.37462166 0.17304147
+v -0.22908714 0.43322734 0.02724713
+v -0.42869029 0.20321420 -0.16597660
+v -0.22579674 0.37445573 -0.25055100
+v -0.22741776 0.22741775 -0.36387379
+v -0.33135328 0.19729226 0.22668043
+v -0.34260562 0.35380620 -0.10104479
+v -0.22785645 0.25609619 0.25760350
+v -0.37041540 0.22269658 -0.25734606
+v -0.38791179 0.19885769 -0.25065278
+v -0.25561211 0.19722413 0.27192310
+v -0.25115573 0.42858926 -0.08565386
+v -0.35412869 0.31259222 0.11116722
+v -0.22968448 0.22968455 0.27253185
+v -0.26703741 0.32365494 0.19915661
+v -0.31022683 0.22295236 -0.31819659
+v -0.33803867 0.31185594 -0.20144641
+v -0.38808765 0.19893053 0.17315587
+v -0.41566488 0.22807985 -0.17370144
+v -0.24331609 0.19939909 -0.36696247
+v -0.34198431 0.35299649 0.02563616
+v -0.22942774 0.43404962 -0.10294085
+v -0.23943629 0.41471586 -0.16197611
+v -0.25257675 0.40018022 0.11116722
+v -0.22792459 0.33183737 0.21236084
+v -0.32365488 0.26703746 0.19915661
+v -0.22827465 0.30203263 -0.32236569
+v -0.32258129 0.29647462 -0.24664065
+v -0.41892744 0.19917029 -0.19052178
+v -0.38351485 0.31192097 -0.06203790
+v -0.38355908 0.21218522 -0.24839828
+v -0.35476805 0.31308283 -0.17214988
+v -0.30268048 0.19851091 -0.33460246
+v -0.31192092 0.38351490 -0.06203789
+v -0.25190366 0.42956398 -0.06198797
+v -0.31308278 0.35476811 -0.17214988
+v -0.22928047 0.41856360 -0.16337129
+v -0.24246089 0.42898624 -0.10163819
+v -0.22869950 0.41716103 0.10269824
+v -0.33964973 0.33964981 0.08608001
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+v -0.32481730 0.32481737 0.13797010
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+v -0.26826824 0.25584741 0.23751696
+v -0.36633418 0.21131767 0.19918772
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+v -0.32461448 0.28290426 -0.25694234
+v -0.28290421 0.32461453 -0.25694233
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+v -0.26590050 0.38269517 -0.18587262
+v -0.32656583 0.35262115 -0.14608118
+v -0.31185589 0.33803871 -0.20144641
+v -0.22953753 0.40405374 0.12829798
+v -0.28194965 0.39902289 0.02579519
+v -0.23862273 0.41330678 0.10150751
+v -0.31259218 0.35412875 0.11116722
+f 6 4 3
+f 7 1 2
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+f 22 2 13
+f 24 4 6
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+f 27 16 10
+f 29 6 7
+f 31 12 8
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+f 53 21 5
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+f 55 11 33
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+f 56 37 14
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+f 57 37 36
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+f 58 38 25
+f 58 25 6
+f 58 6 38
+f 59 38 34
+f 59 25 38
+f 59 14 25
+f 59 56 14
+f 59 9 56
+f 59 54 9
+f 59 34 54
+f 60 30 19
+f 60 19 38
+f 60 50 30
+f 60 38 6
+f 60 6 50
+f 61 26 3
+f 61 3 41
+f 62 57 23
+f 62 43 57
+f 63 41 43
+f 63 61 41
+f 63 26 61
+f 63 43 62
+f 63 62 23
+f 63 23 26
+f 64 42 15
+f 64 15 44
+f 64 26 42
+f 64 44 3
+f 64 3 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d23ef17b493fa4f8a4dee62503f2ee5e9886d73f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.40339565 -0.27826409 0.01627240
+v 0.46395282 -0.13849673 -0.13310976
+v 0.47657802 -0.12859578 0.01493658
+v 0.41902949 -0.12356015 0.17359058
+v 0.37936132 -0.18645270 -0.26706633
+v 0.40095764 -0.12860904 0.01493866
+v 0.42852095 -0.19687677 0.11116730
+v 0.42956396 -0.25190365 -0.06198798
+v 0.45102536 -0.13940925 -0.17634273
+v 0.46362740 -0.12422858 0.08785065
+v 0.39205603 -0.18544377 0.17568980
+v 0.45819740 -0.18150418 -0.08623763
+v 0.42941231 -0.24263741 0.01383454
+v 0.37658555 -0.25769198 -0.20644420
+v 0.43069710 -0.12212578 0.15624890
+v 0.38582717 -0.14373951 0.01493866
+v 0.39635444 -0.21748518 0.14817358
+v 0.45777428 -0.18132893 -0.03168069
+v 0.41471580 -0.23943631 -0.16197609
+v 0.42768553 -0.21166121 0.08657716
+v 0.42032054 -0.25642095 0.01411132
+v 0.40069654 -0.25297295 -0.17247377
+v 0.44848224 -0.12322538 0.12768308
+v 0.37604236 -0.20020842 -0.26425647
+v 0.40792936 -0.13149682 0.18582566
+v 0.44231994 -0.16606430 -0.17183371
+v 0.42858923 -0.25115571 -0.08565384
+v 0.41357211 -0.21208249 0.12471437
+v 0.45655293 -0.16569255 0.04088603
+v 0.38316016 -0.19688946 -0.25747288
+v 0.42653333 -0.21118394 -0.16152902
+v 0.38396716 -0.25174607 -0.20177031
+v 0.42791484 -0.16117280 -0.20355702
+v 0.38647912 -0.18313374 -0.26028274
+f 9 3 2
+f 9 5 6
+f 10 9 6
+f 10 3 9
+f 12 2 3
+f 15 10 6
+f 15 6 4
+f 15 4 7
+f 16 6 5
+f 16 14 11
+f 17 14 1
+f 17 11 14
+f 18 12 3
+f 18 8 12
+f 18 13 8
+f 18 3 13
+f 21 1 8
+f 21 8 13
+f 21 20 1
+f 21 13 20
+f 22 1 14
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+f 23 7 10
+f 23 10 15
+f 24 16 5
+f 24 14 16
+f 25 16 11
+f 25 4 6
+f 25 6 16
+f 25 11 17
+f 25 7 4
+f 26 9 2
+f 27 19 12
+f 27 12 8
+f 27 22 19
+f 27 8 1
+f 27 1 22
+f 28 17 1
+f 28 1 20
+f 28 20 7
+f 28 25 17
+f 28 7 25
+f 29 20 13
+f 29 13 3
+f 29 3 10
+f 29 10 7
+f 29 7 20
+f 30 14 24
+f 30 19 22
+f 31 26 2
+f 31 19 26
+f 31 2 12
+f 31 12 19
+f 32 30 22
+f 32 22 14
+f 32 14 30
+f 33 26 19
+f 33 19 30
+f 33 9 26
+f 34 33 30
+f 34 5 9
+f 34 9 33
+f 34 30 24
+f 34 24 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..082c915a4ba94b7c4b1545b5b2c45e3d1f96f748
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.25526512 -0.26155490 0.24179104
+v -0.22968448 -0.22968446 0.27253194
+v -0.41575260 -0.09018372 0.23374611
+v -0.36105063 0.20653318 0.20439429
+v -0.23452232 0.20426142 0.19650437
+v -0.23336897 0.03403868 0.33245952
+v -0.37245173 -0.21385165 0.18796359
+v -0.28604786 -0.03365610 0.31440065
+v -0.23207616 0.20238440 0.27690321
+v -0.36130246 -0.22731399 0.18951885
+v -0.41980605 0.06658466 0.18971361
+v -0.23362436 -0.07698325 0.31543859
+v -0.28617684 0.01645593 0.31971465
+v -0.35664560 -0.22374066 0.19946872
+v -0.41980604 -0.06658466 0.18971361
+v -0.24225782 -0.07487702 0.31541732
+v -0.27105109 0.02253124 0.32713654
+v -0.34552451 -0.03327823 0.28365615
+v -0.36633419 -0.21131768 0.19918773
+v -0.40339352 -0.13848128 0.18839834
+v -0.41770561 -0.08112066 0.23180720
+v -0.28427115 0.16573399 0.26923948
+v -0.34085721 -0.01293741 0.28798563
+v -0.25561211 0.19722413 0.27192310
+v -0.34772710 0.20076042 0.21531802
+v -0.41410038 0.06583349 0.19946867
+f 1 2 3
+f 5 2 1
+f 8 3 2
+f 9 5 4
+f 9 6 2
+f 9 2 5
+f 10 7 5
+f 10 5 1
+f 11 4 5
+f 11 5 7
+f 12 2 6
+f 14 10 1
+f 14 1 3
+f 16 8 2
+f 16 2 12
+f 16 12 6
+f 17 13 8
+f 17 6 9
+f 17 16 6
+f 17 8 16
+f 18 3 8
+f 18 8 13
+f 19 14 3
+f 19 3 7
+f 19 7 10
+f 19 10 14
+f 20 15 11
+f 20 11 7
+f 20 7 3
+f 20 3 15
+f 21 15 3
+f 21 11 15
+f 22 13 17
+f 23 18 13
+f 23 13 4
+f 23 21 3
+f 23 3 18
+f 24 22 17
+f 24 17 9
+f 24 9 4
+f 25 4 13
+f 25 13 22
+f 25 24 4
+f 25 22 24
+f 26 23 4
+f 26 4 11
+f 26 11 21
+f 26 21 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692529603a0c4afdd369725f434ab07c4221e5b7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.30502753 -0.23866231 0.22344599
+v 0.41902949 -0.12356015 0.17359058
+v 0.30226334 -0.00999463 0.31182135
+v 0.30238607 0.25176592 0.21902081
+v 0.37462164 0.22592407 0.17304143
+v 0.27306721 -0.19900781 0.26068681
+v 0.36633423 -0.21131766 0.19918769
+v 0.37856930 -0.21638559 0.17673940
+v 0.41575260 0.09018381 0.23374611
+v 0.27370895 0.07667597 0.30199462
+v 0.27619271 -0.21653657 0.25079239
+v 0.32871191 -0.21039589 0.22225526
+v 0.28427121 -0.16573398 0.26923941
+v 0.38808770 -0.19893051 0.17315583
+v 0.43482609 0.02117868 0.17451737
+v 0.39735982 -0.13598201 0.19946869
+v 0.35664568 0.22374065 0.19946862
+v 0.27874168 -0.01812052 0.31890441
+v 0.27931821 0.23406532 0.24089795
+v 0.31568773 0.03347030 0.29957896
+v 0.31738909 -0.00391933 0.30439947
+v 0.38808769 0.19893051 0.17315583
+v 0.43482609 -0.02117868 0.17451736
+v 0.41410037 -0.06583348 0.19946867
+v 0.36633421 0.21131764 0.19918768
+v 0.27519231 -0.17037751 0.27253190
+v 0.30121367 0.05940572 0.29817693
+v 0.41770563 0.08112077 0.23180719
+v 0.34552459 0.03327822 0.28365613
+v 0.41902951 0.12356015 0.17359059
+v 0.41291196 -0.12102619 0.18481473
+v 0.35990488 0.06428667 0.26871606
+v 0.34085722 0.01293752 0.28798562
+f 5 1 4
+f 8 1 5
+f 8 7 1
+f 12 1 7
+f 12 11 1
+f 12 6 11
+f 13 12 7
+f 14 8 5
+f 14 2 8
+f 16 7 8
+f 17 5 4
+f 17 4 9
+f 18 10 6
+f 18 3 10
+f 19 6 10
+f 19 11 6
+f 19 4 1
+f 19 1 11
+f 19 9 4
+f 20 10 3
+f 21 13 7
+f 21 3 13
+f 21 7 16
+f 21 20 3
+f 22 14 5
+f 22 2 14
+f 22 5 9
+f 24 2 23
+f 25 17 9
+f 25 9 5
+f 25 5 17
+f 26 13 3
+f 26 3 18
+f 26 18 6
+f 26 6 12
+f 26 12 13
+f 27 19 10
+f 27 10 20
+f 27 9 19
+f 28 16 24
+f 28 24 23
+f 28 23 15
+f 29 9 20
+f 29 20 21
+f 30 2 22
+f 30 23 2
+f 30 15 23
+f 30 22 9
+f 30 28 15
+f 30 9 28
+f 31 24 16
+f 31 2 24
+f 31 16 8
+f 31 8 2
+f 32 27 20
+f 32 20 9
+f 32 9 27
+f 33 21 16
+f 33 16 28
+f 33 28 9
+f 33 29 21
+f 33 9 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b8e00213dd7b4375d3782698e6317591af0ae2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.45859737 -0.12741520 0.10510166
+v 0.48831836 -0.06564464 -0.08652690
+v 0.48956919 0.02041789 0.02660171
+v 0.45632089 0.15673321 0.05922064
+v 0.45537808 -0.12608173 -0.17859723
+v 0.47310222 0.12615527 -0.11676730
+v 0.47440947 0.02041404 0.10224823
+v 0.48956919 -0.02041789 0.02660171
+v 0.46709772 -0.13979939 -0.11878838
+v 0.45475662 -0.14095479 -0.16489742
+v 0.48831837 0.06564465 -0.08652689
+v 0.45912641 0.09803829 -0.18062176
+v 0.47269348 0.12610145 0.04138243
+v 0.45859739 0.12741521 0.10510166
+v 0.48972830 -0.06583027 -0.06175510
+v 0.47440947 -0.02041404 0.10224822
+v 0.45946607 -0.12311358 -0.17307832
+v 0.45612313 0.14152082 0.08943906
+v 0.46419131 -0.14486277 -0.12193327
+v 0.45912795 0.15789593 -0.12063062
+v 0.47315023 0.02024826 -0.17278479
+v 0.48972830 0.06583027 -0.06175509
+v 0.46081154 0.12347412 0.10239690
+v 0.47547705 -0.08107649 0.05707075
+v 0.46081154 -0.12347407 0.10239690
+v 0.45766303 -0.13589141 -0.16175252
+v 0.46215532 0.09644509 -0.17478085
+v 0.47351041 0.13618837 0.01375023
+v 0.48898187 0.00521009 -0.11694691
+v 0.47315022 -0.02024826 -0.17278480
+v 0.47314904 0.13603868 -0.10132209
+v 0.48898187 -0.00521010 -0.11694691
+f 8 3 7
+f 12 5 10
+f 14 1 7
+f 15 3 8
+f 15 9 2
+f 16 8 7
+f 16 7 1
+f 17 2 9
+f 17 10 5
+f 18 10 1
+f 18 4 10
+f 18 1 14
+f 19 9 1
+f 19 1 10
+f 20 12 10
+f 20 10 4
+f 22 3 15
+f 23 14 7
+f 23 13 4
+f 23 18 14
+f 23 4 18
+f 23 7 3
+f 23 3 13
+f 24 15 8
+f 25 1 9
+f 25 9 15
+f 25 15 24
+f 25 16 1
+f 25 24 8
+f 25 8 16
+f 26 17 9
+f 26 10 17
+f 26 19 10
+f 26 9 19
+f 27 20 6
+f 27 12 20
+f 27 21 12
+f 27 6 21
+f 28 13 3
+f 28 3 22
+f 28 20 4
+f 28 4 13
+f 29 21 6
+f 29 6 11
+f 29 11 22
+f 30 17 5
+f 30 5 12
+f 30 12 21
+f 31 22 11
+f 31 11 6
+f 31 28 22
+f 31 6 20
+f 31 20 28
+f 32 15 2
+f 32 2 17
+f 32 17 30
+f 32 30 21
+f 32 21 29
+f 32 29 22
+f 32 22 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2b620f73cfc8c4767d3c8755e0f7e386a2462
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.09633644 -0.47646085 0.04213744
+v -0.09644505 -0.46215532 -0.17478088
+v -0.09834804 -0.26478331 0.18137389
+v -0.25440735 -0.29069798 0.22478784
+v -0.22682241 -0.42775979 -0.13158361
+v -0.09732739 -0.42346598 0.17676088
+v -0.13603866 -0.47314906 -0.10132211
+v -0.22805552 -0.41560630 0.11116732
+v -0.09834804 -0.26478331 -0.18175751
+v -0.09673917 -0.43412846 0.15897181
+v -0.12311355 -0.45946608 -0.17307835
+v -0.09638226 -0.47680889 -0.11765594
+v -0.22687358 -0.42788332 0.05635875
+v -0.22592405 -0.37462164 0.17304146
+v -0.23452232 -0.26478331 -0.18175751
+v -0.12347409 -0.46081155 0.10239690
+v -0.13589140 -0.45766305 -0.16175254
+v -0.13618836 -0.47351046 0.01375023
+v -0.12615522 -0.47310224 -0.11676732
+v -0.13704687 -0.41506118 0.17105666
+v -0.22700356 -0.39793618 0.13952211
+v -0.22807979 -0.41566491 -0.17370144
+v -0.09671009 -0.46416852 0.10322813
+v -0.12610141 -0.47269352 0.04138243
+v -0.21180943 -0.44317391 -0.00138517
+v -0.21241722 -0.38411937 0.17062190
+v -0.13561250 -0.42672878 0.15371498
+v -0.21118393 -0.42653336 -0.16152904
+v -0.16569254 -0.45655297 0.04088604
+v -0.18150417 -0.45819743 -0.08623765
+v -0.19687675 -0.42852097 0.11116732
+v -0.16606428 -0.44231995 -0.17183374
+v -0.21133120 -0.44201938 -0.10109861
+v -0.18132892 -0.45777433 -0.03168068
+f 6 3 4
+f 9 3 2
+f 10 3 6
+f 10 1 2
+f 10 2 3
+f 12 2 1
+f 12 11 2
+f 13 8 4
+f 13 4 5
+f 15 4 3
+f 15 3 9
+f 15 9 2
+f 16 10 6
+f 18 12 1
+f 18 7 12
+f 19 12 7
+f 19 11 12
+f 19 17 11
+f 19 7 17
+f 20 6 4
+f 21 14 4
+f 21 4 8
+f 21 8 20
+f 22 5 4
+f 22 4 15
+f 22 15 2
+f 22 2 11
+f 23 16 1
+f 23 1 10
+f 23 10 16
+f 24 18 1
+f 24 1 16
+f 25 18 13
+f 25 13 5
+f 26 20 4
+f 26 4 14
+f 26 21 20
+f 26 14 21
+f 27 16 6
+f 27 6 20
+f 28 17 5
+f 28 5 22
+f 29 24 16
+f 29 16 13
+f 29 13 18
+f 29 18 24
+f 30 7 18
+f 31 16 27
+f 31 8 13
+f 31 13 16
+f 31 27 20
+f 31 20 8
+f 32 28 22
+f 32 22 11
+f 32 11 17
+f 32 17 28
+f 33 30 25
+f 33 25 5
+f 33 5 17
+f 33 17 7
+f 33 7 30
+f 34 30 18
+f 34 18 25
+f 34 25 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17dc0c657f529080e0759de0d5d48358a0b9af7b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.12610151 -0.47269351 0.04138243
+v 0.27324559 -0.40739785 0.01427893
+v 0.10414821 -0.40922921 0.23013057
+v 0.02384622 -0.27352193 0.28671018
+v 0.02269576 -0.26478331 0.01493866
+v 0.27403530 -0.26027255 0.23204767
+v 0.02079160 -0.47727690 0.08769241
+v 0.23862275 -0.41330671 0.10150747
+v 0.02256781 -0.49076856 0.01487962
+v 0.14454485 -0.29321424 0.28880265
+v 0.15717184 -0.26257018 0.27789238
+v 0.27991384 -0.26478331 0.01493866
+v 0.11136636 -0.46056583 0.11130523
+v 0.02121545 -0.41997446 0.19946872
+v 0.22971481 -0.43474241 0.01418202
+v 0.26703748 -0.32365490 0.19915657
+v 0.07275628 -0.34773907 0.26254652
+v 0.25748967 -0.25748964 0.24319876
+v 0.25642102 -0.42032053 0.01411132
+v 0.19687683 -0.42852093 0.11116732
+v 0.02138243 -0.36072093 0.24365337
+v 0.22687366 -0.42788329 0.05635874
+v 0.12668320 -0.47711188 0.01405000
+v 0.21131771 -0.36633420 0.19918771
+v 0.27233836 -0.27233833 0.22753408
+v 0.26940749 -0.38726545 0.11116732
+v 0.18652416 -0.26138602 0.27286563
+v 0.25192606 -0.41446259 0.05613357
+v 0.13637462 -0.45882942 0.08676706
+v 0.02115672 -0.40439787 0.21109407
+v 0.09238785 -0.40768643 0.22878381
+v 0.22700364 -0.39793615 0.13952209
+v 0.26693156 -0.39916925 0.07122325
+v 0.25257677 -0.40018012 0.11116732
+f 9 7 5
+f 9 1 7
+f 11 5 4
+f 11 4 10
+f 12 6 2
+f 13 7 1
+f 13 3 7
+f 14 7 3
+f 16 10 3
+f 17 10 4
+f 17 3 10
+f 18 5 11
+f 18 12 5
+f 18 6 12
+f 19 12 2
+f 19 5 12
+f 19 8 15
+f 20 8 3
+f 20 3 13
+f 21 4 5
+f 21 5 7
+f 21 17 4
+f 22 15 8
+f 22 1 15
+f 22 8 20
+f 23 15 1
+f 23 1 9
+f 23 9 5
+f 23 19 15
+f 23 5 19
+f 24 16 3
+f 25 16 6
+f 25 10 16
+f 25 18 10
+f 25 6 18
+f 26 2 6
+f 26 6 16
+f 27 18 11
+f 27 11 10
+f 27 10 18
+f 28 19 2
+f 28 8 19
+f 28 26 8
+f 29 20 13
+f 29 13 1
+f 29 22 20
+f 29 1 22
+f 30 21 7
+f 30 7 14
+f 31 3 17
+f 31 17 21
+f 31 21 30
+f 31 30 14
+f 31 14 3
+f 32 24 3
+f 32 3 8
+f 33 28 2
+f 33 2 26
+f 33 26 28
+f 34 24 32
+f 34 26 16
+f 34 16 24
+f 34 32 8
+f 34 8 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e7a6761aec8f2267299e3c3db10848f04b9b02f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.24440816 0.23049794 0.26337043
+v 0.24965289 0.23452237 0.18137389
+v 0.19893058 0.38808770 0.17315586
+v -0.12356014 0.41902953 0.17359064
+v -0.23452232 0.23452237 0.18137389
+v 0.15606010 0.27025437 0.30106189
+v 0.24231589 0.36113488 0.17426373
+v -0.22592406 0.37462166 0.17304147
+v -0.10414821 0.40922931 0.23013047
+v -0.14346798 0.22971633 0.32081856
+v 0.21327474 0.37237831 0.23237839
+v 0.22592413 0.37462162 0.17304144
+v 0.02117874 0.43482612 0.17451741
+v -0.19893049 0.38808773 0.17315588
+v 0.15482343 0.22963359 0.31941613
+v -0.11017304 0.31492028 0.28477237
+v -0.22374066 0.35664572 0.19946862
+v 0.22034295 0.36660578 0.23059032
+v 0.14264637 0.29781409 0.28517504
+v 0.12356022 0.41902951 0.17359062
+v -0.02117865 0.43482613 0.17451742
+v 0.06583355 0.41410046 0.19946862
+v 0.19383218 0.24579443 0.30113164
+v -0.06082489 0.31193836 0.28630339
+v -0.14376974 0.29721712 0.28630930
+v -0.21131763 0.36633425 0.19918774
+v -0.23291982 0.23291989 0.26911872
+v 0.24102828 0.32919590 0.20793567
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+f 34 33 25
+f 35 32 15
+f 35 15 6
+f 35 6 32
+f 36 10 32
+f 36 32 33
+f 36 34 10
+f 36 33 34
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434d084b2c88fc311c16e226858cc177b1566689
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.38593333 -0.26486478 -0.18182155
+v 0.46374851 -0.08152436 -0.17554982
+v 0.27991384 0.23452237 -0.18175751
+v 0.15887004 0.23452237 -0.21201846
+v 0.21357454 -0.06567749 -0.40582080
+v 0.15887004 -0.26478331 -0.21201846
+v 0.27991384 -0.26478331 -0.18175751
+v 0.36882173 -0.10643468 -0.31866533
+v 0.15719518 0.23233965 -0.38570869
+v 0.16574033 -0.27373686 -0.36442942
+v 0.43334513 -0.18374453 -0.17502207
+v 0.31318007 0.09332567 -0.35957193
+v 0.15490530 -0.15490537 -0.40765688
+v 0.26910239 -0.25648740 -0.32858686
+v 0.44667267 0.15273678 -0.17408823
+v 0.41399056 -0.12147295 -0.25795497
+v 0.29780149 -0.05132768 -0.37562914
+v 0.19810323 0.11092774 -0.40476478
+v 0.15490536 0.15490533 -0.40765689
+v 0.15591703 -0.20041297 -0.39482909
+v 0.44667265 -0.15273677 -0.17408822
+v 0.42916377 0.02043322 -0.25898266
+v 0.31022689 0.22295232 -0.31819655
+v 0.37041545 -0.22269655 -0.25734602
+v 0.34335704 0.03621882 -0.34560634
+v 0.28416180 -0.16565001 -0.35871892
+v 0.25447960 0.16609411 -0.37489894
+v 0.21357454 0.06567750 -0.40582080
+v 0.15591703 0.20041299 -0.39482911
+v 0.44449236 -0.12157272 -0.20321988
+v 0.42916378 -0.02043322 -0.25898266
+v 0.46374852 0.08152437 -0.17554982
+v 0.41104280 0.23243253 -0.17914427
+v 0.36882173 0.10643469 -0.31866533
+v 0.39688663 -0.18117742 -0.24746440
+v 0.36850980 -0.23636477 -0.24696457
+v 0.33799134 -0.18185119 -0.31818324
+v 0.29780150 0.05132769 -0.37562915
+v 0.34335703 -0.03621882 -0.34560634
+v 0.31318007 -0.09332567 -0.35957192
+v 0.23855536 -0.22600693 -0.35832902
+v 0.25447960 -0.16609410 -0.37489893
+v 0.23855537 0.22600694 -0.35832904
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+v 0.35875956 -0.08164606 -0.33087064
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+v 0.18495821 -0.19882334 -0.38909354
+v 0.19810323 -0.11092773 -0.40476477
+v 0.25852227 -0.08062418 -0.38931559
+v 0.28303924 -0.10850589 -0.37488945
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7001f36215a2cce63e162f70860e626a042125f6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.27221348 -0.40605277 0.02755580
+v 0.44007249 -0.21679205 0.01452949
+v 0.35412870 -0.31259215 0.11116732
+v 0.27619271 -0.21653657 0.25079239
+v 0.27991384 -0.21939189 0.01493866
+v 0.37245176 -0.21385162 0.18796355
+v 0.27106844 -0.32890815 0.18793243
+v 0.35550845 -0.34391182 -0.01647533
+v 0.41560629 -0.22805554 0.11116731
+v 0.31702385 -0.21303734 0.22802222
+v 0.27092975 -0.37411882 0.12727613
+v 0.27355126 -0.22964018 0.24636725
+v 0.32365493 -0.26703742 0.19915657
+v 0.33964975 -0.33964977 0.08607999
+v 0.37007054 -0.32482476 -0.01536982
+v 0.27324559 -0.40739785 0.01427893
+v 0.40018016 -0.25257671 0.11116732
+v 0.41968965 -0.21461645 0.11349022
+v 0.28788077 -0.21389512 0.24502543
+v 0.43302954 -0.21387477 0.05746552
+v 0.32481735 -0.32481736 0.13797007
+v 0.36362195 -0.21396325 0.19978277
+v 0.28375609 -0.31059413 0.19946872
+v 0.34198436 -0.35299644 0.02563613
+v 0.27220085 -0.39090582 0.08807359
+v 0.33436835 -0.36278947 -0.01592257
+v 0.39793618 -0.22700359 0.13952208
+v 0.42808105 -0.24208599 0.02614032
+v 0.40190451 -0.21351685 0.14205605
+v 0.31259221 -0.35412866 0.11116732
+v 0.32919595 -0.24102825 0.20793569
+v 0.36936840 -0.22189311 0.18426557
+v 0.27423283 -0.31790159 0.19946872
+v 0.28194971 -0.39902285 0.02579516
+v 0.34391188 -0.35550842 -0.01647533
+v 0.42941231 -0.24263741 0.01383454
+v 0.41330671 -0.23862275 0.10150748
+v 0.35299647 -0.34198431 0.02563614
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+v 0.40011682 -0.28278905 0.01372618
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+f 43 28 37
+f 43 3 42
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d0913a2d34755157a5c5a9be2c32a7c470d6754
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.24773673 0.35306898 0.17951698
+v 0.26789153 0.37933522 0.12339626
+v 0.11136636 0.46056586 0.11130525
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+v -0.15886994 0.35556617 0.10572151
+v -0.16632634 0.37356751 0.20727032
+v 0.22805563 0.41560635 0.11116722
+v 0.09587498 0.42756356 0.17019597
+v -0.15341286 0.44830493 0.10288813
+v 0.23814623 0.40109230 0.12483156
+v 0.24393787 0.40864011 0.10385618
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+v -0.05046892 0.44258359 0.15499977
+v -0.13704688 0.41506120 0.17105667
+v 0.11159268 0.46228491 0.10285065
+v 0.22869959 0.41716099 0.10269823
+v 0.21241732 0.38411937 0.17062190
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+v -0.06568423 0.45835848 0.12512227
+v -0.09587489 0.42756357 0.17019597
+v -0.15450195 0.40554280 0.17464024
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+v 0.22700365 0.39793617 0.13952211
+v 0.11109030 0.44333845 0.14031846
+v 0.06568433 0.45835848 0.12512227
+v -0.11136627 0.46056587 0.11130526
+v -0.15273281 0.44666315 0.11139106
+v -0.11109020 0.44333846 0.14031847
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+v -0.13561251 0.42672880 0.15371500
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+f 29 28 9
+f 29 23 28
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+f 31 12 7
+f 31 7 18
+f 32 30 23
+f 32 14 30
+f 32 29 14
+f 32 23 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e591fc867af36118da309675e1ce93151ac302
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.22908723 -0.43322732 0.02724711
+v 0.41977218 -0.25600018 -0.10267581
+v 0.41467891 -0.26370199 0.01483168
+v 0.23452241 -0.26478331 0.01493866
+v 0.23225999 -0.26183486 -0.34284591
+v 0.42104090 -0.25697370 -0.00096446
+v 0.23423349 -0.43052102 0.02991912
+v 0.23943628 -0.41471584 -0.16197609
+v 0.22579681 -0.37445568 -0.25055098
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+v 0.35380616 -0.34260562 -0.10104477
+v 0.25115578 -0.42858920 -0.08565385
+v 0.22987959 -0.27386314 -0.33722028
+v 0.22942781 -0.43404956 -0.10294084
+v 0.32258133 -0.29647457 -0.24664063
+v 0.38864105 -0.25533247 -0.18945899
+v 0.38351488 -0.31192092 -0.06203791
+v 0.25190372 -0.42956394 -0.06198797
+v 0.34260567 -0.35380613 -0.10104477
+v 0.22827473 -0.30203261 -0.32236560
+v 0.22928054 -0.41856355 -0.16337127
+v 0.24246097 -0.42898619 -0.10163818
+v 0.31308282 -0.35476804 -0.17214985
+v 0.35985617 -0.25646509 -0.23574073
+v 0.35476807 -0.31308277 -0.17214984
+v 0.32708730 -0.36843111 -0.01664293
+v 0.38257306 -0.31119823 -0.08546667
+v 0.24208606 -0.42808107 0.02614032
+v 0.31119829 -0.38257303 -0.08546668
+v 0.28290428 -0.32461449 -0.25694230
+v 0.26590054 -0.38269510 -0.18587259
+v 0.32656587 -0.35262108 -0.14608116
+v 0.28113755 -0.28113760 -0.30241618
+v 0.38290352 -0.28119086 -0.16121806
+v 0.31185594 -0.33803865 -0.20144638
+v 0.36843113 -0.32708724 -0.01664293
+v 0.28278912 -0.40011680 0.01372618
+v 0.24591073 -0.42592993 0.02877627
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+v 0.28119093 -0.38290350 -0.16121806
+v 0.35262111 -0.32656582 -0.14608115
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+v 0.33803869 -0.31185588 -0.20144638
+v 0.40011682 -0.28278905 0.01372618
+v 0.26651730 -0.41375984 -0.00151721
+v 0.23913773 -0.29647113 -0.31955193
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+f 47 26 37
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+f 48 33 20
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50058850b9f8379f3a291be19eb94f8a2846d9ee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22908715 -0.43322735 0.02724712
+v -0.22579674 -0.37445572 -0.25055100
+v -0.23291988 -0.23291986 0.26911875
+v -0.37462159 -0.22592410 0.17304146
+v -0.42858919 -0.25115576 -0.08565386
+v -0.22592405 -0.37462164 0.17304146
+v -0.31119823 -0.38257307 -0.08546669
+v -0.23241662 -0.23241669 -0.35900197
+v -0.32365488 -0.26703746 0.19915660
+v -0.35476803 -0.31308280 -0.17214987
+v -0.22942773 -0.43404959 -0.10294085
+v -0.33964975 -0.33964977 0.08608001
+v -0.22785646 -0.25609621 0.25760353
+v -0.37445567 -0.22579678 -0.25055100
+v -0.25609615 -0.22785651 0.25760353
+v -0.35380613 -0.34260566 -0.10104479
+v -0.23943628 -0.41471584 -0.16197611
+v -0.25190365 -0.42956399 -0.06198797
+v -0.41330671 -0.23862274 0.10150749
+v -0.23862275 -0.41330671 0.10150748
+v -0.32481734 -0.32481735 0.13797010
+v -0.22794320 -0.25620924 -0.34777468
+v -0.26703740 -0.32365493 0.19915661
+v -0.41471580 -0.23943631 -0.16197610
+v -0.29647456 -0.32258133 -0.24664066
+v -0.26826825 -0.25584743 0.23751699
+v -0.33183734 -0.22792465 0.21236086
+v -0.25620920 -0.22794325 -0.34777468
+v -0.35299643 -0.34198435 0.02563615
+v -0.31308276 -0.35476807 -0.17214988
+v -0.22928046 -0.41856358 -0.16337128
+v -0.25115571 -0.42858924 -0.08565386
+v -0.43322729 -0.22908719 0.02724712
+v -0.22869949 -0.41716097 0.10269821
+v -0.35412867 -0.31259220 0.11116732
+v -0.25257671 -0.40018016 0.11116732
+v -0.22792460 -0.33183739 0.21236087
+v -0.38269509 -0.26590052 -0.18587261
+v -0.35262108 -0.32656586 -0.14608117
+v -0.32258128 -0.29647461 -0.24664067
+v -0.22827467 -0.30203266 -0.32236560
+v -0.25584737 -0.26826831 0.23751699
+v -0.38351485 -0.31192097 -0.06203790
+v -0.31192092 -0.38351490 -0.06203790
+v -0.28194964 -0.39902290 0.02579519
+v -0.31185587 -0.33803869 -0.20144641
+v -0.26590048 -0.38269514 -0.18587262
+v -0.32656581 -0.35262112 -0.14608117
+v -0.24246088 -0.42898622 -0.10163819
+v -0.41716094 -0.22869954 0.10269822
+v -0.43404954 -0.22942777 -0.10294085
+v -0.42808103 -0.24208602 0.02614034
+v -0.22953753 -0.40405371 0.12829797
+v -0.31259215 -0.35412871 0.11116732
+v -0.40018012 -0.25257676 0.11116732
+v -0.38290349 -0.28119091 -0.16121807
+v -0.28290421 -0.32461451 -0.25694233
+v -0.30203260 -0.22827472 -0.32236561
+v -0.38257302 -0.31119828 -0.08546669
+v -0.34260561 -0.35380617 -0.10104479
+v -0.24208598 -0.42808110 0.02614033
+v -0.34198430 -0.35299648 0.02563616
+v -0.33803864 -0.31185592 -0.20144641
+v -0.28119086 -0.38290354 -0.16121808
+f 6 1 2
+f 11 2 1
+f 13 6 2
+f 13 8 3
+f 15 3 8
+f 15 14 4
+f 18 11 1
+f 21 9 4
+f 22 13 2
+f 22 8 13
+f 23 21 6
+f 23 9 21
+f 26 9 23
+f 27 15 4
+f 27 4 9
+f 27 9 26
+f 27 26 3
+f 27 3 15
+f 28 15 8
+f 28 14 15
+f 29 12 19
+f 31 17 2
+f 31 2 11
+f 31 11 17
+f 32 11 18
+f 32 18 7
+f 33 4 14
+f 34 20 1
+f 34 1 6
+f 35 19 12
+f 35 21 4
+f 37 23 6
+f 37 6 13
+f 37 13 3
+f 38 24 14
+f 38 14 10
+f 38 10 24
+f 39 10 30
+f 41 22 2
+f 41 8 22
+f 42 26 23
+f 42 3 26
+f 42 37 3
+f 42 23 37
+f 43 16 29
+f 44 7 18
+f 46 30 10
+f 46 25 2
+f 46 2 30
+f 47 30 2
+f 47 2 17
+f 47 17 30
+f 48 39 30
+f 49 32 17
+f 49 17 11
+f 49 11 32
+f 50 19 4
+f 50 4 33
+f 51 33 14
+f 51 14 24
+f 51 24 5
+f 51 5 33
+f 52 29 19
+f 52 50 33
+f 52 19 50
+f 52 43 29
+f 52 33 5
+f 52 5 43
+f 53 34 6
+f 53 20 34
+f 53 36 20
+f 53 6 36
+f 54 35 12
+f 54 21 35
+f 54 12 45
+f 54 45 20
+f 54 20 36
+f 54 36 6
+f 54 6 21
+f 55 35 4
+f 55 4 19
+f 55 19 35
+f 56 24 10
+f 56 10 39
+f 56 39 5
+f 56 5 24
+f 57 41 2
+f 57 2 25
+f 57 25 40
+f 58 40 14
+f 58 14 28
+f 58 28 8
+f 58 8 41
+f 58 57 40
+f 58 41 57
+f 59 43 5
+f 59 16 43
+f 59 39 16
+f 59 5 39
+f 60 29 16
+f 60 7 44
+f 60 16 39
+f 60 39 48
+f 60 48 32
+f 60 32 7
+f 61 45 18
+f 61 18 1
+f 61 1 20
+f 61 20 45
+f 62 45 12
+f 62 12 29
+f 62 44 18
+f 62 18 45
+f 62 60 44
+f 62 29 60
+f 63 46 10
+f 63 40 25
+f 63 25 46
+f 63 10 14
+f 63 14 40
+f 64 48 30
+f 64 30 17
+f 64 17 32
+f 64 32 48
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f5acd1c8b1170930b49215baa667a72637e3679
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.02117874 -0.43482609 0.17451740
+v 0.02031445 -0.42826117 0.18574154
+v -0.21327474 -0.37237821 0.23237848
+v -0.23228161 -0.26186317 0.25213425
+v 0.02269576 -0.26478331 0.18137389
+v 0.02384622 -0.27352193 0.28671018
+v -0.02117864 -0.43482610 0.17451740
+v -0.22592405 -0.37462164 0.17304146
+v 0.02138243 -0.36072093 0.24365337
+v -0.21057413 -0.34870006 0.24282291
+v -0.06583344 -0.41410038 0.19946872
+v -0.25440735 -0.29069798 0.22478784
+v -0.12356013 -0.41902951 0.17359063
+v -0.20222052 -0.36259242 0.23800927
+v 0.02115672 -0.40439787 0.21109407
+v -0.02031435 -0.42826118 0.18574155
+v -0.22034295 -0.36660568 0.23059042
+v -0.19893048 -0.38808770 0.17315587
+v -0.00587830 -0.38814437 0.22471908
+v 0.00587839 -0.38814437 0.22471907
+f 6 5 4
+f 6 1 5
+f 8 5 1
+f 10 6 4
+f 12 4 5
+f 12 5 8
+f 13 11 3
+f 13 7 11
+f 13 1 7
+f 14 9 6
+f 14 3 9
+f 14 10 3
+f 14 6 10
+f 15 2 1
+f 15 1 6
+f 15 6 9
+f 15 3 11
+f 16 11 7
+f 16 15 11
+f 16 2 15
+f 16 7 1
+f 16 1 2
+f 17 12 8
+f 17 8 3
+f 17 3 10
+f 17 10 4
+f 17 4 12
+f 18 13 3
+f 18 3 8
+f 18 8 1
+f 18 1 13
+f 19 9 3
+f 19 3 15
+f 20 19 15
+f 20 15 9
+f 20 9 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d49cbf4a25404a2ad70358f60e4ed92a7c696115
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.04731928 -0.02888291 0.43605419
+v 0.08293591 -0.00238419 0.41613048
+v 0.07186810 0.02505319 0.42407336
+v 0.02911114 0.02629356 0.44209431
+v -0.00599397 -0.01760771 0.31432929
+v 0.04731924 0.02888304 0.43605421
+v 0.07186806 -0.02505306 0.42407337
+v 0.02911114 -0.02629342 0.44209431
+v 0.03241189 0.01908327 0.31926291
+v 0.01182618 -0.02364142 0.31699808
+v 0.01082545 0.00187420 0.40330175
+v 0.02640034 0.01626118 0.44340196
+v 0.06758917 0.02423599 0.40403620
+v -0.00599812 0.01759586 0.31433035
+v 0.06758917 -0.02423586 0.40403621
+v 0.03245749 -0.01906627 0.31925226
+v -0.00491182 -0.00214757 0.34438168
+v 0.02640037 -0.01626116 0.44340194
+v 0.02232900 0.02387306 0.42047352
+v 0.08244707 0.00419346 0.41636628
+v 0.01179082 0.02363580 0.31700599
+v 0.08244704 -0.00419345 0.41636629
+v 0.03470562 0.01705567 0.32207920
+v -0.00341327 -0.01682153 0.32896239
+v -0.00491310 0.00214760 0.34437735
+v 0.01082074 -0.00187161 0.40326543
+v 0.08293594 0.00238421 0.41613046
+v 0.03470004 -0.01706956 0.32208024
+v 0.02232901 -0.02387293 0.42047353
+v -0.00341871 0.01680805 0.32896375
+f 7 6 1
+f 7 3 6
+f 10 8 5
+f 10 1 8
+f 12 6 4
+f 12 1 6
+f 13 6 3
+f 15 7 1
+f 15 1 10
+f 16 10 5
+f 16 15 10
+f 16 14 9
+f 16 5 14
+f 18 12 11
+f 18 8 1
+f 18 1 12
+f 19 12 4
+f 19 11 12
+f 19 4 14
+f 20 13 3
+f 21 13 9
+f 21 6 13
+f 21 9 14
+f 21 14 4
+f 21 4 6
+f 22 2 7
+f 22 7 15
+f 23 16 9
+f 23 9 13
+f 23 13 20
+f 24 17 5
+f 25 17 11
+f 25 14 5
+f 25 5 17
+f 25 11 19
+f 26 18 11
+f 26 11 17
+f 27 20 3
+f 27 23 20
+f 27 2 23
+f 27 7 2
+f 27 3 7
+f 28 2 22
+f 28 23 2
+f 28 16 23
+f 28 22 15
+f 28 15 16
+f 29 24 5
+f 29 5 8
+f 29 17 24
+f 29 26 17
+f 29 8 18
+f 29 18 26
+f 30 25 19
+f 30 19 14
+f 30 14 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5796ba6f4e750dae500f9c647029a2ea00befa2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27403530 -0.26027255 0.23204767
+v 0.27991384 -0.26478331 -0.21201846
+v 0.27931821 0.23406532 0.24089795
+v -0.24425395 0.24198971 0.25819886
+v -0.23670676 -0.26763013 0.24666496
+v -0.23452232 0.23452237 -0.21201846
+v 0.27991384 0.23452237 -0.21201846
+v -0.23452232 -0.26478331 -0.21201846
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43ca83d751d3b025ebad017e283fba8d5208087c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.25526512 -0.26155490 0.24179104
+v -0.23452232 -0.23452236 -0.18175751
+v -0.23452232 0.20426142 0.19650437
+v -0.36105063 0.20653318 0.20439429
+v -0.38306189 -0.25562060 -0.19834215
+v -0.35323656 -0.23273483 0.19477210
+v -0.40125977 0.22318834 -0.20542475
+v -0.23452232 0.20426142 -0.18175751
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 2 5
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778a8a52d020c5e451477d131c3a5c7278dad951
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15887004 -0.14373951 -0.21201846
+v 0.15887004 -0.14373951 -0.31793179
+v 0.17913454 0.26093155 -0.36582325
+v -0.23452232 0.23452237 -0.21201846
+v -0.23452232 -0.14373951 -0.31793179
+v 0.15887004 0.23452237 -0.21201846
+v -0.23452232 -0.14373951 -0.21201846
+v -0.24565412 0.24902960 -0.34423976
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0bbacb1e96a3a909aa7b5a62f7ff850a7350bd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24965289 0.23452237 0.18137389
+v 0.24965289 0.23452237 -0.18175751
+v 0.26618866 0.37711601 -0.19475575
+v -0.23676575 0.35848987 0.18354796
+v -0.23452232 0.23452237 -0.18175751
+v 0.24773673 0.35306898 0.17951698
+v -0.23452232 0.23452237 0.18137389
+v -0.25562057 0.38306195 -0.19834217
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e03260f178d6c80b93b0a3605e6e21078c68047
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.19234811 -0.26897607 -0.35579605
+v 0.15518653 -0.14091306 -0.41055465
+v 0.15887004 -0.14373951 -0.31793179
+v -0.24565412 0.24902960 -0.34423976
+v -0.15619817 0.05184998 -0.42137475
+v 0.17913454 0.26093155 -0.36582325
+v -0.23452232 -0.14373951 -0.31793179
+v -0.08164210 -0.14140833 -0.42174657
+v -0.22939705 -0.13980676 -0.39022217
+v -0.06567745 0.21357451 -0.40582084
+v -0.23225990 -0.26183488 -0.34284594
+v 0.05160602 0.03678977 -0.43770855
+v -0.09725914 -0.21676305 -0.40056959
+v -0.22939706 0.13980677 -0.39022219
+v -0.15619817 -0.05184998 -0.42137475
+v -0.13980672 0.22939711 -0.39022219
+v -0.22566216 -0.19746278 -0.37751684
+v 0.03678982 -0.05160596 -0.43770854
+v -0.03678972 0.05160597 -0.43770855
+v 0.11092779 0.19810319 -0.40476479
+v 0.08164212 -0.14140837 -0.42174657
+v -0.16848627 -0.15463884 -0.40394954
+v -0.21357445 -0.06567749 -0.40582083
+v -0.22566217 0.19746279 -0.37751685
+v -0.08164214 0.14140831 -0.42174659
+v -0.19746273 -0.22566221 -0.37751684
+v 0.15619826 -0.05184997 -0.42137473
+v -0.05160592 -0.03678976 -0.43770855
+v 0.06567755 0.21357450 -0.40582083
+v -0.09603823 -0.19868503 -0.40656755
+v -0.14140828 -0.08164216 -0.42174658
+v -0.19882330 -0.18495816 -0.38909356
+v -0.21357445 0.06567750 -0.40582083
+v -0.19810314 -0.11092774 -0.40476479
+v -0.16848628 0.15463885 -0.40394955
+v -0.19746274 0.22566222 -0.37751684
+v -0.11092770 0.19810319 -0.40476480
+v -0.14140832 0.08164210 -0.42174659
+v -0.22600690 -0.23855533 -0.35832906
+v -0.18371470 -0.25772480 -0.36565353
+v 0.05160602 -0.03678976 -0.43770854
+v 0.14140835 -0.08164220 -0.42174657
+v 0.15619826 0.05184998 -0.42137473
+v -0.03678972 -0.05160596 -0.43770855
+v -0.05160592 0.03678977 -0.43770855
+v 0.13980681 0.22939711 -0.39022218
+v 0.05185003 0.15619822 -0.42137475
+v -0.15463879 -0.16848632 -0.40394954
+v -0.11092769 -0.19810318 -0.40476479
+v -0.19882331 0.18495818 -0.38909358
+v -0.19810314 0.11092775 -0.40476480
+v -0.22741776 0.22741775 -0.36387379
+v -0.15463880 0.16848633 -0.40394955
+v 0.15463889 0.16848633 -0.40394953
+v -0.05184993 0.15619822 -0.42137476
+v 0.03678981 0.05160597 -0.43770855
+v -0.18495812 -0.19882335 -0.38909356
+v -0.18495812 0.19882336 -0.38909358
+v 0.08164217 0.14140835 -0.42174659
+v 0.15719518 0.23233965 -0.38570869
+v 0.14140839 0.08164214 -0.42174658
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 11 1 3
+f 11 3 7
+f 11 7 4
+f 11 4 9
+f 13 2 1
+f 14 9 4
+f 16 4 6
+f 16 6 10
+f 17 11 9
+f 21 2 13
+f 23 5 15
+f 23 9 14
+f 24 14 4
+f 27 6 2
+f 29 10 6
+f 30 21 13
+f 30 8 21
+f 31 28 8
+f 31 15 28
+f 32 17 9
+f 32 9 22
+f 33 23 14
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+f 61 43 12
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be19b84a62f391851c7eceb83542395f7d732e6e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02553628 -0.42253342 0.19421217
+v 0.02269576 -0.40095759 0.01493866
+v 0.02269576 -0.26478331 0.18137389
+v -0.09834804 -0.26478331 0.18137389
+v -0.09834804 -0.40095759 0.01493866
+v 0.02269576 -0.26478331 0.01493866
+v -0.10023242 -0.41527086 0.18989073
+v -0.09834804 -0.26478331 0.01493866
+f 1 3 4
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+f 6 4 3
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 8 6 5
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df6dd26f57b8e9ae1c3ee8ad866aaaa323b4014f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25189606 -0.42359935 0.01665755
+v 0.23778289 -0.40520672 -0.18432047
+v 0.23452241 -0.26478331 0.01493866
+v -0.09834804 -0.26478331 0.01493866
+v -0.10441107 -0.44701080 -0.20398542
+v -0.09834804 -0.26478331 -0.18175751
+v 0.23452241 -0.26478331 -0.18175751
+v -0.09834804 -0.40095759 0.01493866
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+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 5
+f 7 5 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5795d1bff1eda5310adce81d95a573fc6279c7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.13618844 -0.47351042 0.01375023
+v 0.23778289 -0.40520672 -0.18432047
+v 0.25189606 -0.42359935 0.01665755
+v -0.10023242 -0.41527086 0.18989073
+v -0.10441107 -0.44701080 -0.20398542
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+f 49 4 48
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff12ad9a2c102406efe99a6908ab13226a9fe255
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.13009994 -0.34921327 0.25578865
+v 0.35443919 0.09788126 0.24027447
+v 0.24946320 0.03137108 0.33149251
+v -0.14454486 0.29321424 0.28880261
+v -0.23670676 -0.26763013 0.24666496
+v 0.19390440 0.23225499 0.30418507
+v 0.27403530 -0.26027255 0.23204767
+v -0.24425395 0.24198971 0.25819886
+v -0.12668375 -0.20343348 0.33078847
+v 0.35493549 0.09103656 0.25530375
+v 0.29100626 0.23142386 0.23513099
+v -0.09639655 0.21794490 0.33022403
+v 0.14418224 -0.24197094 0.31492515
+v -0.20985934 -0.33695409 0.24827374
+v -0.24946314 -0.03137095 0.33149252
+v 0.28604795 0.03365609 0.31440063
+v -0.17015909 0.29003815 0.26377017
+v 0.33430861 0.17146252 0.23308141
+v 0.31966530 0.19993372 0.23244736
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+v 0.14376972 -0.29721712 0.28630934
+v 0.09639663 -0.21794491 0.33022409
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+v -0.24955223 -0.03669552 0.32913730
+v -0.19383214 -0.24579445 0.30113173
+v 0.12668382 0.20343345 0.33078840
+v -0.24710177 0.02994756 0.33089210
+v 0.18019700 0.21527532 0.31696693
+v 0.28617688 -0.01645581 0.31971464
+v -0.15737049 0.29142428 0.26694908
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+v -0.15606014 -0.27025433 0.30106194
+v -0.14264635 -0.29781398 0.28517514
+v -0.18387244 -0.25568672 0.29958372
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+f 50 43 33
+f 50 33 49
+f 51 49 25
+f 51 25 43
+f 51 43 49
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa3d466bf17f1989c847eeddc01a4754d4b601b3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.35323656 -0.23273483 0.19477210
+v -0.38306189 -0.25562060 -0.19834215
+v -0.37678704 0.28810762 -0.16391866
+v -0.36261369 0.30397251 0.10369716
+v -0.48956918 -0.02041790 0.02660173
+v -0.34772710 0.20076042 0.21531802
+v -0.44317383 -0.21180946 -0.00138517
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+v -0.41974030 -0.13012186 -0.24417113
+v -0.47314901 -0.13603871 -0.10132211
+v -0.42956393 0.25190370 -0.06198797
+v -0.48972829 0.06583028 -0.06175510
+v -0.46056580 0.11136631 0.11130525
+v -0.35534231 0.08318815 0.24159576
+v -0.42788327 -0.22687363 0.05635876
+v -0.41291192 -0.12102621 0.18481477
+v -0.40125977 0.22318834 -0.20542475
+v -0.47351039 -0.13618840 0.01375023
+v -0.45946605 -0.12311358 -0.17307836
+v -0.42775974 -0.22682245 -0.13158361
+v -0.37591086 0.31417579 0.01533451
+v -0.48831835 -0.06564466 -0.08652691
+v -0.47314902 0.13603872 -0.10132211
+v -0.39793612 0.22700360 0.13952211
+v -0.47440946 -0.02041405 0.10224824
+v -0.48956919 0.02041790 0.02660173
+v -0.47351040 0.13618841 0.01375023
+v -0.34863807 0.14086982 0.23192922
+v -0.39735984 0.13598204 0.19946866
+v -0.38197013 -0.19639657 0.18438001
+v -0.45946607 0.12311356 -0.17307836
+v -0.40668217 -0.17010443 -0.23740761
+v -0.41471581 0.23943631 -0.16197611
+v -0.45819738 -0.18150422 -0.08623765
+v -0.45882941 -0.13637459 0.08676707
+v -0.47315021 -0.02024827 -0.17278483
+v -0.41566486 -0.22807984 -0.17370144
+v -0.45766301 -0.13589144 -0.16175255
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+v -0.48898186 0.00521011 -0.11694693
+v -0.47310220 -0.12615528 -0.11676732
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+v -0.36903314 0.25189688 0.15375540
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+v -0.47269347 -0.12610146 0.04138244
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+v -0.42653331 -0.21118397 -0.16152904
+v -0.41375983 0.26651728 -0.00151720
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+f 61 5 21
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+f 63 40 23
+f 63 23 41
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+f 63 22 40
+f 64 42 24
+f 64 24 14
+f 64 14 42
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be7fb729b79d3bf88d60ebc5b5aa75c0845eaaa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.41565715 0.23434385 -0.16651616
+v 0.40559994 0.23017802 -0.19145559
+v 0.24480491 0.40977006 -0.16473417
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+v -0.21475228 0.42001766 -0.17595596
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+v -0.22741776 0.22741775 -0.36387379
+v 0.40069656 0.25297297 -0.17247377
+v 0.35683724 0.31467050 -0.16247477
+v -0.15273677 0.44667271 -0.17408827
+v 0.08152443 0.46374857 -0.17554987
+v 0.28113758 0.28113759 -0.30241619
+v 0.37445571 0.22579675 -0.25055096
+v -0.23243251 0.41104284 -0.17914431
+v -0.05132764 0.29780148 -0.37562918
+v 0.40196858 0.23881855 -0.18837150
+v 0.31467055 0.35683721 -0.16247478
+v 0.40285338 0.25462796 -0.16266193
+v 0.25462802 0.40285336 -0.16266195
+v -0.02043319 0.42916382 -0.25898273
+v 0.12147303 0.41399058 -0.25795502
+v 0.16565007 0.28416177 -0.35871895
+v 0.22741780 0.22741778 -0.36387376
+v 0.32258133 0.29647458 -0.24664063
+v -0.11156677 0.22990699 -0.39441461
+v -0.18185117 0.33799137 -0.31818329
+v -0.02030348 0.45843957 -0.20324840
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+v -0.09578660 0.42689302 -0.24801932
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a56d996f95b53a49e5baa8a56d8e82c0e65915
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.37462164 0.22592407 0.17304143
+v 0.43404957 0.22942775 -0.10294083
+v 0.35299648 0.34198432 0.02563614
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+v 0.24965289 0.23452237 -0.16662704
+v 0.24480491 0.40977006 -0.16473417
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+v 0.41330669 0.23862279 0.10150748
+v 0.41856356 0.22928048 -0.16337126
+v 0.24440816 0.23049794 0.26337043
+v 0.35380618 0.34260563 -0.10104477
+v 0.34198438 0.35299645 0.02563615
+v 0.43322731 0.22908716 0.02724711
+v 0.35412873 0.31259217 0.11116722
+v 0.25609623 0.22785648 0.25760347
+v 0.24264091 0.24264098 0.25886342
+v 0.34380409 0.33141030 -0.16310313
+v 0.42858923 0.25115573 -0.08565384
+v 0.25190372 0.42956394 -0.06198797
+v 0.41716096 0.22869951 0.10269821
+v 0.42808105 0.24208598 0.02614032
+v 0.32365493 0.26703743 0.19915657
+v 0.40018018 0.25257673 0.11116722
+v 0.33964974 0.33964981 0.08608000
+v 0.24286650 0.42065716 -0.13335986
+v 0.24092600 0.37445402 0.15778634
+v 0.34260569 0.35380615 -0.10104478
+v 0.42898620 0.24246091 -0.10163817
+v 0.41471581 0.23943632 -0.16197609
+v 0.42956396 0.25190365 -0.06198797
+v 0.26651730 0.41375983 -0.00151721
+v 0.40405369 0.22953754 0.12829793
+v 0.39902288 0.28194965 0.02579517
+v 0.32481731 0.32481738 0.13797007
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f124e73575ad95da89b5e17e968eaa5ba95a4b13
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23452232 -0.23452236 -0.18175751
+v -0.22741771 -0.22741777 -0.36387378
+v -0.23452232 0.20426142 -0.18175751
+v -0.42437030 0.20142480 -0.17821046
+v -0.42001757 -0.21475231 -0.17595595
+v -0.22957593 0.18533545 -0.38049013
+v -0.41104276 -0.23243255 -0.17914430
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+v -0.36882169 0.10643471 -0.31866537
+v -0.41399051 -0.12147297 -0.25795502
+v -0.31022683 -0.22295234 -0.31819659
+v -0.25852218 -0.08062418 -0.38931562
+v -0.41399051 0.12147298 -0.25795502
+v -0.31470876 0.19613051 -0.32897682
+v -0.39688660 -0.18117745 -0.24746443
+v -0.46374849 -0.08152437 -0.17554986
+v -0.22990694 -0.11156681 -0.39441459
+v -0.28416172 -0.16565003 -0.35871896
+v -0.29780143 0.05132770 -0.37562919
+v -0.41130427 0.16575173 -0.23196475
+v -0.42916374 -0.02043323 -0.25898271
+v -0.38316013 0.19688949 -0.25747293
+v -0.44449233 -0.12157275 -0.20321991
+v -0.37041540 -0.22269657 -0.25734606
+v -0.22990694 0.11156681 -0.39441460
+v -0.33799130 -0.18185121 -0.31818328
+v -0.31318000 -0.09332568 -0.35957196
+v -0.31470876 -0.19613050 -0.32897681
+v -0.22957597 -0.18533548 -0.38049008
+v -0.28303917 0.10850591 -0.37488950
+v -0.34335697 0.03621883 -0.34560639
+v -0.44449233 0.12157275 -0.20321991
+v -0.42916374 0.02043323 -0.25898270
+v -0.38354159 -0.09605523 -0.30419211
+v -0.41348458 0.19691579 -0.20283310
+v -0.33799130 0.18185122 -0.31818328
+v -0.42689295 -0.09578665 -0.24801931
+v -0.40015704 -0.22792354 -0.20376695
+v -0.25852218 0.08062419 -0.38931563
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+v -0.44213559 0.03527952 -0.23294296
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+f 64 51 54
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b281b2f23a3ed54c57834ad4d46aedf3f546a53
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.72549020 0.04705882 0.04705882
+Ks 0.50196078 0.50196078 0.50196078
+Ns 70.71068000
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5fb6f623dad99a5122d85bc768c2a975686cfa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_0.obj
@@ -0,0 +1,10730 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.02236700 -0.00000005 -0.44267012
+v 0.02160486 0.00578896 -0.44267012
+v 0.00000000 -0.00000005 -0.44723897
+v 0.00000000 0.00000004 0.22278369
+v 0.07748807 0.02076291 0.26111518
+v 0.08022155 0.00000005 0.26111518
+v 0.02160486 0.00578896 -0.44267012
+v 0.01937039 0.01118346 -0.44267012
+v 0.00000000 -0.00000005 -0.44723897
+v 0.00000000 0.00000004 0.22278369
+v 0.06947391 0.04011083 0.26111518
+v 0.07748807 0.02076291 0.26111518
+v 0.01937039 0.01118346 -0.44267012
+v 0.01581586 0.01581581 -0.44267012
+v 0.00000000 -0.00000005 -0.44723897
+v 0.00000000 0.00000004 0.22278369
+v 0.05672521 0.05672526 0.26111518
+v 0.06947391 0.04011083 0.26111518
+v 0.01581586 0.01581581 -0.44267012
+v 0.01118350 0.01937035 -0.44267012
+v 0.00000000 -0.00000005 -0.44723897
+v 0.00000000 0.00000004 0.22278369
+v 0.04011078 0.06947396 0.26111518
+v 0.05672521 0.05672526 0.26111518
+v 0.01118350 0.01937035 -0.44267012
+v 0.00578900 0.02160482 -0.44267012
+v 0.00000000 -0.00000005 -0.44723897
+v 0.00000000 0.00000004 0.22278369
+v 0.02076287 0.07748813 0.26111518
+v 0.04011078 0.06947396 0.26111518
+v 0.00578900 0.02160482 -0.44267012
+v 0.00000000 0.02236696 -0.44267012
+v 0.00000000 -0.00000005 -0.44723897
+v 0.00000000 0.00000004 0.22278369
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a65d18ca063777dcc41f4d112260e4d19c6e41a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_1.obj
@@ -0,0 +1,7347 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..337b4a085415bec365c3d61133f0f7eaaca16c9b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_2.obj
@@ -0,0 +1,438 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_3.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac6c577b29ec466b6bada55aa73ad9eb61e96ffa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_2/visual/model_normalized_3.obj
@@ -0,0 +1,2268 @@
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+f 133/133/133 511/511/511 134/134/134
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa7d8abe80c41987e0b9aed33c77a6812c6a9ef5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.14232962 -0.00700074 0.39735048
+v 0.28492132 0.11319100 0.44153555
+v -0.00575486 0.32887383 0.44251449
+v 0.28230683 0.11059159 0.44057792
+v 0.05442483 0.19890817 0.40766844
+v 0.27559438 0.12646794 0.44054064
+v -0.07027762 0.11166536 0.39009763
+v 0.00575495 0.32887383 0.44251449
+v 0.20590379 0.03462917 0.41259316
+v -0.05082727 0.21870606 0.41165576
+v 0.03642705 0.25429861 0.42156958
+v 0.28417203 0.12411971 0.44251457
+v 0.15640396 0.12433829 0.41008278
+v -0.03642692 0.25429870 0.42156961
+v 0.18474266 0.02030770 0.40734632
+v 0.23010512 0.09652225 0.42551979
+f 1 2 3
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+f 11 6 5
+f 11 5 10
+f 12 8 3
+f 12 3 2
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+f 12 2 9
+f 13 1 5
+f 13 5 6
+f 14 11 10
+f 14 10 3
+f 14 3 8
+f 14 8 11
+f 15 13 9
+f 15 9 1
+f 15 1 13
+f 16 13 6
+f 16 6 9
+f 16 9 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa3407e93dd4f04b58be1f18e4baab7e634074f2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.15535135 -0.14019964 0.35746408
+v 0.15909110 -0.14393938 0.25572654
+v 0.15909110 0.23484850 0.25572654
+v -0.24999597 0.24889713 0.28856709
+v -0.23484829 -0.14393938 0.25572654
+v 0.14420236 0.09859358 0.40582971
+v 0.15652869 0.22981948 0.33258749
+v -0.23110064 -0.14202986 0.33564871
+v 0.15535135 0.14019966 0.35746408
+v -0.10999632 0.22770489 0.34183205
+v -0.12064158 -0.13098538 0.40618383
+v 0.10999670 0.22770487 0.34183203
+v -0.15535097 -0.14019964 0.35746414
+v 0.09890032 -0.12917958 0.40440718
+v -0.17381029 0.09616994 0.40992154
+v 0.14430166 -0.08367485 0.40477035
+v -0.18252747 0.22798221 0.32678539
+v -0.18879959 0.03774423 0.41026651
+v 0.05224560 0.19958988 0.35846360
+v -0.22811045 0.10989759 0.34178411
+v -0.18918133 -0.00762386 0.40832310
+v -0.05224522 0.19958988 0.35846360
+v -0.22815989 -0.11022844 0.34217889
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..377264ee98976b308288e03c581ca5637e3d3ac0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.24879642 -0.27808728 0.26997337
+v 0.27899419 -0.26387178 0.25425292
+v 0.18876998 0.05277207 0.41059555
+v 0.15652869 0.22981948 0.33258749
+v 0.15909110 0.23484850 0.25572654
+v 0.28855108 0.24249793 0.26486266
+v 0.15909110 -0.21969696 0.25572654
+v 0.17368479 -0.09795866 0.41104918
+v 0.27044195 -0.10861180 0.32803739
+v 0.17370545 0.08311109 0.41012812
+v 0.15508697 -0.18538979 0.34699534
+v 0.27045430 -0.24086565 0.28256651
+v 0.27044204 0.10861185 0.32803739
+v 0.27367713 0.22870316 0.28610865
+v 0.16215927 -0.22571859 0.33398609
+v 0.15905823 0.08331974 0.40741832
+v 0.23069912 -0.26130301 0.29243243
+v 0.25589376 -0.25656525 0.28256651
+v 0.18271706 0.22779288 0.32697739
+v 0.26997697 0.19966572 0.29986347
+v 0.15884582 -0.09825347 0.40891588
+f 6 5 4
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+f 21 15 8
+f 21 11 15
+f 21 16 11
+f 21 8 10
+f 21 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d7b7680d4e79c060458b7159cdf14ae85636374
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11152938 -0.43366559 -0.22294658
+v 0.24144540 -0.33927084 -0.27694729
+v 0.25000019 -0.23484847 -0.22912195
+v -0.23484829 -0.24999999 -0.22912195
+v -0.08030398 -0.24405493 -0.41404052
+v 0.24444511 -0.37546116 -0.22351225
+v 0.06612478 -0.34307174 -0.34844339
+v -0.23187379 -0.38052583 -0.22611818
+v 0.22834230 -0.22834209 -0.36871292
+v 0.02272747 -0.23484847 -0.22912195
+v 0.13575890 -0.41576266 -0.24720315
+v 0.24584819 -0.23069647 -0.35787625
+v -0.23069637 -0.24584807 -0.35787638
+v -0.21423829 -0.39080223 -0.22360975
+v 0.08176346 -0.25523847 -0.40796411
+v 0.20904339 -0.28480075 -0.34843683
+v 0.15382546 -0.42148379 -0.22380453
+v 0.24195012 -0.37056446 -0.23549972
+v 0.01985391 -0.41367536 -0.27726917
+v -0.21319047 -0.24349369 -0.36871304
+v -0.02052379 -0.44821024 -0.22266491
+v -0.00552656 -0.31282065 -0.37881457
+v 0.11057999 -0.22884962 -0.41393147
+v 0.12283843 -0.32923228 -0.34850246
+v 0.23705058 -0.29765643 -0.31787066
+v 0.15139131 -0.41670647 -0.23549972
+v 0.01962625 -0.44254101 -0.23518492
+v 0.13456811 -0.38312257 -0.29087868
+v -0.13569913 -0.35504003 -0.31802495
+v 0.02052418 -0.44821021 -0.22266490
+v 0.06627218 -0.28339630 -0.39390776
+v -0.06612440 -0.34307176 -0.34844342
+v 0.02260390 -0.23406828 -0.42466495
+v 0.16898466 -0.23968066 -0.39390776
+v 0.23934643 -0.25449773 -0.34843683
+v 0.22662083 -0.32476104 -0.30289889
+v 0.11063147 -0.42799638 -0.23546662
+v -0.01985354 -0.41367539 -0.27726919
+v 0.05015136 -0.39848861 -0.29239649
+v -0.13456778 -0.38312268 -0.29087876
+v -0.22662048 -0.32476108 -0.30289898
+v -0.12283809 -0.32923233 -0.34850253
+v 0.00552694 -0.31282064 -0.37881455
+v 0.09647945 -0.29794325 -0.37917423
+v -0.09647907 -0.29794327 -0.37917426
+v -0.18336049 -0.24396673 -0.38473150
+v -0.06627180 -0.28339636 -0.39390776
+v 0.10861212 -0.27044200 -0.39390776
+v 0.16930540 -0.22991126 -0.39832912
+v 0.19501424 -0.35250565 -0.29063976
+v 0.13569948 -0.35503995 -0.31802488
+v -0.01962588 -0.44254104 -0.23518496
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+v -0.05015099 -0.39848865 -0.29239651
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+v -0.10861180 -0.27044215 -0.39390776
+v -0.22642777 -0.36983739 -0.24684482
+v -0.11152902 -0.43366563 -0.22294659
+v -0.06560536 -0.38524927 -0.30446318
+v -0.11063109 -0.42799642 -0.23546666
+v -0.20904324 -0.28480100 -0.34843683
+v -0.13879807 -0.25506147 -0.39390776
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+f 17 6 1
+f 17 1 11
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+f 18 6 17
+f 20 13 4
+f 20 4 10
+f 21 6 14
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+f 23 10 9
+f 25 12 2
+f 26 18 17
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+f 26 2 18
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+f 30 6 21
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+f 50 36 2
+f 50 28 36
+f 50 2 11
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+f 51 24 36
+f 52 30 21
+f 52 27 30
+f 52 38 19
+f 52 19 27
+f 53 39 7
+f 53 7 28
+f 53 28 39
+f 54 14 8
+f 55 32 38
+f 56 46 33
+f 56 33 5
+f 58 47 45
+f 58 5 47
+f 58 45 42
+f 58 42 57
+f 59 41 40
+f 59 40 54
+f 59 54 8
+f 59 8 41
+f 60 21 14
+f 60 14 54
+f 60 52 21
+f 61 55 40
+f 61 40 32
+f 61 32 55
+f 62 55 38
+f 62 38 52
+f 62 52 60
+f 62 40 55
+f 62 60 54
+f 62 54 40
+f 63 57 42
+f 63 42 41
+f 63 41 13
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+f 63 13 20
+f 63 20 46
+f 64 57 46
+f 64 46 56
+f 64 58 57
+f 64 56 5
+f 64 5 58
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d13205660ec734dcf9c88debf2a0051e07deff28
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.12619655 -0.47606194 0.01185925
+v 0.24578020 -0.42296942 -0.09485574
+v 0.24631342 -0.42401592 0.01550205
+v 0.02272747 -0.40151514 0.01330229
+v 0.02020474 -0.49164784 -0.09135360
+v 0.02038846 -0.49280787 0.01199989
+v 0.17980447 -0.45845200 -0.07576682
+v 0.02272747 -0.40151514 -0.09275831
+v 0.05018161 -0.48958850 -0.06086895
+v 0.20999161 -0.44307302 -0.07574459
+v 0.17974303 -0.45833140 0.01145053
+v 0.14544851 -0.45649662 -0.15592745
+v 0.05016042 -0.48945478 -0.00344734
+v 0.14120615 -0.47516599 -0.06093322
+v 0.22806511 -0.43365622 0.01200072
+v 0.16491572 -0.45896769 -0.11760228
+v 0.18518523 -0.43870928 -0.15090089
+v 0.14118498 -0.47503229 -0.00338308
+v 0.12601281 -0.47490190 -0.09121296
+v 0.20993016 -0.44295242 0.01142829
+v 0.22753189 -0.43260971 -0.09135444
+v 0.15097383 -0.46134171 -0.13346179
+v 0.19510968 -0.44360211 -0.11753844
+v 0.14166350 -0.46290209 -0.13434666
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 8 5 4
+f 8 4 2
+f 9 6 5
+f 10 7 2
+f 10 2 3
+f 11 3 1
+f 11 7 10
+f 12 5 8
+f 13 6 9
+f 14 7 11
+f 14 9 5
+f 15 10 3
+f 15 3 11
+f 16 7 14
+f 17 12 8
+f 17 8 2
+f 18 13 9
+f 18 9 14
+f 18 1 6
+f 18 6 13
+f 18 14 11
+f 18 11 1
+f 19 14 5
+f 20 15 11
+f 20 11 10
+f 20 10 15
+f 21 16 2
+f 21 2 7
+f 21 7 16
+f 22 17 16
+f 22 12 17
+f 22 16 14
+f 22 14 19
+f 23 17 2
+f 23 2 16
+f 23 16 17
+f 24 22 19
+f 24 19 5
+f 24 5 12
+f 24 12 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b41cbd32d7a0a1f6fd44b2a7188129f3de6597f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.12599163 -0.47476819 0.02689669
+v 0.30848991 -0.38424728 0.01304159
+v 0.19798107 -0.31380868 0.28256652
+v 0.02225258 -0.26215316 0.33870590
+v 0.02272747 -0.26515150 0.01330229
+v 0.02022268 -0.43150922 0.19941200
+v 0.26533006 -0.37172570 0.15710331
+v 0.02271187 -0.49232578 0.01329361
+v 0.28030322 -0.26515150 0.01330229
+v 0.10916164 -0.36213810 0.28279440
+v 0.01993786 -0.40033166 0.24573640
+v 0.28551513 -0.39715911 0.05293916
+v 0.14895398 -0.42751989 0.16962944
+v 0.12619655 -0.47606194 0.01185925
+v 0.02038630 -0.47764276 0.08508315
+v 0.27370205 -0.25869813 0.26344692
+v 0.10889037 -0.27098810 0.32769897
+v 0.02165410 -0.28867755 0.32871250
+v 0.06542538 -0.44510622 0.16962944
+v 0.30341668 -0.37917405 0.05605508
+v 0.26994468 -0.38118538 0.12664819
+v 0.16473930 -0.45862144 0.05319451
+v 0.24129751 -0.36966605 0.18211880
+v 0.28843937 -0.40289827 0.01195626
+v 0.01996046 -0.46019364 0.14443214
+v 0.09558880 -0.47413807 0.05383722
+v 0.24978225 -0.32588373 0.22583268
+v 0.11095853 -0.25989558 0.33122695
+v 0.19696035 -0.28654383 0.29663922
+v 0.02127258 -0.34687484 0.29869286
+v 0.03671070 -0.28807829 0.32803739
+v 0.11069624 -0.42882090 0.18237209
+v 0.29634056 -0.38724944 0.05339596
+v 0.14907116 -0.44289623 0.12747416
+v 0.16769084 -0.46441417 0.01204520
+v 0.30097120 -0.39188009 0.01211537
+v 0.14101443 -0.45880399 0.08409113
+v 0.24121895 -0.27215889 0.28266732
+v 0.24968523 -0.34094040 0.21058811
+v 0.21333259 -0.25878693 0.30153629
+v 0.03620450 -0.34625538 0.29774591
+v 0.13468900 -0.41406933 0.19645173
+v 0.23967202 -0.41154803 0.08301476
+v 0.09540232 -0.45780923 0.11324819
+v 0.24344762 -0.25907434 0.28736609
+v 0.21128638 -0.27189223 0.29677927
+v 0.17928410 -0.44227918 0.08314243
+f 14 8 5
+f 14 1 8
+f 15 5 8
+f 16 2 9
+f 16 9 5
+f 18 4 5
+f 18 5 11
+f 19 11 6
+f 19 10 11
+f 20 16 7
+f 20 2 16
+f 21 7 13
+f 21 20 7
+f 23 13 7
+f 23 3 10
+f 23 10 13
+f 24 14 5
+f 24 5 9
+f 25 11 5
+f 25 5 15
+f 25 6 11
+f 25 19 6
+f 26 15 8
+f 26 8 1
+f 28 5 4
+f 28 4 17
+f 29 17 10
+f 29 10 3
+f 29 28 17
+f 30 18 11
+f 30 11 10
+f 31 17 4
+f 31 4 18
+f 31 10 17
+f 31 18 30
+f 32 19 13
+f 32 10 19
+f 33 2 20
+f 33 21 12
+f 33 20 21
+f 34 21 13
+f 34 13 19
+f 35 22 1
+f 35 1 14
+f 35 14 24
+f 35 24 12
+f 35 12 22
+f 36 24 9
+f 36 9 2
+f 36 2 33
+f 36 33 12
+f 36 12 24
+f 37 15 26
+f 37 34 19
+f 37 26 1
+f 37 1 22
+f 37 22 34
+f 38 27 16
+f 38 3 27
+f 38 29 3
+f 39 7 16
+f 39 16 27
+f 39 23 7
+f 39 27 3
+f 39 3 23
+f 40 16 5
+f 40 5 28
+f 40 28 29
+f 41 31 30
+f 41 30 10
+f 41 10 31
+f 42 32 13
+f 42 13 10
+f 42 10 32
+f 43 22 12
+f 43 12 21
+f 43 21 34
+f 44 25 15
+f 44 15 37
+f 44 37 19
+f 44 19 25
+f 45 38 16
+f 45 16 40
+f 46 40 29
+f 46 29 38
+f 46 45 40
+f 46 38 45
+f 47 43 34
+f 47 34 22
+f 47 22 43
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e02e90e9dd4eaf9ae1d47b4a1e69d79be5a7bd5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.40863703 -0.27650027 0.01547982
+v 0.41448001 -0.15054522 -0.23899095
+v 0.42401618 0.24631322 0.01550208
+v 0.28030322 0.23484850 0.01330229
+v 0.30870774 -0.29355604 -0.25636744
+v 0.28030322 0.23484850 -0.22912195
+v 0.37039683 -0.25701591 -0.22090635
+v 0.28030322 -0.26515150 0.01330229
+v 0.38573780 0.22680944 -0.22100383
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 6 5
+f 8 4 6
+f 9 6 3
+f 9 3 2
+f 9 2 5
+f 9 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2156600e94fa61be444c6b3b888d73eec4c270d0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01996451 -0.49013116 0.03891212
+v 0.02746511 -0.43142732 -0.24966293
+v 0.02178187 -0.39597803 0.25234016
+v -0.09726081 -0.39396112 0.23595514
+v -0.09564922 -0.47452195 -0.11824502
+v -0.10195251 -0.42341024 -0.24415752
+v -0.01974166 -0.44369398 0.18217652
+v 0.02002530 -0.49051496 -0.10331989
+v -0.03671868 -0.39435572 0.25134799
+v -0.09558842 -0.47413813 0.05383725
+v 0.01974203 -0.44369394 0.18217650
+v -0.00464212 -0.45875176 -0.20537358
+v -0.06542501 -0.44510627 0.16962944
+v -0.05016006 -0.48945486 -0.00344734
+v -0.01979765 -0.47392854 0.09923542
+v 0.01979802 -0.47392849 0.09923540
+v 0.01985881 -0.47431232 -0.16364315
+v -0.09550874 -0.45848348 -0.17494598
+v -0.09580605 -0.43043624 0.18350678
+v -0.01996414 -0.49013120 0.03891214
+v -0.03498788 -0.48932447 -0.09114869
+v -0.03484274 -0.45810505 0.14379210
+v 0.02052418 -0.44821021 -0.22266490
+v -0.09668388 -0.43560008 -0.22384453
+v -0.01985845 -0.47431236 -0.16364318
+v -0.09548181 -0.44358642 0.15898483
+v -0.05018122 -0.48958852 -0.06086895
+v 0.00464251 -0.45875172 -0.20537356
+v -0.06505917 -0.44240686 -0.21997116
+v -0.00463146 -0.48898738 -0.11806044
+v -0.08025575 -0.47299433 -0.13298556
+v -0.09540452 -0.45782547 0.11340340
+v 0.00463184 -0.48898734 -0.11806043
+f 1 2 3
+f 6 3 2
+f 8 2 1
+f 9 6 4
+f 9 3 6
+f 9 7 3
+f 10 6 5
+f 10 4 6
+f 11 3 7
+f 12 6 2
+f 13 7 9
+f 16 1 3
+f 16 3 11
+f 16 15 1
+f 17 2 8
+f 18 5 6
+f 19 13 9
+f 19 9 4
+f 20 8 1
+f 20 10 14
+f 20 15 10
+f 20 1 15
+f 22 11 7
+f 22 7 13
+f 22 16 11
+f 22 15 16
+f 23 12 2
+f 23 2 17
+f 24 18 6
+f 25 18 12
+f 25 12 17
+f 26 19 4
+f 26 4 10
+f 26 13 19
+f 26 22 13
+f 27 20 14
+f 27 8 20
+f 27 21 8
+f 27 5 21
+f 27 14 10
+f 27 10 5
+f 28 23 17
+f 28 17 12
+f 28 12 23
+f 29 24 6
+f 29 6 12
+f 29 12 18
+f 29 18 24
+f 30 25 17
+f 30 8 21
+f 30 21 5
+f 31 5 18
+f 31 18 25
+f 31 30 5
+f 31 25 30
+f 32 26 10
+f 32 10 15
+f 32 15 22
+f 32 22 26
+f 33 30 17
+f 33 17 8
+f 33 8 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7858d2297cbcef9be0ab3fe5597396e6ae89349b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.18854230 -0.24914854 -0.37907665
+v -0.15494579 -0.20040051 -0.41550436
+v -0.15909072 -0.14393938 -0.33518255
+v -0.17347600 0.26308113 -0.37624509
+v -0.22600457 0.07882725 -0.42331615
+v -0.15453702 0.21270185 -0.41084833
+v -0.18336049 -0.24396673 -0.38473150
+v -0.26536844 -0.15949019 -0.37957210
+v -0.15396059 -0.16911229 -0.42813942
+v -0.15675098 0.23025652 -0.40163179
+v -0.22798197 0.18252763 -0.39390784
+v -0.23116941 -0.21601808 -0.37389484
+v -0.24388736 0.24388757 -0.35174841
+v -0.15487080 0.12456796 -0.44044808
+v -0.19817222 -0.06493458 -0.43728230
+v -0.18252742 0.22798217 -0.39390784
+v -0.20086638 -0.24632111 -0.37389484
+v -0.22798216 -0.18252779 -0.39390776
+v -0.19559401 0.13937851 -0.42309820
+v -0.22600459 -0.07882723 -0.42331624
+v -0.15487081 -0.12456797 -0.44044816
+v -0.19817220 0.06493460 -0.43728223
+v -0.16856604 -0.21402077 -0.40483968
+v -0.21199694 0.16654260 -0.40642412
+v -0.16909164 0.12363728 -0.43693113
+v -0.22597349 0.13941746 -0.40810164
+v -0.22597349 -0.13941744 -0.40810168
+v -0.19559402 -0.13937849 -0.42309825
+v -0.16909164 -0.12363728 -0.43693121
+v -0.21199696 -0.16654259 -0.40642419
+f 7 2 3
+f 7 3 1
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 12 3 8
+f 13 8 3
+f 13 3 4
+f 13 11 5
+f 13 5 8
+f 14 6 9
+f 16 10 6
+f 16 6 11
+f 16 4 10
+f 16 13 4
+f 16 11 13
+f 17 12 1
+f 17 1 3
+f 17 3 12
+f 18 7 1
+f 18 1 12
+f 18 12 8
+f 20 8 5
+f 20 5 15
+f 21 15 14
+f 21 14 9
+f 22 15 5
+f 22 14 15
+f 23 2 7
+f 23 7 18
+f 23 9 2
+f 24 19 11
+f 24 11 6
+f 24 6 19
+f 25 19 6
+f 25 6 14
+f 25 14 22
+f 25 22 5
+f 25 5 19
+f 26 19 5
+f 26 5 11
+f 26 11 19
+f 27 18 8
+f 27 8 20
+f 28 27 20
+f 28 18 27
+f 29 15 21
+f 29 21 9
+f 29 9 28
+f 29 28 20
+f 29 20 15
+f 30 28 9
+f 30 18 28
+f 30 23 18
+f 30 9 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ec386a0344815b1f2173c14575ab4a4a4932003
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.09617671 -0.47785240 0.03968500
+v -0.09668388 -0.43560008 -0.22384453
+v -0.10481534 -0.27757616 0.32536613
+v -0.23068824 -0.26129329 0.29197873
+v -0.22530332 -0.42823667 -0.11747469
+v -0.09848466 -0.26515150 -0.22912195
+v -0.13468868 -0.41406944 0.19645181
+v -0.11104268 -0.47604956 -0.10350449
+v -0.23484829 -0.26515150 -0.22912195
+v -0.09559700 -0.36945447 0.27534040
+v -0.22512689 -0.42789041 0.05306689
+v -0.14108066 -0.44407305 -0.19044149
+v -0.09623750 -0.47823621 -0.10409277
+v -0.09607102 -0.46203358 -0.16441604
+v -0.09580605 -0.43043624 0.18350678
+v -0.19798082 -0.31380889 0.28256652
+v -0.14927194 -0.44285079 0.12748975
+v -0.14118460 -0.47503235 -0.00338307
+v -0.22715820 -0.38676036 0.16962944
+v -0.16491542 -0.45896785 -0.11760235
+v -0.22680934 -0.38573778 -0.22100390
+v -0.12568139 -0.45766030 -0.16323948
+v -0.11069586 -0.42882094 0.18237212
+v -0.10916154 -0.36213805 0.28279443
+v -0.09601022 -0.46164975 0.10000827
+v -0.16473898 -0.45862159 0.05319458
+v -0.14120578 -0.47516603 -0.06093322
+v -0.20992986 -0.44295259 0.01142828
+v -0.22652675 -0.28773675 0.28277318
+v -0.14895369 -0.42752005 0.16962944
+v -0.20966675 -0.41213315 0.12733861
+v -0.22590628 -0.41426850 -0.16328212
+v -0.13973915 -0.43007309 -0.22106045
+v -0.09694359 -0.36218811 0.28385196
+v -0.16448858 -0.35249807 0.25710843
+v -0.14101406 -0.45880409 0.08409118
+v -0.12576446 -0.44346068 0.14379375
+v -0.12601243 -0.47490194 -0.09121298
+v -0.17980416 -0.45845214 -0.07576684
+v -0.17974273 -0.45833154 0.01145055
+v -0.22599379 -0.35422324 0.21219497
+v -0.22528478 -0.39831741 0.14250761
+v -0.17928379 -0.44227935 0.08314250
+v -0.17946024 -0.44262562 -0.14755028
+v -0.12599126 -0.47476826 0.02689667
+v -0.11081541 -0.45946311 0.09941999
+v -0.20999129 -0.44307316 -0.07574460
+v -0.19510005 -0.32371678 0.27220970
+v -0.20947776 -0.42691376 0.08307869
+v -0.11098189 -0.47566576 0.03909672
+f 6 4 3
+f 9 4 6
+f 9 6 2
+f 10 6 3
+f 11 9 5
+f 14 2 6
+f 14 6 10
+f 14 1 13
+f 14 12 2
+f 15 14 10
+f 16 3 4
+f 18 13 1
+f 19 4 9
+f 19 9 11
+f 21 9 2
+f 22 12 14
+f 22 20 12
+f 22 8 20
+f 22 14 13
+f 22 13 8
+f 23 15 10
+f 24 3 16
+f 24 23 10
+f 24 7 23
+f 25 1 14
+f 25 14 15
+f 27 13 18
+f 28 11 5
+f 29 16 4
+f 30 24 19
+f 30 7 24
+f 30 23 7
+f 31 17 30
+f 32 20 5
+f 32 5 9
+f 32 9 21
+f 33 21 2
+f 33 2 12
+f 33 32 21
+f 33 12 32
+f 34 24 10
+f 34 10 3
+f 34 3 24
+f 35 19 24
+f 36 17 26
+f 37 25 15
+f 37 15 23
+f 37 23 30
+f 37 30 17
+f 37 17 36
+f 38 27 20
+f 38 20 8
+f 38 8 13
+f 38 13 27
+f 39 5 20
+f 39 20 27
+f 40 18 26
+f 40 26 11
+f 40 11 28
+f 40 39 27
+f 40 27 18
+f 41 16 29
+f 41 19 35
+f 41 29 4
+f 41 4 19
+f 42 19 11
+f 42 31 30
+f 42 30 19
+f 43 26 17
+f 43 17 31
+f 44 32 12
+f 44 12 20
+f 44 20 32
+f 45 36 26
+f 45 26 18
+f 45 18 1
+f 46 37 36
+f 46 25 37
+f 46 36 1
+f 46 1 25
+f 47 28 5
+f 47 5 39
+f 47 40 28
+f 47 39 40
+f 48 41 35
+f 48 16 41
+f 48 35 24
+f 48 24 16
+f 49 42 11
+f 49 31 42
+f 49 43 31
+f 49 11 26
+f 49 26 43
+f 50 45 1
+f 50 1 36
+f 50 36 45
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..146df0f3e3c5608681fd2131bc11ac9573359040
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01952636 -0.38277051 0.27456574
+v 0.02272747 -0.40151514 0.01330229
+v 0.02272747 -0.26515150 0.01330229
+v -0.10481534 -0.27757616 0.32536613
+v -0.09848466 -0.40151514 0.01330229
+v 0.02462678 -0.27714326 0.33289575
+v -0.09607565 -0.38740880 0.24680918
+v -0.09848466 -0.26515150 0.01330229
+v -0.02110585 -0.37687024 0.28295057
+v 0.02109013 -0.37677594 0.28300675
+v -0.01957479 -0.38305637 0.27436081
+v -0.09694359 -0.36218811 0.28385196
+v -0.09559700 -0.36945447 0.27534040
+f 5 3 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 9 6 4
+f 10 1 2
+f 10 2 6
+f 10 6 9
+f 11 7 1
+f 11 10 9
+f 11 1 10
+f 12 9 4
+f 12 4 7
+f 13 11 9
+f 13 9 12
+f 13 12 7
+f 13 7 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eec04aec2e4c012376237c7d299848dc2c7031ad
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24631342 -0.42401592 0.01550205
+v 0.24578020 -0.42296942 -0.09485574
+v 0.23484868 -0.26515150 0.01330229
+v -0.09848466 -0.26515150 0.01330229
+v -0.09848466 -0.40151514 -0.09275831
+v 0.23484868 -0.26515150 -0.09275831
+v -0.09848466 -0.40151514 0.01330229
+v -0.09848466 -0.26515150 -0.09275831
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23f2839f4c734a762eba6300ca4cd1ac471cdccc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02272747 -0.26515150 0.01330229
+v 0.02272747 -0.26515150 -0.22912195
+v 0.02272747 0.23484850 0.01330229
+v -0.23484829 0.23484850 0.01330229
+v -0.23484829 -0.26515150 -0.22912195
+v -0.23484829 0.23484850 -0.22912195
+v -0.23484829 -0.26515150 0.01330229
+v 0.02272747 0.23484850 -0.22912195
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24839bb57f923f6de79280c18e431777b0f8a89
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28030322 -0.26515150 0.01330229
+v 0.30870774 -0.29355604 -0.25636744
+v 0.28030322 -0.00757575 -0.22912195
+v 0.02272747 -0.00757575 0.01330229
+v 0.02272747 -0.26515150 0.01330229
+v 0.02272747 -0.00757575 -0.22912195
+v 0.28030322 -0.00757575 0.01330229
+v 0.02272747 -0.26515150 -0.22912195
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec789f5465a52544b728547962f158d5bd528d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02272747 -0.00757575 0.25572654
+v 0.02272747 -0.00757575 0.01330229
+v 0.02272747 0.23484850 0.25572654
+v -0.24999597 0.24889713 0.28856709
+v -0.23484829 -0.00757575 0.01330229
+v -0.23484829 -0.00757575 0.25572654
+v 0.02272747 0.23484850 0.01330229
+v -0.23484829 0.23484850 0.01330229
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cf673779962d7432110a94291cc0935e1201f5d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.22865978 -0.43482333 -0.00303668
+v 0.38573963 -0.26483346 -0.18334623
+v 0.40863703 -0.27650027 0.01547982
+v 0.23484868 -0.26515150 0.01330229
+v 0.23484868 -0.26515150 -0.09275831
+v 0.23414788 -0.43044279 0.01316783
+v 0.28790616 -0.40185177 -0.09130996
+v 0.37115828 -0.32570351 -0.04543062
+v 0.29530492 -0.40136533 -0.01888568
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+v 0.28843937 -0.40289827 0.01195626
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a87030860f082626af2349e8234cefb70555e1a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.12022779 -0.28147095 0.44251457
+v 0.14290957 -0.15806088 0.35642337
+v 0.11344448 -0.14375821 0.40855271
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+v -0.14342955 -0.14342973 0.35913316
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+v -0.14071982 -0.14072000 0.36017388
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0af3b35774536e295821f94e0e0d565ec57bf7aa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.27729795 -0.39561698 0.07214936
+v 0.47557966 -0.12851968 0.01315296
+v 0.32700279 -0.13736776 0.28256651
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+v 0.28501485 -0.22516604 0.28256651
+v 0.41505160 -0.13794705 0.18286938
+v 0.31612271 -0.37672857 0.01211537
+v 0.41505180 0.13794683 0.18286947
+v 0.39945048 -0.03521302 0.22875238
+v 0.28807816 -0.03671044 0.32803739
+v 0.49368483 -0.01257490 0.01608597
+v 0.46441412 -0.16769054 0.01204517
+v 0.27388342 -0.38891560 0.10045386
+v 0.28445230 -0.12358858 0.31466938
+v 0.27340195 -0.22844792 0.28663092
+v 0.33789232 -0.22579843 0.22674476
+v 0.45789741 -0.09541606 0.11036938
+v 0.31149208 -0.37209793 0.05339596
+v 0.39945050 0.03521309 0.22875239
+v 0.34003099 0.13636441 0.27000691
+v 0.38176305 0.22500954 0.16962935
+v 0.44474669 -0.00488547 0.16962935
+v 0.38325323 -0.13484270 0.22667349
+v 0.32733942 -0.03588546 0.29852804
+v 0.27334549 0.12524275 0.32069818
+v 0.45946299 0.11081559 0.09941991
+v 0.44227918 -0.17928381 0.08314239
+v 0.28351565 -0.18331068 0.29679305
+v 0.27375629 -0.12545205 0.32076938
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+v 0.28560604 -0.39166644 0.07020733
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+f 62 45 25
+f 62 30 45
+f 63 6 46
+f 63 51 6
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+f 63 52 34
+f 63 19 52
+f 64 46 39
+f 64 39 19
+f 64 63 46
+f 64 19 63
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f4c3edbdabfab7ffc6c96a6bb3cb084fc89c3965
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 1.00000000 0.00000000 0.00000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 715.45552700
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5988ce50955bf776b6d15ade75f1ebd68cd226a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/model_normalized_0.obj
@@ -0,0 +1,185 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.00000004 0.04715567 0.37283321
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+v 0.00000004 -0.00000004 0.37283321
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+v -0.04715567 -0.00000004 0.47912195
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+v 0.04715576 -0.00000004 0.47912195
+v 0.03334416 0.03334407 0.37283321
+v 0.00000004 0.04715567 0.37283321
+v 0.00000004 0.04715567 0.47912195
+v 0.03334416 0.03334407 0.47912195
+v 0.00000004 0.04715567 0.37283321
+v -0.03334407 0.03334407 0.37283321
+v -0.03334407 0.03334407 0.47912195
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+v 0.03334416 0.03334407 0.37283321
+v 0.03334416 0.03334407 0.47912195
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+vt 0.87426800 0.99902300
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+vt 0.99902300 0.67302100
+vt 0.87426800 0.67302100
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+f 7/7/7 6/6/6 3/3/3
+f 8/8/8 7/7/7 3/3/3
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+f 11/11/11 13/13/13 12/12/12
+f 13/13/13 14/14/14 12/12/12
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e71c49add63252e275b60e53d265da4b2ee51d0b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/model_normalized_1.obj
@@ -0,0 +1,243 @@
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/model_normalized_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35ded7b33eb33bf76e4458c7dbb48c2caa73d7ec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_5/visual/model_normalized_2.obj
@@ -0,0 +1,2080 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b28b9c55905d37dd5c15095c34c6399e33e9150d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.32513661 -0.19152838 -0.23804800
+v -0.30458908 -0.14988742 -0.33456167
+v -0.26859091 -0.01800370 -0.09848485
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+v -0.26859091 -0.01800370 -0.15909091
+v -0.37286762 -0.09117930 -0.11491920
+v -0.34108428 -0.16052797 -0.24449179
+v -0.31134985 0.05708834 -0.33916745
+v -0.26859091 0.07290539 -0.09848485
+v -0.35537681 0.11157852 -0.19977959
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+v -0.37267770 0.05602997 -0.04103372
+v -0.37250677 -0.07686244 -0.18713715
+v -0.34358202 -0.16186789 -0.23174559
+v -0.32435350 -0.17370308 -0.27247749
+v -0.34055834 -0.11928987 -0.28756484
+v -0.34048867 0.01013623 -0.30156145
+v -0.37200816 0.08371195 -0.15650175
+v -0.34148298 0.12632203 -0.22898502
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5457c5431bcf3f1eaf8d13f6a50f6dbcc7ec01a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01186327 0.05830870 0.17051913
+v -0.01601782 0.06117778 0.17224060
+v -0.10238828 0.05842936 0.16767081
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+v -0.07396426 0.16922219 0.21732477
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+v -0.14789594 0.27461485 0.18726027
+v -0.13458605 0.16990634 0.21803755
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+v -0.15244441 0.34375857 0.11984946
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+v -0.15052628 0.31559928 0.15851054
+v -0.14968914 0.34806919 0.10639848
+v -0.13889373 0.26048582 0.20023627
+v -0.14087669 0.34664520 0.09638403
+f 6 1 3
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e1ef1c5bbd6fb11c061f5f7b51de8d0b6b6e78
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.11019695 -0.01800370 -0.35606060
+v 0.20968961 0.10853761 -0.42933466
+v 0.11019695 0.16381448 -0.35606060
+v -0.19635479 0.18746245 -0.38436697
+v -0.07067932 -0.01700828 -0.49452886
+v 0.10482676 0.15511771 -0.45715977
+v -0.17768183 -0.01800370 -0.35606060
+v 0.19749346 0.16062881 -0.41142820
+v 0.10741166 -0.01758020 -0.49447206
+v -0.08239515 0.12564568 -0.47314683
+v -0.20029461 -0.01778165 -0.46046739
+v 0.14743459 0.15427240 -0.44277008
+v 0.19137616 0.06818059 -0.45432810
+v -0.08180901 0.15433713 -0.45962190
+v 0.01862475 0.08474753 -0.49004949
+v -0.08495077 0.05551608 -0.49203410
+v -0.17292971 0.09952198 -0.45325449
+v 0.18951784 0.13946293 -0.42841540
+v 0.10738488 0.04006412 -0.49084217
+v 0.14879486 0.11201399 -0.46033480
+v 0.03277857 0.14216061 -0.47409815
+v -0.05510777 0.08455569 -0.49006671
+v -0.18453196 0.06078023 -0.45942162
+v -0.11167657 0.11034155 -0.47255324
+v -0.16780795 0.15112912 -0.42806777
+v 0.17580886 0.15423793 -0.42887878
+v 0.19213834 0.15597099 -0.41795502
+v 0.17977455 0.09895374 -0.45050260
+v 0.17867910 0.06182098 -0.46263539
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+v -0.03902707 0.14078786 -0.47453232
+v -0.15621598 0.09742815 -0.46220228
+v -0.08427942 0.06975008 -0.48981724
+v -0.16832011 0.12411961 -0.44403958
+v 0.17546763 0.12569173 -0.44244740
+v 0.19721702 0.10060005 -0.44026561
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+f 33 10 22
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+f 39 34 25
+f 39 25 14
+f 39 38 34
+f 39 14 24
+f 39 24 38
+f 40 15 21
+f 40 21 37
+f 40 19 15
+f 40 37 30
+f 40 30 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a294ee0c62770463476f3c6cb5e2f80887c812
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v 0.21594603 -0.29037165 0.00737638
+v 0.03414286 -0.19594452 0.17144548
+v -0.27331072 -0.01494814 0.12924518
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+v -0.16731861 -0.28795166 0.06859072
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+v 0.20110604 -0.01800370 0.00757576
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+v -0.20667701 -0.05270926 0.18792936
+v -0.17200171 -0.32365524 0.00242987
+v 0.16083919 -0.28867069 0.06827721
+v -0.02481065 -0.31921635 0.08576429
+v 0.14501882 -0.03960281 0.19610377
+v 0.17734039 -0.32172746 0.00140371
+v -0.08269963 -0.24873378 0.13975503
+v -0.29667558 -0.20066714 0.02445225
+v -0.20366852 -0.01548072 0.16029820
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+v -0.08377149 -0.35277283 0.00273957
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+v 0.15414372 -0.01773657 0.18982329
+v 0.06229307 -0.08431560 0.19759704
+v 0.18731384 -0.21964173 0.11034435
+v 0.20972178 -0.29776198 0.00344273
+v -0.14155561 -0.33619074 0.00199220
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+v -0.15368091 -0.23348170 0.12691535
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+v -0.11113559 -0.28890592 0.09849989
+v -0.25488820 -0.16329382 0.09887544
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+v 0.06280455 -0.18178820 0.17185750
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+v -0.05315172 -0.34861041 0.03029788
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+f 10 6 9
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+f 15 10 11
+f 16 5 9
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8086c38315e04061320862631c0b0af07fe6209a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.17768183 -0.19982187 0.00757576
+v -0.17768183 -0.19982187 -0.23484848
+v -0.17768183 0.17896599 0.00757576
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+v -0.35078446 -0.13526623 -0.24464591
+v -0.29043937 -0.21450552 0.02056853
+v -0.17768183 0.17896599 -0.23484848
+v -0.33073683 -0.12995253 0.01566958
+v -0.30174802 -0.22368028 -0.24656328
+v -0.31396856 0.17892482 -0.23482466
+f 1 2 3
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+f 7 3 2
+f 7 4 3
+f 8 6 4
+f 8 4 5
+f 8 5 6
+f 9 6 5
+f 9 2 1
+f 9 1 6
+f 9 7 2
+f 9 5 7
+f 10 7 5
+f 10 5 4
+f 10 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..549c860078a6dda8ec9cc0d5ac791d63ecec1e4e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32776013 0.15863349 -0.23169432
+v 0.32424497 0.15661614 -0.24534713
+v 0.16137950 0.32603618 -0.24413761
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+f 62 28 60
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+f 63 41 19
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+f 63 36 41
+f 64 41 36
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+f 64 59 41
+f 64 26 52
+f 64 52 16
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87c759f398d6db1a676b6fa4a0020122f2607ec9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.17768183 -0.18467036 -0.23484848
+v -0.17130047 -0.17821377 -0.43466014
+v -0.17768183 0.16381448 -0.23484848
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+v -0.23866819 0.03825826 -0.42921338
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+v -0.29736605 0.00960944 -0.37355451
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+v -0.17065762 0.11201970 -0.44884101
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+v -0.29562153 0.06744160 -0.35803010
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+f 48 22 38
+f 49 6 24
+f 49 24 37
+f 49 26 6
+f 49 37 16
+f 49 16 26
+f 51 37 24
+f 51 24 15
+f 51 15 39
+f 51 43 37
+f 51 39 43
+f 52 27 40
+f 52 30 27
+f 52 9 30
+f 53 41 25
+f 53 38 41
+f 54 46 22
+f 54 34 46
+f 54 22 36
+f 54 36 47
+f 55 47 14
+f 55 14 34
+f 55 54 47
+f 55 34 54
+f 56 25 2
+f 56 2 50
+f 56 53 25
+f 57 48 38
+f 57 38 53
+f 57 56 50
+f 57 53 56
+f 57 50 35
+f 57 35 48
+f 58 50 2
+f 58 2 35
+f 58 35 50
+f 59 52 40
+f 59 40 45
+f 59 45 44
+f 59 44 9
+f 59 9 52
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8b5288d4931ed673fa8b85c1c3e558d7844495
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.06890254 -0.36615882 -0.04053761
+v -0.07332060 -0.31472847 -0.34652842
+v -0.07162122 -0.21497339 0.00757576
+v -0.17768183 -0.21497339 0.00757576
+v -0.16914507 -0.33361147 -0.21636197
+v -0.07162122 -0.21497339 -0.34090908
+v -0.06947349 -0.35541001 0.00385203
+v -0.06906967 -0.36571151 -0.21679341
+v -0.19865745 -0.24384552 -0.36866421
+v -0.16919092 -0.33105014 -0.01434058
+v -0.12589023 -0.34845423 -0.23098927
+v -0.11265341 -0.36374541 -0.11461277
+v -0.12590573 -0.34690134 -0.01359245
+v -0.17200171 -0.32365524 0.00242987
+v -0.08291980 -0.36322543 -0.21640881
+v -0.16914962 -0.28933417 -0.33073357
+v -0.15591521 -0.34776688 -0.07004310
+v -0.15439411 -0.34743365 -0.17157932
+v -0.11228857 -0.36387914 -0.14310861
+v -0.08311483 -0.36347544 -0.04086610
+v -0.11142459 -0.34670389 0.00061698
+v -0.15498828 -0.33178186 0.00010059
+v -0.09736929 -0.36392962 -0.18723687
+v -0.09762885 -0.36382918 -0.06981800
+f 6 4 3
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 8 6 1
+f 8 2 6
+f 9 4 6
+f 9 6 2
+f 14 7 4
+f 14 4 9
+f 14 9 5
+f 14 5 10
+f 15 11 2
+f 15 2 8
+f 16 9 2
+f 16 2 11
+f 16 11 5
+f 16 5 9
+f 17 10 5
+f 17 13 10
+f 18 5 11
+f 18 17 5
+f 19 8 1
+f 19 1 12
+f 19 12 17
+f 19 17 18
+f 20 1 7
+f 20 13 17
+f 21 7 14
+f 21 20 7
+f 21 13 20
+f 22 14 10
+f 22 10 13
+f 22 21 14
+f 22 13 21
+f 23 15 8
+f 23 8 19
+f 23 11 15
+f 23 19 18
+f 23 18 11
+f 24 20 17
+f 24 17 12
+f 24 12 1
+f 24 1 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5a0949c457c8a923089a03371989663e4ecdbe6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.17151174 -0.33705173 -0.04104425
+v -0.17044060 -0.20580343 -0.41813065
+v -0.18227248 -0.18866442 0.13778256
+v -0.28533072 -0.17841135 0.05782109
+v -0.32617400 -0.20443551 -0.20128826
+v -0.20023010 -0.17729135 -0.41887778
+v -0.18250817 -0.28890897 0.05573211
+v -0.17029206 -0.23532007 0.11630227
+v -0.17172569 -0.30966675 -0.29028846
+v -0.28205384 -0.26070067 -0.04303723
+v -0.17624472 -0.18335332 -0.42936440
+v -0.22830164 -0.17858442 0.11438182
+v -0.33143534 -0.17715972 -0.24603715
+v -0.17128159 -0.33756166 -0.18724247
+v -0.17060066 -0.29334991 0.05916423
+v -0.23837346 -0.24472097 -0.32876872
+v -0.33118794 -0.19340242 -0.05576653
+v -0.25291557 -0.24575161 0.04033706
+v -0.22570099 -0.28800055 0.01302109
+v -0.19720163 -0.18852941 -0.41394305
+v -0.22557097 -0.18986121 0.11065275
+v -0.24231667 -0.17652989 -0.38903840
+v -0.31550239 -0.17669423 -0.28906898
+v -0.17090190 -0.27778679 -0.34696287
+v -0.24146261 -0.30369725 -0.07096923
+v -0.21067681 -0.24507717 0.08196403
+v -0.25477307 -0.28813861 -0.20012663
+v -0.31137461 -0.23291185 -0.07106133
+v -0.33429019 -0.17881152 -0.23232991
+v -0.31266973 -0.20589589 -0.01403526
+v -0.26654644 -0.25973630 -0.00137364
+v -0.23879241 -0.25960994 0.04047537
+v -0.18435520 -0.31869958 0.00035494
+v -0.18207603 -0.20279963 -0.41358397
+v -0.18262760 -0.23153776 0.11198143
+v -0.28150787 -0.19044989 0.05492200
+v -0.23851877 -0.18775712 -0.38479534
+v -0.29685200 -0.23159799 -0.24373294
+v -0.22525786 -0.27272181 -0.30142779
+v -0.18375707 -0.33184132 -0.04219185
+v -0.21054506 -0.25929943 0.06795733
+v -0.25269649 -0.21766710 0.06761113
+v -0.24145298 -0.30309680 -0.17155768
+v -0.19748988 -0.31654965 -0.22980444
+v -0.31198131 -0.23311924 -0.17210484
+v -0.30291289 -0.17979712 0.03111073
+v -0.31064160 -0.21816643 -0.02859911
+v -0.25374085 -0.28851651 -0.04283155
+v -0.28178659 -0.23219924 0.01327351
+v -0.25256995 -0.27364084 -0.00100789
+v -0.22432409 -0.23203184 0.08258428
+v -0.17200171 -0.32365524 0.00242987
+v -0.19630156 -0.24390177 -0.37037512
+v -0.21109889 -0.21633544 -0.38496892
+v -0.30053507 -0.17663686 -0.31810201
+v -0.29629201 -0.21718197 -0.27236498
+v -0.31075917 -0.21833420 -0.22955440
+v -0.18313685 -0.27325629 -0.34401458
+v -0.25264835 -0.25839364 -0.28662847
+v -0.18358208 -0.33193656 -0.18623369
+v -0.19783887 -0.31708035 -0.01398710
+v -0.19760948 -0.30268544 -0.27301159
+v -0.32548790 -0.20525390 -0.05657335
+v -0.29732175 -0.24639643 -0.20079074
+f 8 2 3
+f 11 6 3
+f 11 3 2
+f 12 3 6
+f 15 1 14
+f 15 2 8
+f 20 6 11
+f 21 3 12
+f 22 12 6
+f 23 13 4
+f 23 4 12
+f 23 12 22
+f 24 14 9
+f 24 15 14
+f 24 2 15
+f 26 15 8
+f 28 25 10
+f 29 5 17
+f 32 19 7
+f 33 15 7
+f 33 7 19
+f 34 20 11
+f 34 11 2
+f 35 8 3
+f 35 3 21
+f 35 26 8
+f 36 21 12
+f 36 12 4
+f 37 22 6
+f 37 6 20
+f 40 14 1
+f 41 7 15
+f 41 15 26
+f 41 32 7
+f 42 36 18
+f 42 21 36
+f 44 9 14
+f 44 43 27
+f 45 43 25
+f 45 25 28
+f 46 29 17
+f 46 4 13
+f 46 13 29
+f 46 17 30
+f 46 36 4
+f 47 28 10
+f 47 10 31
+f 48 10 25
+f 49 31 18
+f 49 47 31
+f 49 30 47
+f 49 18 36
+f 49 46 30
+f 49 36 46
+f 50 19 32
+f 50 48 19
+f 50 31 10
+f 50 10 48
+f 50 32 18
+f 50 18 31
+f 51 18 32
+f 51 42 18
+f 51 21 42
+f 51 35 21
+f 51 26 35
+f 51 41 26
+f 51 32 41
+f 52 1 15
+f 52 15 33
+f 53 2 24
+f 54 37 20
+f 54 20 34
+f 54 34 2
+f 54 2 53
+f 54 53 16
+f 54 16 37
+f 55 23 22
+f 55 22 37
+f 55 37 16
+f 56 13 23
+f 56 23 55
+f 56 55 16
+f 57 29 13
+f 57 56 38
+f 57 13 56
+f 57 5 29
+f 58 24 9
+f 58 9 39
+f 58 39 16
+f 58 53 24
+f 58 16 53
+f 59 39 27
+f 59 27 38
+f 59 38 56
+f 59 56 16
+f 59 16 39
+f 60 40 25
+f 60 14 40
+f 60 25 43
+f 60 44 14
+f 60 43 44
+f 61 40 1
+f 61 33 19
+f 61 19 48
+f 61 48 25
+f 61 25 40
+f 61 52 33
+f 61 1 52
+f 62 39 9
+f 62 9 44
+f 62 44 27
+f 62 27 39
+f 63 45 28
+f 63 17 5
+f 63 5 45
+f 63 28 47
+f 63 47 30
+f 63 30 17
+f 64 27 43
+f 64 43 45
+f 64 38 27
+f 64 57 38
+f 64 45 5
+f 64 5 57
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c8f77367a41fd411368d80c9d7a4b60f6028a2c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.10562696 -0.36390251 -0.04142351
+v 0.10752600 -0.35645684 -0.23217836
+v 0.11019695 -0.21497339 0.00757576
+v -0.07162122 -0.21497339 0.00757576
+v -0.06877836 -0.36293237 -0.23046268
+v 0.11019695 -0.21497339 -0.23484848
+v -0.06947349 -0.35541001 0.00385203
+v 0.10615190 -0.35156860 0.00192173
+v 0.04802342 -0.37987990 -0.15753040
+v -0.07162122 -0.21497339 -0.23484848
+v 0.06363984 -0.36339246 -0.01180863
+v 0.07693933 -0.36346549 -0.23027457
+v 0.10583717 -0.36452693 -0.20088833
+v -0.02461883 -0.38000234 -0.09944140
+v 0.09140748 -0.36388849 -0.02719911
+v -0.01022290 -0.38015737 -0.17211129
+v 0.04827619 -0.38053895 -0.09970865
+v -0.06839805 -0.36360521 -0.02649427
+v 0.03314183 -0.37951792 -0.17177820
+v -0.02460507 -0.38045636 -0.15768873
+v 0.03377196 -0.38015745 -0.08515403
+v -0.05357428 -0.36288868 -0.01218862
+v -0.01026506 -0.38025785 -0.08492409
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 10 6 2
+f 10 2 5
+f 11 8 7
+f 12 5 2
+f 13 2 1
+f 13 12 2
+f 15 1 8
+f 15 8 11
+f 16 5 12
+f 17 13 1
+f 17 9 13
+f 17 1 15
+f 18 7 5
+f 19 16 12
+f 19 9 16
+f 19 13 9
+f 19 12 13
+f 20 5 16
+f 20 18 5
+f 20 14 18
+f 20 16 9
+f 20 9 17
+f 21 17 15
+f 21 15 11
+f 22 11 7
+f 22 7 18
+f 23 20 17
+f 23 14 20
+f 23 17 21
+f 23 21 11
+f 23 11 22
+f 23 22 18
+f 23 18 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9ba0daeb93c2ffcee94b6315e1cabc096037a2a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.30899414 0.17087776 0.00083599
+v 0.32511126 0.17198544 -0.21629774
+v 0.24543891 0.28876462 -0.01662244
+v 0.17883525 0.31744821 -0.05779009
+v 0.18595453 0.17896599 -0.23484848
+v 0.18901485 0.31107344 -0.24349497
+v 0.18595453 0.17896599 0.00757576
+v 0.31958285 0.19801506 -0.08580949
+v 0.26060925 0.26866778 -0.18563281
+v 0.20438121 0.31283338 -0.20098863
+v 0.17928401 0.28918677 -0.30400136
+v 0.23619737 0.28693233 -0.00187128
+v 0.32482710 0.17205232 -0.04176142
+v 0.29069908 0.24125017 -0.15730144
+v 0.17824326 0.31678641 -0.24556055
+v 0.20493340 0.31151787 -0.08731820
+v 0.23197195 0.28379705 -0.22868784
+v 0.24707907 0.28400473 -0.17198189
+v 0.18003954 0.28813974 -0.00025466
+v 0.19740087 0.25286585 -0.33716822
+v 0.31890016 0.18317633 -0.04340096
+v 0.31911591 0.19818697 -0.17162784
+v 0.30448267 0.21225486 -0.20013659
+v 0.29038743 0.24059572 -0.10015424
+v 0.20237743 0.29678419 -0.25756331
+v 0.23541963 0.22997516 -0.31782846
+v 0.18109933 0.27747796 -0.32061845
+v 0.30450777 0.21150976 -0.05798940
+v 0.27424120 0.23941808 -0.22776572
+v 0.31908974 0.18318907 -0.21451787
+v 0.31745289 0.17608061 -0.23318964
+v 0.20267561 0.28301381 -0.28636211
+v 0.30524129 0.19811686 -0.22889266
+v 0.22972223 0.23966434 -0.31388459
+v 0.19184482 0.27242125 -0.31717404
+v 0.19009758 0.28403936 -0.30097933
+v 0.21591951 0.25396055 -0.31415013
+f 5 2 1
+f 7 5 1
+f 11 5 7
+f 12 7 1
+f 12 1 3
+f 12 3 4
+f 13 1 2
+f 13 2 8
+f 15 10 6
+f 15 4 10
+f 16 10 4
+f 16 4 3
+f 16 3 10
+f 17 6 10
+f 18 10 3
+f 18 17 10
+f 18 9 17
+f 18 14 9
+f 18 3 14
+f 19 11 7
+f 19 15 11
+f 19 4 15
+f 19 12 4
+f 19 7 12
+f 21 13 8
+f 21 3 1
+f 21 1 13
+f 22 14 8
+f 22 8 2
+f 23 9 14
+f 23 14 22
+f 24 14 3
+f 24 3 8
+f 24 8 14
+f 25 15 6
+f 25 11 15
+f 25 6 17
+f 26 5 20
+f 27 20 5
+f 27 5 11
+f 28 21 8
+f 28 8 3
+f 28 3 21
+f 29 17 9
+f 29 9 23
+f 30 23 22
+f 30 22 2
+f 31 2 5
+f 31 5 26
+f 31 30 2
+f 32 25 17
+f 33 31 26
+f 33 26 29
+f 33 29 23
+f 33 23 30
+f 33 30 31
+f 34 29 26
+f 34 26 20
+f 34 32 17
+f 34 17 29
+f 35 20 27
+f 36 11 25
+f 36 25 32
+f 36 32 35
+f 36 35 27
+f 36 27 11
+f 37 34 20
+f 37 20 35
+f 37 35 32
+f 37 32 34
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1688bbbbe67fdd93d3d5bcc1c1b597b79dcea934
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.21196798 -0.22489646 -0.36753130
+v 0.18991747 -0.20455839 -0.40085080
+v 0.22246258 0.18024767 -0.37901531
+v 0.11019695 0.16381448 -0.35606060
+v 0.11019695 -0.21497339 -0.35606060
+v 0.10746310 0.02588476 -0.49259992
+v 0.19080625 -0.06081429 -0.45888961
+v 0.10759996 -0.20998129 -0.43866020
+v 0.11893441 0.17748122 -0.44205086
+v 0.19033081 -0.11755008 -0.44370593
+v 0.19074758 0.05332351 -0.45846765
+v 0.14629518 -0.20330356 -0.42746361
+v 0.10608900 -0.19288096 -0.44833914
+v 0.10705280 0.09874965 -0.47744613
+v 0.16280170 -0.04610005 -0.47445210
+v 0.19749346 0.16062881 -0.41142820
+v 0.17488610 -0.17461021 -0.42786551
+v 0.11974147 -0.19125694 -0.44492587
+v 0.10575525 -0.16317710 -0.46214995
+v 0.14852222 0.06932424 -0.47350133
+v 0.16344237 0.03986883 -0.47378722
+v 0.14818410 -0.08919763 -0.47272837
+v 0.19155847 0.09672528 -0.44494978
+v 0.14654048 -0.17519212 -0.44241452
+v 0.10681160 -0.04654631 -0.49229327
+v 0.12068560 0.02557514 -0.48975004
+v 0.16269117 0.09703776 -0.45977021
+v 0.16191107 -0.11767978 -0.45864895
+v 0.11941466 -0.16162131 -0.45859295
+v 0.10627420 -0.11949654 -0.47814185
+v 0.12027935 -0.04605749 -0.48899264
+v 0.12070966 0.09775857 -0.47448210
+v 0.17634317 0.08208205 -0.45805518
+v 0.16085947 -0.16044284 -0.44222677
+v 0.11976610 -0.11846779 -0.47454843
+f 1 3 4
+f 5 1 4
+f 7 3 1
+f 8 1 5
+f 9 4 3
+f 10 7 1
+f 10 1 2
+f 11 3 7
+f 12 2 1
+f 12 1 8
+f 13 8 5
+f 13 5 4
+f 14 4 9
+f 16 9 3
+f 17 10 2
+f 17 2 12
+f 18 12 8
+f 18 8 13
+f 19 13 4
+f 19 4 14
+f 19 18 13
+f 21 11 7
+f 21 7 15
+f 21 20 11
+f 22 15 7
+f 23 16 3
+f 23 3 11
+f 24 17 12
+f 24 12 18
+f 25 19 14
+f 25 14 6
+f 26 6 14
+f 26 20 21
+f 26 21 15
+f 26 25 6
+f 27 9 16
+f 27 16 23
+f 28 22 7
+f 28 7 10
+f 29 24 18
+f 29 18 19
+f 29 28 24
+f 30 19 25
+f 31 15 22
+f 31 30 25
+f 31 22 30
+f 31 26 15
+f 31 25 26
+f 32 26 14
+f 32 20 26
+f 32 27 20
+f 32 14 9
+f 32 9 27
+f 33 27 23
+f 33 23 11
+f 33 11 20
+f 33 20 27
+f 34 28 10
+f 34 10 17
+f 34 17 24
+f 34 24 28
+f 35 29 19
+f 35 19 30
+f 35 28 29
+f 35 30 22
+f 35 22 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b6b2f554c6e0411b9f5b949490adf051643eafa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.16046401 -0.01863966 0.20189740
+v 0.33486799 0.06913637 0.03177981
+v 0.16276099 0.25680510 0.08338457
+v -0.09901971 0.34742984 0.00285608
+v -0.26859091 -0.01800370 0.00757576
+v 0.23688122 0.28238595 0.00083559
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+v 0.20110604 -0.01800370 0.00757576
+v 0.02965088 0.34218575 0.02790097
+v -0.26999509 0.24196636 0.00073817
+v -0.04193395 0.25971549 0.12597988
+v -0.24661745 -0.01490997 0.14456894
+v 0.28125739 0.05413282 0.09924890
+v 0.16071435 0.19753624 0.12554498
+v 0.26143430 0.16847714 0.06605960
+v 0.19802914 -0.01737217 0.14482219
+v 0.14655944 -0.02058213 0.20334244
+v 0.30899414 0.17087776 0.00083599
+v 0.06055072 0.34702353 0.00083748
+v 0.18872735 0.27347430 0.05113360
+v -0.18117853 0.28291439 0.05572158
+v 0.02840097 0.31346304 0.06789853
+v -0.34085919 0.13214838 0.00626133
+v 0.25140547 0.08375263 0.11175742
+v 0.27834544 0.11232177 0.08312246
+v 0.15703781 0.00216550 0.19724896
+v 0.11825183 0.21770204 0.12656833
+v 0.23552754 0.15357893 0.09456869
+v 0.20308075 0.25636900 0.05316177
+v -0.26364369 -0.01611053 0.13540262
+v -0.22993710 0.07063301 0.15537305
+v -0.05715907 0.16299514 0.15689958
+v 0.31403972 0.15949572 0.00355805
+v 0.27516596 0.16780656 0.05304201
+v 0.27971785 0.21377392 -0.00022220
+v -0.25565133 0.25652414 0.00057385
+v 0.05825110 0.34181697 0.01237748
+v -0.25474711 0.15369239 0.11225607
+v -0.09665280 0.31277167 0.06903619
+v 0.01501484 0.32839258 0.05502495
+v -0.33088217 0.15690368 0.00287301
+v 0.27925516 0.06821493 0.09699745
+v 0.13946714 0.17231844 0.14288323
+v 0.01425546 0.27240103 0.11018833
+v 0.17652488 0.22508315 0.09523680
+v 0.23177969 0.27779475 0.00994745
+v -0.21723403 -0.01407035 0.15627954
+v -0.25856723 -0.00038189 0.14081617
+v -0.15874004 0.15810397 0.15600284
+v -0.00056394 0.21765576 0.13924019
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+v -0.19884722 0.30176238 0.00225447
+v -0.25234204 0.25295958 0.01280026
+v 0.22820270 0.28890793 0.00123969
+v -0.16829300 0.24025682 0.11062269
+v -0.14001040 0.32843196 0.01472529
+v -0.06825913 0.34229540 0.02930582
+v -0.06892528 0.32777859 0.05699426
+v -0.31480869 0.18457049 0.00196979
+v -0.31264990 0.13995928 0.05696792
+v 0.02808693 0.28503162 0.09604896
+v 0.22409828 0.28407788 0.01118090
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+f 17 14 1
+f 17 2 14
+f 18 5 9
+f 18 17 1
+f 18 9 17
+f 19 9 5
+f 20 4 10
+f 25 8 1
+f 26 16 8
+f 27 1 8
+f 27 8 15
+f 27 18 1
+f 28 15 3
+f 29 16 15
+f 29 15 8
+f 29 8 16
+f 30 21 3
+f 31 5 18
+f 31 24 5
+f 33 18 27
+f 34 2 9
+f 34 9 19
+f 35 16 26
+f 36 6 19
+f 36 20 6
+f 37 4 20
+f 37 36 11
+f 37 20 36
+f 38 20 10
+f 38 10 21
+f 41 21 10
+f 41 23 3
+f 41 3 21
+f 42 5 24
+f 43 8 25
+f 43 26 8
+f 43 14 2
+f 43 2 26
+f 43 25 1
+f 43 1 14
+f 44 27 15
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+f 45 12 28
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+f 45 28 3
+f 46 30 3
+f 46 3 15
+f 46 15 16
+f 46 16 30
+f 47 30 16
+f 47 21 30
+f 47 35 6
+f 47 16 35
+f 48 31 18
+f 48 13 31
+f 48 18 32
+f 49 31 13
+f 49 48 32
+f 49 13 48
+f 50 33 12
+f 50 12 7
+f 50 32 18
+f 50 18 33
+f 50 39 32
+f 50 7 39
+f 51 33 27
+f 51 12 33
+f 51 27 44
+f 51 44 28
+f 51 28 12
+f 52 19 6
+f 52 6 35
+f 52 34 19
+f 53 35 26
+f 53 26 2
+f 53 52 35
+f 53 2 34
+f 53 34 52
+f 54 4 37
+f 55 37 11
+f 55 54 37
+f 55 22 54
+f 55 39 22
+f 56 38 21
+f 56 6 20
+f 56 20 38
+f 57 39 7
+f 57 22 39
+f 57 40 22
+f 57 7 12
+f 57 12 40
+f 58 22 40
+f 58 54 22
+f 58 4 54
+f 59 41 10
+f 59 10 4
+f 60 40 12
+f 60 12 41
+f 60 41 59
+f 60 59 4
+f 60 58 40
+f 60 4 58
+f 61 11 36
+f 61 36 19
+f 61 19 5
+f 61 5 42
+f 62 42 24
+f 62 61 42
+f 62 39 55
+f 62 55 11
+f 62 11 61
+f 62 24 31
+f 62 31 49
+f 62 49 32
+f 62 32 39
+f 63 23 41
+f 63 41 45
+f 63 45 3
+f 63 3 23
+f 64 47 6
+f 64 21 47
+f 64 56 21
+f 64 6 56
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..463c5037cb77b7c34c5c9ede5f1fe73f884c53f0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24071693 -0.24380685 0.03322145
+v 0.21196798 -0.22489646 -0.36753130
+v 0.22246258 0.18024767 -0.37901531
+v -0.17768183 0.17896599 0.00757576
+v -0.19399627 -0.23693624 -0.37897648
+v 0.20110604 0.17896599 0.00757576
+v -0.17768183 -0.21497339 0.00757576
+v -0.19635479 0.18746245 -0.38436697
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa780dad453ea056e177631918fccc4f94d6cfc0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.07162122 0.26987508 0.00757576
+v -0.07162122 0.26987508 -0.15909091
+v -0.06829228 0.36167202 -0.02612856
+v -0.07009568 0.35257077 0.00452394
+v -0.18198563 0.30224424 0.02419080
+v -0.16253031 0.26987508 -0.15909091
+v -0.12439867 0.34091961 0.00014274
+v -0.11144601 0.34631626 -0.22987667
+v -0.08293058 0.35844274 -0.02640894
+v -0.07036561 0.36920409 -0.18808185
+v -0.16448796 0.31882431 -0.23630419
+v -0.12596303 0.35697595 -0.08527704
+v -0.12614888 0.33536031 -0.24275843
+v -0.11201814 0.35699269 -0.05645355
+v -0.12485294 0.35759481 -0.15690624
+v -0.15417688 0.34271482 -0.05635543
+v -0.15352662 0.32786633 -0.22821291
+v -0.11075898 0.35843650 -0.18601294
+v -0.15368273 0.34275894 -0.17140995
+v -0.15395328 0.32784832 0.00142222
+v -0.12403866 0.34170510 -0.22821803
+v -0.08321049 0.36355322 -0.20096452
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 7 5 4
+f 9 7 4
+f 9 4 3
+f 10 3 2
+f 10 2 8
+f 11 2 6
+f 11 6 5
+f 12 3 10
+f 13 8 2
+f 13 2 11
+f 14 9 3
+f 14 3 12
+f 14 7 9
+f 15 12 10
+f 16 14 12
+f 16 7 14
+f 16 12 15
+f 17 13 11
+f 18 15 10
+f 19 11 5
+f 19 5 16
+f 19 16 15
+f 19 17 11
+f 19 15 18
+f 20 16 5
+f 20 5 7
+f 20 7 16
+f 21 8 13
+f 21 13 17
+f 21 18 8
+f 21 19 18
+f 21 17 19
+f 22 18 10
+f 22 10 8
+f 22 8 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d41ec66203bac55011e82903be0de806ac685cb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.17184396 -0.10918533 0.45340316
+v 0.16925878 -0.04356179 0.23997445
+v 0.16956147 -0.01805905 0.26020449
+v 0.14471300 0.00764835 0.18888059
+v 0.13017144 -0.05150352 0.19145745
+v 0.15689250 0.00272896 0.19383655
+v 0.15469130 -0.09094484 0.42727409
+v 0.17280479 -0.10806241 0.45437509
+v 0.16025204 -0.05986126 0.25702018
+v 0.16851075 -0.01234869 0.23606415
+v 0.15312871 0.00863456 0.18904682
+v 0.15639836 -0.03614745 0.20478311
+v 0.16729990 -0.03286277 0.30510379
+v 0.15689519 -0.10215746 0.43091573
+v 0.12998055 -0.01837267 0.18087923
+v 0.16999982 -0.05112830 0.25579327
+v 0.16537555 -0.10109123 0.45413242
+v 0.13416713 -0.05284996 0.19615724
+v 0.16219436 -0.00308034 0.21195509
+v 0.16675385 -0.03327475 0.30577995
+v 0.17272431 -0.10578176 0.45524369
+v 0.16422577 -0.10818824 0.43873427
+v 0.16641687 -0.10717305 0.45223370
+v 0.16557340 -0.09725068 0.44779202
+v 0.16206382 -0.10741602 0.43725057
+v 0.14040358 -0.05920925 0.22708354
+v 0.15272647 -0.09425681 0.39286720
+f 10 3 2
+f 11 3 10
+f 12 6 2
+f 12 11 6
+f 13 11 4
+f 13 3 11
+f 14 7 5
+f 15 7 4
+f 15 5 7
+f 15 4 11
+f 15 12 5
+f 15 11 12
+f 16 8 1
+f 16 2 3
+f 16 3 8
+f 16 1 9
+f 17 7 14
+f 18 16 9
+f 18 2 16
+f 18 12 2
+f 18 5 12
+f 19 10 2
+f 19 2 6
+f 19 11 10
+f 19 6 11
+f 20 13 4
+f 20 4 7
+f 21 8 3
+f 21 3 13
+f 22 5 18
+f 22 9 1
+f 23 1 8
+f 23 21 17
+f 23 8 21
+f 23 22 1
+f 23 17 14
+f 24 13 20
+f 24 21 13
+f 24 17 21
+f 24 20 7
+f 24 7 17
+f 25 5 22
+f 25 23 14
+f 25 22 23
+f 26 22 18
+f 26 18 9
+f 26 9 22
+f 27 25 14
+f 27 14 5
+f 27 5 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa69ff3df5b9a814d76ac0bba909e5f44377bad
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.35460170 0.07012797 -0.01234136
+v 0.36872613 0.06993479 -0.18714123
+v 0.33366987 0.16920399 -0.07165731
+v 0.20110604 0.17896599 0.00757576
+v 0.20110604 0.07290539 -0.23484848
+v 0.30318873 0.17643825 0.00540266
+v 0.36503669 0.09795619 -0.10009972
+v 0.36696576 0.06943338 -0.05614177
+v 0.20110604 0.07290539 0.00757576
+v 0.32205870 0.17012806 -0.22982895
+v 0.34848219 0.11185616 -0.02874632
+v 0.33617871 0.08163970 0.02294678
+v 0.35869558 0.07103720 -0.23220353
+v 0.34890512 0.14073892 -0.17179962
+v 0.20110604 0.17896599 -0.23484848
+v 0.33335337 0.16888360 -0.18618071
+v 0.33439299 0.15461901 -0.04309169
+v 0.36376958 0.08291044 -0.05648843
+v 0.34907331 0.14092772 -0.08562006
+v 0.34827059 0.09727553 -0.01468325
+v 0.36405347 0.09811102 -0.17158433
+v 0.34862810 0.11196135 -0.22965110
+v 0.32482710 0.17205232 -0.04176142
+v 0.33457317 0.15464302 -0.21518556
+v 0.36566077 0.08380688 -0.18676400
+f 8 5 2
+f 8 2 7
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 12 6 4
+f 12 4 9
+f 12 9 1
+f 13 2 5
+f 15 5 4
+f 15 4 6
+f 15 6 10
+f 15 13 5
+f 15 10 13
+f 16 10 6
+f 16 3 14
+f 17 6 11
+f 18 1 8
+f 18 8 7
+f 19 17 11
+f 19 3 17
+f 19 14 3
+f 19 7 14
+f 19 18 7
+f 19 11 18
+f 20 11 6
+f 20 6 12
+f 20 12 1
+f 20 18 11
+f 20 1 18
+f 21 14 7
+f 21 7 2
+f 22 13 10
+f 22 14 21
+f 23 16 6
+f 23 3 16
+f 23 17 3
+f 23 6 17
+f 24 16 14
+f 24 14 22
+f 24 22 10
+f 24 10 16
+f 25 22 21
+f 25 21 2
+f 25 2 13
+f 25 13 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d05f2dd3f1d97529060a433edd9c1fb8d0209a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.10769859 -0.24043135 0.13756271
+v 0.21499119 -0.03268149 0.13948045
+v 0.10644115 -0.19612690 0.16091794
+v 0.20094444 0.02737400 0.14316566
+v 0.12110248 -0.23783790 0.13406260
+v 0.21131296 -0.03142486 0.14061734
+v 0.10828487 -0.06285313 0.15072190
+v 0.21484179 0.02686348 0.13979296
+v 0.16736356 -0.18324637 0.13786248
+v 0.11751813 -0.23170963 0.14004685
+v 0.13269741 -0.18079429 0.15542126
+v 0.19815706 0.02602542 0.14383794
+v 0.10442236 -0.23418399 0.14335581
+v 0.21186181 0.02574841 0.14069995
+v 0.11138159 -0.06311359 0.15000361
+v 0.15191852 -0.21139595 0.13665061
+v 0.16157004 -0.18102920 0.14154306
+v 0.10839484 -0.09780441 0.15911338
+v 0.11924165 -0.19470855 0.15732813
+v 0.14670521 -0.20726881 0.14120754
+v 0.13436718 -0.11082544 0.15556350
+f 7 5 1
+f 8 2 5
+f 8 6 2
+f 8 7 4
+f 10 1 5
+f 11 6 3
+f 11 2 6
+f 12 3 6
+f 12 4 7
+f 13 7 1
+f 13 3 7
+f 13 1 10
+f 14 8 4
+f 14 6 8
+f 14 12 6
+f 14 4 12
+f 15 8 5
+f 15 5 7
+f 15 7 8
+f 16 5 2
+f 16 2 9
+f 16 10 5
+f 17 9 2
+f 17 2 11
+f 18 12 7
+f 18 7 3
+f 19 13 10
+f 19 3 13
+f 19 11 3
+f 20 16 9
+f 20 9 17
+f 20 17 11
+f 20 11 19
+f 20 19 10
+f 20 10 16
+f 21 18 3
+f 21 3 12
+f 21 12 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1809919c26851e7d50df65fdea1b1565762e01f8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.29113178 -0.12720017 0.39392454
+v -0.19630804 -0.11364374 0.22021815
+v -0.27538662 -0.12108750 0.38548110
+v -0.27952901 -0.11001953 0.36431943
+v -0.24649843 -0.08543250 0.22148181
+v -0.25342105 -0.10862093 0.33304402
+v -0.29101130 -0.12486604 0.39342683
+v -0.29087838 -0.12714687 0.39377405
+v -0.22813720 -0.10707431 0.22738499
+v -0.20784058 -0.10880516 0.24082265
+v -0.27350661 -0.11083769 0.36421136
+v -0.28275405 -0.11324962 0.37242385
+v -0.25551119 -0.09242059 0.24789350
+v -0.21579011 -0.09313267 0.21368444
+v -0.25400906 -0.09424354 0.24535249
+v -0.19715529 -0.10456592 0.21637893
+v -0.25461715 -0.09222931 0.24490094
+v -0.24036035 -0.09751090 0.22780685
+f 7 1 3
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 11 3 6
+f 11 6 5
+f 11 5 4
+f 12 7 3
+f 12 11 4
+f 12 3 11
+f 13 1 7
+f 13 7 12
+f 13 12 4
+f 13 4 5
+f 14 9 5
+f 14 2 9
+f 14 5 6
+f 15 9 1
+f 16 10 2
+f 16 2 14
+f 16 14 6
+f 16 6 10
+f 17 15 1
+f 17 1 13
+f 17 13 5
+f 17 5 15
+f 18 15 5
+f 18 5 9
+f 18 9 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ae1218a98f17ee5b61e712ce23606022e4d265
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.32251539 -0.19486859 -0.09656686
+v 0.36417077 -0.06054104 -0.22953829
+v 0.37227939 0.07037908 -0.09938728
+v 0.20110604 0.07290539 -0.09848485
+v 0.20110604 -0.18467036 -0.23484848
+v 0.20110604 0.07290539 -0.23484848
+v 0.36545946 -0.10397899 -0.09987485
+v 0.32409269 -0.17724098 -0.23111441
+v 0.20110604 -0.18467036 -0.09848485
+v 0.35869558 0.07103720 -0.23220353
+v 0.36400162 -0.10347616 -0.18617261
+v 0.36479732 0.04011849 -0.22944726
+v 0.34979502 -0.11848992 -0.23041840
+v 0.34905357 -0.14608079 -0.18684483
+v 0.36354526 0.06876621 -0.21540141
+v 0.34981287 -0.14612449 -0.10006467
+v 0.33105217 -0.18089049 -0.18857024
+v 0.34882955 -0.13261642 -0.21534581
+v 0.33350138 -0.16002027 -0.22971453
+f 1 3 4
+f 6 5 4
+f 7 3 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 8 5
+f 10 5 6
+f 10 6 4
+f 10 4 3
+f 11 2 3
+f 11 3 7
+f 12 3 2
+f 12 2 10
+f 13 10 2
+f 13 8 10
+f 13 2 11
+f 14 11 7
+f 15 12 10
+f 15 10 3
+f 15 3 12
+f 16 14 7
+f 16 7 1
+f 17 1 8
+f 17 16 1
+f 17 14 16
+f 18 13 11
+f 18 11 14
+f 19 17 8
+f 19 14 17
+f 19 18 14
+f 19 8 13
+f 19 13 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29075dc20e7766c2ddddcd1e2199d1ed2053ac47
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32409269 -0.17724098 -0.23111441
+v 0.35353116 -0.10492303 -0.23129195
+v 0.33682387 0.14130924 -0.23024629
+v 0.20110604 0.16381448 -0.23484848
+v 0.19400995 -0.09037338 -0.45021254
+v 0.20110604 -0.18467036 -0.23484848
+v 0.33873396 -0.14823435 -0.23114599
+v 0.30513420 0.01157567 -0.35885747
+v 0.19686895 -0.18107812 -0.41050274
+v 0.19383644 -0.13438648 -0.43520785
+v 0.35249665 0.09876775 -0.23060745
+v 0.30399381 -0.10330450 -0.34276345
+v 0.19749346 0.16062881 -0.41142820
+v 0.19431770 -0.16416331 -0.42131159
+v 0.31822898 0.09693544 -0.31514755
+v 0.34959180 0.04044009 -0.27317090
+v 0.33262013 -0.13137385 -0.27283377
+v 0.23246761 -0.11736045 -0.41463876
+v 0.21851045 0.03959284 -0.44394906
+v 0.32776013 0.15863349 -0.23169432
+v 0.19352314 0.08352887 -0.44853698
+v 0.33270777 0.09728459 -0.28635595
+v 0.31935098 0.05473376 -0.33000254
+v 0.33448472 -0.07607617 -0.30225349
+v 0.35014229 -0.10408041 -0.24515892
+v 0.31766804 -0.17384292 -0.25837497
+v 0.20457726 -0.13184985 -0.42939191
+v 0.27586891 -0.07479611 -0.38689572
+v 0.26097717 -0.17426809 -0.35712420
+v 0.21854861 -0.14581921 -0.41355029
+v 0.25991517 0.10944775 -0.38552064
+v 0.19532090 0.14373443 -0.42262801
+v 0.21878631 -0.03116807 -0.44475551
+v 0.33360455 0.13963222 -0.24339961
+v 0.34762190 0.08360239 -0.25813224
+v 0.33309030 0.06882373 -0.30085305
+v 0.30508760 -0.03213528 -0.35841149
+v 0.31791569 -0.11722560 -0.31438852
+v 0.33552917 -0.14664412 -0.24497429
+v 0.34931879 -0.08998619 -0.25893804
+v 0.20435500 -0.08881153 -0.44411691
+v 0.29007537 -0.17467194 -0.31537614
+v 0.28877215 -0.11777266 -0.35663269
+v 0.20505003 -0.16133585 -0.41554672
+v 0.21740971 -0.17419191 -0.39949971
+v 0.28973673 0.09653524 -0.35778807
+v 0.27373105 0.15347623 -0.34218865
+v 0.21793536 0.09618853 -0.42848224
+v 0.21777937 0.15400226 -0.39988744
+v 0.24723716 -0.07450086 -0.41506423
+v 0.34872311 0.09804330 -0.24398239
+v 0.32034704 0.15472603 -0.25857065
+v 0.31951004 -0.07539818 -0.32975333
+v 0.29080002 -0.06073781 -0.37288258
+v 0.34886578 -0.06117702 -0.27288566
+v 0.28816531 -0.14530998 -0.34281317
+v 0.30434157 0.08290482 -0.34386778
+v 0.27521123 0.06840078 -0.38669519
+v 0.28871047 0.12448493 -0.34260295
+v 0.20422606 0.08188605 -0.44273755
+v 0.20493664 0.14023532 -0.41757741
+v 0.24556033 0.10964021 -0.39940689
+v 0.23305273 -0.06022461 -0.42972224
+v 0.28959305 -0.16002133 -0.32946018
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 9 1 6
+f 11 7 2
+f 11 3 7
+f 14 9 6
+f 14 6 4
+f 14 4 10
+f 16 11 2
+f 20 13 4
+f 20 4 3
+f 21 10 4
+f 21 5 10
+f 23 16 8
+f 24 8 16
+f 25 2 7
+f 27 10 5
+f 27 14 10
+f 30 27 18
+f 30 18 29
+f 32 21 4
+f 32 4 13
+f 33 21 19
+f 33 5 21
+f 33 19 8
+f 34 3 11
+f 34 20 3
+f 35 11 16
+f 36 16 23
+f 36 35 16
+f 36 22 35
+f 36 23 15
+f 36 15 22
+f 37 8 24
+f 38 24 17
+f 39 25 7
+f 39 17 25
+f 39 26 17
+f 39 7 1
+f 39 1 26
+f 40 25 17
+f 40 17 24
+f 40 2 25
+f 41 27 5
+f 41 18 27
+f 41 5 33
+f 42 26 1
+f 42 1 9
+f 42 9 29
+f 42 38 17
+f 42 17 26
+f 43 28 12
+f 43 29 18
+f 43 18 28
+f 44 9 14
+f 44 14 27
+f 44 27 30
+f 45 30 29
+f 45 29 9
+f 45 44 30
+f 45 9 44
+f 47 13 20
+f 49 47 31
+f 49 13 47
+f 50 28 18
+f 50 18 41
+f 51 34 11
+f 51 22 34
+f 51 35 22
+f 51 11 35
+f 52 34 22
+f 52 22 15
+f 52 47 20
+f 52 20 34
+f 53 37 24
+f 53 38 12
+f 53 24 38
+f 54 33 8
+f 54 8 37
+f 54 37 53
+f 54 53 12
+f 54 12 28
+f 55 40 24
+f 55 24 16
+f 55 16 2
+f 55 2 40
+f 56 43 12
+f 56 12 38
+f 56 29 43
+f 57 46 15
+f 57 15 23
+f 58 8 19
+f 58 31 46
+f 58 19 48
+f 58 46 57
+f 58 57 23
+f 58 23 8
+f 59 46 31
+f 59 31 47
+f 59 15 46
+f 59 52 15
+f 59 47 52
+f 60 48 19
+f 60 19 21
+f 60 21 32
+f 60 32 48
+f 61 32 13
+f 61 13 49
+f 61 48 32
+f 62 49 31
+f 62 61 49
+f 62 48 61
+f 62 58 48
+f 62 31 58
+f 63 50 41
+f 63 41 33
+f 63 33 54
+f 63 54 28
+f 63 28 50
+f 64 56 38
+f 64 38 42
+f 64 42 29
+f 64 29 56
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deba847a574c1e7cd112c016ba9240a7f0c86030
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.06300387 -0.32404522 -0.33385879
+v 0.21769495 -0.23033338 -0.35670005
+v -0.17383182 -0.28342740 -0.33624062
+v -0.17486861 -0.21153397 -0.41179829
+v 0.06261649 -0.20852392 -0.45046554
+v -0.19865745 -0.24384552 -0.36866421
+v -0.05399270 -0.27517052 -0.40211385
+v 0.19577402 -0.26851364 -0.33590068
+v 0.19519000 -0.20950213 -0.39359085
+v -0.05502238 -0.32468798 -0.33459346
+v 0.06180671 -0.27478687 -0.40053322
+v -0.08353027 -0.20801741 -0.44990442
+v -0.11062725 -0.27377072 -0.38643841
+v -0.15665191 -0.29395239 -0.33344789
+v 0.18851874 -0.24484572 -0.37071695
+v -0.03984833 -0.28941289 -0.38785733
+v 0.01827796 -0.24699506 -0.43023122
+v 0.13322618 -0.28861894 -0.35854857
+v 0.17895513 -0.20799143 -0.40600530
+v -0.16837305 -0.23127709 -0.40011980
+v -0.11070010 -0.24536434 -0.41486615
+v -0.16870539 -0.25925726 -0.37232363
+v 0.17960452 -0.28084837 -0.33435743
+v -0.12694140 -0.30773205 -0.33278326
+v 0.19136252 -0.22057834 -0.38856248
+v 0.18803908 -0.25887487 -0.35648915
+v -0.05446769 -0.31854845 -0.34516664
+v 0.04781468 -0.28900038 -0.38720468
+v -0.08273590 -0.30416979 -0.35919306
+v 0.08996906 -0.23345406 -0.42910209
+v -0.03992291 -0.24674306 -0.43027763
+v 0.12110568 -0.20799945 -0.43530939
+v -0.15786980 -0.20844266 -0.42295373
+v -0.17090190 -0.27778679 -0.34696287
+v -0.13976426 -0.27397027 -0.37220199
+v 0.12136902 -0.30933917 -0.33401511
+v 0.17563214 -0.21908932 -0.40077886
+v 0.17621118 -0.27546216 -0.34558003
+v 0.14655561 -0.25905661 -0.38554058
+v 0.06207754 -0.31769953 -0.34474702
+v 0.10461202 -0.28850509 -0.37272165
+v 0.04745576 -0.26104014 -0.41569886
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+v -0.08211287 -0.21853262 -0.44394520
+v -0.05425895 -0.26076274 -0.41634575
+v -0.12825643 -0.20820841 -0.43532427
+v -0.13967796 -0.23139973 -0.41474242
+v -0.15513240 -0.21903652 -0.41675941
+v -0.15387934 -0.28830424 -0.34425828
+v -0.12479714 -0.30182734 -0.34338488
+v 0.16094344 -0.23293617 -0.40002069
+v 0.10441297 -0.24689426 -0.41473545
+v 0.09039204 -0.30292369 -0.35859294
+v -0.12628674 -0.21872949 -0.42953127
+v 0.13295615 -0.23279440 -0.41429136
+v 0.11926361 -0.30344722 -0.34476426
+v 0.11897492 -0.21868136 -0.42942974
+f 6 3 2
+f 6 2 4
+f 8 2 3
+f 9 4 2
+f 14 8 3
+f 17 16 7
+f 20 6 4
+f 21 7 13
+f 22 6 20
+f 23 8 14
+f 24 10 1
+f 24 23 14
+f 25 9 2
+f 25 2 15
+f 26 15 2
+f 26 2 8
+f 27 1 10
+f 29 13 7
+f 29 7 16
+f 29 16 27
+f 29 27 10
+f 29 10 24
+f 31 12 5
+f 31 5 17
+f 31 17 7
+f 32 5 12
+f 32 12 19
+f 32 30 5
+f 33 4 9
+f 33 9 19
+f 34 3 6
+f 34 6 22
+f 35 21 13
+f 35 34 22
+f 36 18 23
+f 36 24 1
+f 36 23 24
+f 37 19 9
+f 37 9 25
+f 38 26 8
+f 38 8 23
+f 38 23 18
+f 39 15 26
+f 39 38 18
+f 39 26 38
+f 40 1 27
+f 40 27 16
+f 40 16 28
+f 41 28 11
+f 41 39 18
+f 42 11 28
+f 42 28 16
+f 42 16 17
+f 43 17 5
+f 43 5 30
+f 43 42 17
+f 43 30 42
+f 44 12 31
+f 45 31 7
+f 45 7 21
+f 45 44 31
+f 45 21 44
+f 46 33 19
+f 46 19 12
+f 46 12 44
+f 47 21 35
+f 47 35 22
+f 47 22 20
+f 48 20 4
+f 48 4 33
+f 48 47 20
+f 49 14 3
+f 49 3 34
+f 49 34 35
+f 49 24 14
+f 50 29 24
+f 50 49 35
+f 50 24 49
+f 50 35 13
+f 50 13 29
+f 51 37 25
+f 51 25 15
+f 51 15 39
+f 51 19 37
+f 52 42 30
+f 52 11 42
+f 52 41 11
+f 52 39 41
+f 53 36 1
+f 53 1 40
+f 53 40 28
+f 53 28 41
+f 54 46 44
+f 54 44 21
+f 54 21 47
+f 54 33 46
+f 54 48 33
+f 54 47 48
+f 55 51 39
+f 55 39 52
+f 55 32 19
+f 55 19 51
+f 56 53 41
+f 56 41 18
+f 56 18 36
+f 56 36 53
+f 57 55 52
+f 57 52 30
+f 57 30 32
+f 57 32 55
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e458e597a80b8d5958bb8cce59722b7b0ce697b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.29043937 -0.21450552 0.02056853
+v -0.26859091 -0.12406430 -0.23484848
+v -0.31491704 -0.14160383 0.03609877
+v -0.35371373 -0.12255843 -0.03923754
+v -0.30174802 -0.22368028 -0.24656328
+v -0.33073683 -0.12995253 0.01566958
+v -0.33118794 -0.19340242 -0.05576653
+v -0.35641674 -0.12325268 -0.23418361
+v -0.31353752 -0.19198041 0.00075487
+v -0.36044789 -0.12040062 -0.21714692
+v -0.32244148 -0.16696590 0.00436951
+v -0.32531750 -0.19106512 -0.02834591
+v -0.36044049 -0.12056136 -0.07073325
+v -0.34016784 -0.17446207 -0.21623823
+v -0.33080572 -0.16414620 -0.01263680
+v -0.34156427 -0.16233214 -0.04277544
+v -0.34358202 -0.16186789 -0.23174559
+v -0.32811715 -0.19002189 -0.23054008
+v -0.35610278 -0.14744316 -0.18731022
+v -0.32627973 -0.17757384 -0.01455933
+v -0.35555152 -0.14756305 -0.08624872
+v -0.35675720 -0.13357514 -0.21662501
+v -0.34148403 -0.17698666 -0.07123405
+v -0.35697228 -0.13427561 -0.07141876
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 7 5 1
+f 8 2 5
+f 9 1 3
+f 10 2 8
+f 11 9 3
+f 11 3 6
+f 12 7 1
+f 12 1 9
+f 13 4 2
+f 13 2 10
+f 15 11 6
+f 15 6 4
+f 16 7 12
+f 16 15 4
+f 17 8 5
+f 18 5 7
+f 18 7 14
+f 18 17 5
+f 18 14 17
+f 19 13 10
+f 19 17 14
+f 20 12 9
+f 20 9 11
+f 20 11 15
+f 20 16 12
+f 20 15 16
+f 21 13 19
+f 22 10 8
+f 22 8 17
+f 22 19 10
+f 22 17 19
+f 23 19 14
+f 23 14 7
+f 23 21 19
+f 23 7 16
+f 23 16 21
+f 24 21 16
+f 24 16 4
+f 24 4 13
+f 24 13 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bbcc22eca2e9a344ce6ab85411d0514eeff5a89
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.12112405 -0.35283117 -0.23123235
+v 0.16782695 -0.33130477 -0.24311642
+v 0.11019695 -0.21497339 -0.23484848
+v -0.07162122 -0.21497339 -0.23484848
+v -0.14391304 -0.29835130 -0.33618181
+v -0.18568907 -0.32220606 -0.23139476
+v 0.15178588 -0.34173169 -0.23198141
+v 0.10463421 -0.31706096 -0.32974796
+v 0.11019695 -0.21497339 -0.34090908
+v -0.03965959 -0.36300692 -0.24504276
+v -0.17450034 -0.29986461 -0.30743123
+v 0.10497177 -0.33254399 -0.30119752
+v -0.07162122 -0.21497339 -0.34090908
+v 0.15107482 -0.29649531 -0.33502931
+v -0.03980880 -0.36657409 -0.23124319
+v -0.06899836 -0.33247990 -0.31633837
+v -0.19152788 -0.31850649 -0.23416912
+v 0.14861887 -0.33419766 -0.25918454
+v 0.04804164 -0.36310862 -0.24498152
+v -0.09727526 -0.31893829 -0.33080509
+v 0.14682114 -0.30191392 -0.32951456
+v 0.04832459 -0.36682830 -0.23105923
+v -0.11185704 -0.34953350 -0.24548158
+v 0.07607664 -0.33188330 -0.31562498
+v -0.13922256 -0.33123487 -0.27347985
+v -0.18793944 -0.31198416 -0.26210163
+v 0.12015712 -0.34919415 -0.24471531
+v -0.05404367 -0.34750907 -0.28787419
+v 0.14738427 -0.31713506 -0.30116583
+v -0.15608216 -0.33658608 -0.23123558
+v 0.09100291 -0.34776866 -0.27354552
+v -0.08313647 -0.34804784 -0.27403447
+v -0.12538075 -0.31792197 -0.31601761
+v -0.16949032 -0.30500120 -0.30253019
+v -0.18224290 -0.31615887 -0.25864277
+v 0.06209056 -0.34729392 -0.28760128
+v -0.11291663 -0.35242336 -0.23190221
+v -0.15470157 -0.33351378 -0.24509233
+v -0.12492502 -0.33153752 -0.28728426
+v -0.13969692 -0.30374373 -0.33052227
+v -0.18517831 -0.32049907 -0.23885057
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 9 4 3
+f 13 9 5
+f 13 4 9
+f 13 11 4
+f 13 5 11
+f 14 5 9
+f 14 9 3
+f 14 3 2
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+f 18 2 7
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+f 21 8 14
+f 22 15 10
+f 22 10 19
+f 24 8 12
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+f 24 16 20
+f 26 17 4
+f 26 4 11
+f 27 18 7
+f 27 7 1
+f 27 12 18
+f 28 19 10
+f 29 18 12
+f 29 12 21
+f 29 2 18
+f 29 21 14
+f 29 14 2
+f 30 15 22
+f 30 22 1
+f 30 1 6
+f 31 22 19
+f 31 1 22
+f 31 27 1
+f 31 12 27
+f 32 10 15
+f 32 15 23
+f 32 28 10
+f 32 16 28
+f 32 20 16
+f 34 26 11
+f 35 17 26
+f 35 34 25
+f 35 26 34
+f 36 19 28
+f 36 31 19
+f 36 24 12
+f 36 12 31
+f 36 28 16
+f 36 16 24
+f 37 30 23
+f 37 23 15
+f 37 15 30
+f 38 25 23
+f 38 23 30
+f 38 35 25
+f 39 32 23
+f 39 23 25
+f 39 34 33
+f 39 25 34
+f 39 33 20
+f 39 20 32
+f 40 5 20
+f 40 20 33
+f 40 33 34
+f 40 34 11
+f 40 11 5
+f 41 6 17
+f 41 17 35
+f 41 35 38
+f 41 38 30
+f 41 30 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa0e5ba357abb166cfad69688f8aa22c85b841fd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.15928518 -0.12382365 0.16160629
+v -0.02645079 -0.03265899 0.17038894
+v -0.24036035 -0.09751090 0.22780685
+v -0.08142991 0.06510847 0.18163661
+v -0.08286965 0.06013852 0.17309441
+v -0.02944029 0.05886606 0.17757401
+v -0.19140911 -0.11256763 0.21448040
+v -0.04124022 -0.06391328 0.16667340
+v -0.17663299 -0.00303697 0.16773360
+v -0.02543987 0.05753924 0.17568243
+v -0.21915565 -0.11081107 0.22556835
+v -0.04430265 -0.05127028 0.17307613
+v -0.22826726 -0.07469203 0.19103057
+v -0.24649843 -0.08543250 0.22148181
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+v -0.22758177 -0.09266822 0.20443801
+v -0.22400925 -0.06339843 0.19357886
+v -0.23963682 -0.08169674 0.20926624
+v -0.23841104 -0.09225854 0.21622749
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+f 9 8 1
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+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 8 5
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+f 11 1 7
+f 11 6 3
+f 11 2 6
+f 12 8 2
+f 12 7 8
+f 12 11 7
+f 12 2 11
+f 13 9 1
+f 14 3 4
+f 14 4 9
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+f 16 13 1
+f 17 15 14
+f 17 14 9
+f 17 9 15
+f 18 15 13
+f 18 14 15
+f 18 13 16
+f 19 16 1
+f 19 1 3
+f 19 3 14
+f 19 18 16
+f 19 14 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..019053b2f2017a5544fcc55b7d8a8687dfa25ab8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.06559376 -0.01912630 0.16211824
+v -0.02644537 -0.01781266 0.17236193
+v 0.00590886 0.07344101 0.16792841
+v 0.04956389 0.07360061 0.16612127
+v -0.03012873 -0.01023365 0.28967683
+v 0.00226485 -0.01960078 0.16921363
+v 0.00640734 0.01315211 0.27815819
+v -0.02944029 0.05886606 0.17757401
+v 0.02076377 -0.00492046 0.25296211
+v 0.06592628 0.04334507 0.16710313
+v -0.01856960 0.03035281 0.28923748
+v -0.02543987 0.05753924 0.17568243
+v -0.03383146 0.01496360 0.27321170
+v 0.00119648 0.00237938 0.28461548
+v -0.01039855 -0.00981895 0.28209228
+v 0.03343045 0.00248228 0.23784756
+v -0.01128600 0.02744782 0.29013690
+v 0.00294753 0.07242056 0.16858450
+v -0.03109556 -0.00704103 0.27901005
+v -0.02843008 0.02140994 0.28844369
+v 0.03055793 0.01254751 0.24100177
+v 0.00503606 0.02499491 0.27041852
+v -0.01413863 0.02529024 0.29378356
+v -0.01926655 0.01483165 0.29527438
+v -0.02123654 0.02222794 0.29499332
+v -0.02225684 0.01382890 0.29545462
+f 1 2 3
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+f 6 2 1
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+f 11 4 3
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+f 13 8 2
+f 15 5 1
+f 15 1 9
+f 15 14 5
+f 15 9 14
+f 16 9 1
+f 16 1 10
+f 16 14 9
+f 16 7 14
+f 17 4 11
+f 18 11 3
+f 18 8 11
+f 18 12 8
+f 18 3 2
+f 18 2 12
+f 19 13 2
+f 19 2 5
+f 19 5 13
+f 20 11 8
+f 20 8 13
+f 20 13 5
+f 21 16 10
+f 21 10 7
+f 21 7 16
+f 22 17 7
+f 22 7 4
+f 22 4 17
+f 23 14 7
+f 23 7 17
+f 23 17 11
+f 24 5 14
+f 24 14 23
+f 25 23 11
+f 25 11 20
+f 25 24 23
+f 26 25 20
+f 26 20 5
+f 26 5 24
+f 26 24 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5d6bbc37293c050022f6a70d2856342386005e4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20596894 -0.29680162 0.01091339
+v 0.36545946 -0.10397899 -0.09987485
+v 0.26511398 -0.05925126 0.11103904
+v 0.30318873 0.17643825 0.00540266
+v 0.20110604 0.07290539 -0.09848485
+v 0.34930675 0.03987048 0.01465770
+v 0.31805779 -0.12901882 0.02614137
+v 0.20110604 -0.18467036 -0.09848485
+v 0.37227939 0.07037908 -0.09938728
+v 0.19980907 0.05684953 0.13894086
+v 0.32251539 -0.19486859 -0.09656686
+v 0.19275699 -0.22385979 0.10350581
+v 0.33463664 -0.04518644 0.04168098
+v 0.34981287 -0.14612449 -0.10006467
+v 0.31560094 0.18418434 -0.03497573
+v 0.36492857 -0.04590863 -0.02766973
+v 0.20110604 0.07290539 0.00757576
+v 0.29167619 0.08237848 0.08190258
+v 0.26019474 -0.23393982 0.01281302
+v 0.30504033 -0.11610785 0.05440705
+v 0.19555076 -0.12199740 0.13173921
+v 0.19473056 -0.28270647 0.04682870
+v 0.19307637 -0.19559745 0.11789196
+v 0.34839465 -0.11649408 -0.02842125
+v 0.33288713 0.12514867 -0.00135945
+v 0.36507129 0.03993474 -0.02809236
+v 0.34969429 -0.04556140 0.01402609
+v 0.28534085 0.15957318 0.04746085
+v 0.25157608 0.01110668 0.12604081
+v 0.33496686 0.03959862 0.04236344
+v 0.22487564 -0.28403877 0.00367405
+v 0.29106452 -0.08739347 0.08143042
+v 0.33407721 -0.08690624 0.02774226
+v 0.27372297 -0.18728680 0.03998663
+v 0.23653284 -0.07370734 0.12404383
+v 0.26233093 -0.14568822 0.08165752
+v 0.36427132 -0.10350916 -0.08531400
+v 0.33585482 -0.14570785 -0.02835539
+v 0.31782177 0.16800442 -0.01547357
+v 0.33968218 0.14270604 -0.04144999
+v 0.34997600 0.06892103 0.00034577
+v 0.34850668 -0.10235530 -0.01456435
+v 0.28391999 0.14368238 0.06061482
+v 0.30335906 0.13896650 0.03976915
+v 0.23772176 0.05396734 0.12627553
+v 0.25127853 -0.01653326 0.12624011
+v 0.26514474 0.05351707 0.11054593
+v 0.21699068 -0.27647647 0.02766924
+v 0.31946325 -0.07384701 0.05472470
+v 0.20244733 -0.19267118 0.11190043
+v 0.31845250 -0.14382620 0.01186663
+v 0.29018775 -0.14414964 0.05434162
+v 0.34858621 -0.14544471 -0.08571724
+v 0.36395867 -0.08897543 -0.05676612
+v 0.30899414 0.17087776 0.00083599
+v 0.32482710 0.17205232 -0.04176142
+v 0.33254473 0.13916806 -0.01551062
+v 0.36404773 0.06911647 -0.04262557
+v 0.33366616 0.08229899 0.02724389
+v 0.33234592 -0.13027534 -0.00169666
+v 0.30437903 0.15355528 0.02646380
+v 0.29144249 0.13953595 0.05486803
+v 0.31996233 0.06774795 0.05536003
+v 0.20413220 -0.27765839 0.04281599
+f 11 1 8
+f 14 8 5
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+f 14 9 2
+f 14 5 9
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+f 15 5 4
+f 16 2 9
+f 17 5 10
+f 22 8 1
+f 22 12 5
+f 22 5 8
+f 23 10 5
+f 23 5 12
+f 23 21 10
+f 26 16 9
+f 27 26 6
+f 27 16 26
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+f 28 4 5
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+f 30 27 6
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+f 31 1 11
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+f 33 20 7
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+f 53 24 38
+f 53 38 11
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+f 55 15 4
+f 56 40 9
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+f 57 56 39
+f 57 40 56
+f 58 26 9
+f 58 9 40
+f 58 41 26
+f 58 40 25
+f 58 25 41
+f 59 30 6
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+f 59 41 25
+f 59 25 44
+f 60 42 33
+f 60 33 7
+f 60 7 51
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+f 61 4 28
+f 61 28 44
+f 61 55 4
+f 61 44 25
+f 61 25 55
+f 62 44 28
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+f 63 18 47
+f 63 30 59
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+f 63 62 18
+f 63 44 62
+f 64 22 1
+f 64 1 48
+f 64 12 22
+f 64 48 34
+f 64 34 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d96fcdab1316fd7b11091b456a6a33cb5bb0e03
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.10653842 -0.36633261 -0.05567982
+v 0.34638925 -0.15147975 -0.18855277
+v 0.26018676 -0.27639710 -0.07147408
+v 0.32334369 -0.14645034 0.00018994
+v 0.11019695 -0.21497339 -0.34090908
+v 0.33390916 -0.17399651 -0.08612005
+v 0.20372563 -0.30441595 -0.00039941
+v 0.11019695 -0.21497339 0.00757576
+v 0.20766203 -0.17767142 -0.40489673
+v 0.27503979 -0.26235260 -0.15773477
+v 0.33912221 -0.14725018 -0.04158698
+v 0.19073170 -0.33332744 -0.05693599
+v 0.25896926 -0.24722719 -0.00164679
+v 0.10615190 -0.35156860 0.00192173
+v 0.31179108 -0.15710543 0.01015901
+v 0.11079612 -0.30785216 -0.34211606
+v 0.20110604 -0.18467036 0.00757576
+v 0.19686895 -0.18107812 -0.41050274
+v 0.27516280 -0.26267153 -0.09970136
+v 0.33465957 -0.17482859 -0.18718816
+v 0.31973798 -0.18837513 -0.05782376
+v 0.21698295 -0.31855905 -0.07228715
+v 0.23011560 -0.28899410 -0.01556177
+v 0.10677586 -0.36708981 -0.18675667
+v 0.16074577 -0.33179545 -0.00036003
+v 0.31793711 -0.15796960 -0.00221348
+v 0.21704308 -0.27399204 -0.30101967
+v 0.30503269 -0.21804819 -0.08594924
+v 0.33332910 -0.15877332 -0.04326945
+v 0.25995371 -0.26224184 -0.02922329
+v 0.20275301 -0.31718396 -0.02963784
+v 0.21796079 -0.31819677 -0.17151064
+v 0.10752600 -0.35645684 -0.23217836
+v 0.13403477 -0.36277091 -0.08565909
+v 0.14775985 -0.34704429 -0.02765084
+v 0.28938702 -0.21677174 -0.25897487
+v 0.19211609 -0.23612901 -0.37569194
+v 0.28905129 -0.23328020 -0.05715422
+v 0.23224431 -0.30431990 -0.18614150
+v 0.19068235 -0.33372068 -0.18597437
+v 0.16175349 -0.31740002 -0.28678112
+v 0.11965159 -0.34819407 0.00060437
+v 0.11992548 -0.36280008 -0.05623511
+v 0.16258801 -0.34720307 -0.05686315
+v 0.30435550 -0.21708895 -0.20176671
+v 0.30953372 -0.17750870 -0.27498920
+v 0.19333038 -0.19304757 -0.40577186
+v 0.25954835 -0.26013085 -0.24375186
+v 0.13430196 -0.36283968 -0.15730064
+v 0.20476435 -0.31848149 -0.21512918
+v 0.14819258 -0.34775047 -0.21499289
+v 0.17471712 -0.28733877 -0.32903579
+v 0.31830053 -0.18780326 -0.22983039
+v 0.27849846 -0.17662865 -0.33197264
+v 0.21604404 -0.21693620 -0.37041433
+v 0.25953474 -0.23063954 -0.30057324
+v 0.26040026 -0.27622255 -0.18683683
+v 0.23139384 -0.28872885 -0.24351488
+v 0.13440377 -0.34879509 -0.22994081
+v 0.16244777 -0.34796982 -0.18599038
+v 0.11987830 -0.36363500 -0.18623107
+v 0.17583931 -0.33134764 -0.22942637
+v 0.20175994 -0.25866815 -0.34268859
+v 0.18910759 -0.30243573 -0.28638044
+f 9 4 2
+f 11 6 2
+f 11 2 4
+f 14 8 5
+f 15 7 13
+f 15 14 7
+f 15 8 14
+f 17 4 9
+f 17 15 4
+f 17 8 15
+f 18 5 8
+f 18 17 9
+f 18 8 17
+f 18 16 5
+f 20 2 6
+f 20 19 10
+f 22 19 3
+f 23 13 7
+f 23 22 3
+f 24 14 5
+f 24 1 14
+f 25 7 14
+f 26 15 13
+f 26 4 15
+f 26 11 4
+f 28 20 6
+f 28 19 20
+f 28 6 21
+f 29 21 6
+f 29 6 11
+f 29 26 21
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+f 30 23 3
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+f 30 26 13
+f 30 21 26
+f 31 12 22
+f 31 25 12
+f 31 7 25
+f 31 23 7
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+f 33 24 5
+f 33 5 16
+f 34 1 24
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+f 38 28 21
+f 38 3 19
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+f 38 30 3
+f 38 21 30
+f 39 10 19
+f 39 19 32
+f 40 32 22
+f 40 22 12
+f 41 33 16
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+f 43 1 34
+f 43 35 42
+f 43 42 14
+f 43 14 1
+f 44 34 12
+f 44 12 35
+f 44 43 34
+f 44 35 43
+f 45 20 10
+f 47 18 9
+f 47 37 16
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+f 48 36 45
+f 49 34 24
+f 49 40 12
+f 49 12 34
+f 50 39 32
+f 50 32 40
+f 52 41 16
+f 52 16 37
+f 53 45 36
+f 53 20 45
+f 53 36 46
+f 53 46 2
+f 53 2 20
+f 54 9 2
+f 54 2 46
+f 55 47 9
+f 55 37 47
+f 55 9 54
+f 56 48 27
+f 56 36 48
+f 56 55 54
+f 56 54 46
+f 56 46 36
+f 57 48 45
+f 57 45 10
+f 57 10 39
+f 58 39 50
+f 58 57 39
+f 58 48 57
+f 58 27 48
+f 59 33 41
+f 60 40 49
+f 61 49 24
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+f 61 24 33
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+f 61 60 49
+f 61 51 60
+f 62 50 40
+f 62 60 51
+f 62 40 60
+f 62 59 41
+f 62 51 59
+f 63 52 37
+f 63 27 52
+f 63 37 55
+f 63 56 27
+f 63 55 56
+f 64 52 27
+f 64 41 52
+f 64 27 58
+f 64 58 50
+f 64 62 41
+f 64 50 62
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96ec933f1fdf2fa7d4f29d475f495d12f3d217d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.11019695 -0.21497339 -0.35606060
+v 0.10457374 -0.20430824 -0.44280269
+v 0.11019695 -0.01800370 -0.35606060
+v -0.17846356 0.10382899 -0.44836226
+v -0.19399627 -0.23693624 -0.37897648
+v 0.10741166 -0.01758020 -0.49447206
+v -0.17768183 -0.01800370 -0.35606060
+v -0.12385750 0.11210955 -0.46823110
+v -0.08294900 -0.14927639 -0.47386096
+v 0.10522258 -0.13284167 -0.47394532
+v -0.11059428 -0.20462670 -0.44333096
+v -0.07050641 0.05596168 -0.49335567
+v -0.17072581 -0.11862383 -0.45818007
+v -0.02481996 -0.10660765 -0.49011327
+v 0.06189297 -0.16179870 -0.47294982
+v -0.11301846 0.09794235 -0.47674660
+v -0.16962483 -0.18916014 -0.42952045
+v -0.11067182 -0.17587765 -0.45727246
+v -0.09944790 -0.03147216 -0.49009337
+v 0.10437886 -0.17546795 -0.45719097
+v -0.05407049 -0.16376604 -0.47463930
+v 0.07674337 -0.10440104 -0.48859152
+v -0.14063017 0.08226771 -0.47331064
+v -0.15376911 -0.20302344 -0.42867527
+v -0.16950092 -0.16130456 -0.44367755
+v -0.15705747 -0.07498375 -0.47325619
+v 0.09024248 -0.14732635 -0.47272890
+v 0.07538724 -0.19010472 -0.45775676
+v -0.08213426 -0.19128186 -0.45884429
+v 0.10569077 -0.07543421 -0.48848484
+v -0.16768562 0.09555326 -0.45757071
+v -0.12596496 0.09667987 -0.47352888
+v -0.09908929 0.05487269 -0.49015322
+v -0.17044060 -0.20580343 -0.41813065
+v -0.15533540 -0.17560555 -0.44305648
+v -0.15568210 0.05430784 -0.47457627
+f 5 2 1
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 10 6 1
+f 10 1 2
+f 11 2 5
+f 13 5 4
+f 14 12 6
+f 16 8 6
+f 16 6 12
+f 18 13 9
+f 19 12 14
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+f 20 10 2
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+f 22 15 14
+f 22 14 6
+f 24 11 5
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+f 25 5 13
+f 25 13 18
+f 26 19 9
+f 26 9 13
+f 27 10 20
+f 27 22 10
+f 27 15 22
+f 28 20 2
+f 28 27 20
+f 28 15 27
+f 28 21 15
+f 29 18 9
+f 29 9 21
+f 29 11 18
+f 29 21 28
+f 29 28 2
+f 29 2 11
+f 30 22 6
+f 30 6 10
+f 30 10 22
+f 31 4 8
+f 32 8 16
+f 32 16 23
+f 32 31 8
+f 32 23 31
+f 33 23 16
+f 33 16 12
+f 33 12 19
+f 34 24 5
+f 34 5 17
+f 34 17 24
+f 35 24 17
+f 35 17 25
+f 35 11 24
+f 35 25 18
+f 35 18 11
+f 36 26 13
+f 36 13 4
+f 36 4 31
+f 36 31 23
+f 36 23 33
+f 36 33 19
+f 36 19 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75abce210d59494d00baac8f60dca3a5a7d69ca6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.03810505 -0.13672973 0.33085812
+v 0.06183985 -0.12498857 0.17252189
+v 0.06306471 -0.11740102 0.31862308
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4e1dd264839b6df515e0c72f2eceda73c45f1b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85aad611268f1ab7eb18ab1747c5cbe07d3f8be8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e6dfcd83300fc78b2bff67f656e7c8f627841a1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 534.01358700
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c05458a26f2a76e775c8d7e94d431baf951138f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_6/visual/model_normalized_0.obj
@@ -0,0 +1,5264 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c7a4427f34fc793383ffd9ef276d2983552dfd7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,1534 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68bc3d270c783adbc6aaf543813500e64f4c015b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d0dbd7c27f84c8b22a2e547a87e82f8d68b6db
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e847898d7a7f481e6d4aca3badc7b80ad49da5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_11.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97cd5b09929cdcdd8639458e4640e91b8dedcc71
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..007c3f69a30fe3b8d23c3e2f0f8ae7a0510211ac
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_13.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e2ac3a34ccc637e86e9b1c220d7ad1c2cf232f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_14.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_15.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed5d4b6731e3008f164fff69d8a9f3b9e63fba93
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_15.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40d53fcc7e52829c6597a0496315105cffbfdb8e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,796 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..436128ac0d67bdf624775c1dc9ded75c1ba14a86
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc226f83462c16a704615f14cd55ce80556a413
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f11ad16946251ff242ad6a7c1930104f9a11c2a2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,406 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55025eaf13158960ffe59bca60a60036475205b1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131820fd66b23b2aa9d78b8f3c75969ec3774fb3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_7.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d14a90d309ef9f45909caf948e37418f6f700f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a85453d0f65ea8e2c4c1ed681c6dd3e591d88cb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f49683bbabc94e2ff35344f5217ac34b32436f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_0.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.01343556 0.12138658 0.24576080
+v 0.06591397 0.26548986 0.01139204
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deae84edadd545a24c31c4fa521e764753fb0202
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v 0.25384968 -0.05425252 0.09104995
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76a6f55f54600ba1cd213d1e51b7aa651bf0bd85
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.12642080 -0.18807287 0.30761479
+v -0.08093712 -0.06989464 0.39081755
+v -0.13411009 -0.12254871 0.39874604
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b8f8ea8acdae2f0384ecaa53484cd8ac489d79
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.05138433 -0.01999642 0.36422742
+v -0.01682498 -0.01085483 0.31094044
+v -0.11115995 0.03585338 0.31099723
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..270303be721348eda8a8f38a0986a7015d6f4910
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_12.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01383735 -0.27246771 0.00468930
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+v 0.01331334 -0.02596492 0.29075445
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+v -0.12262650 -0.10472613 0.24138064
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+f 36 35 27
+f 36 17 35
+f 36 31 17
+f 36 24 31
+f 37 28 14
+f 37 20 28
+f 37 29 20
+f 37 14 29
+f 38 17 7
+f 38 7 32
+f 38 32 23
+f 38 23 34
+f 38 35 17
+f 38 34 35
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c84c6796384aeaced9f5d70361a612ba80d8c2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.05620114 -0.26861208 0.00413937
+v 0.15667268 -0.21249891 -0.21564017
+v 0.15239749 -0.12238235 0.18860531
+v 0.02819306 0.13497327 0.21590441
+v 0.01405751 0.12367036 -0.21969696
+v 0.01549061 -0.17940018 0.19181146
+v 0.15465779 -0.22283001 0.03340141
+v 0.01334179 -0.26127031 -0.21678153
+v 0.20087572 0.14489895 -0.23126275
+v 0.09702448 -0.16374707 0.18966848
+v 0.08498360 -0.26687614 -0.12695080
+v 0.01459606 -0.21072535 0.14966932
+v 0.15430844 -0.20799628 0.07586970
+v 0.15318086 0.11127493 0.19005297
+v 0.05590794 -0.17818169 0.19058597
+v 0.08397559 -0.26646083 -0.02468908
+v 0.13899845 -0.23578517 -0.16999381
+v 0.01298980 -0.27009604 -0.18569289
+v 0.15208470 -0.17886866 0.13249796
+v 0.08416410 -0.22187090 0.11837856
+v 0.11192227 -0.23663138 0.06157128
+v 0.01383735 -0.27246771 0.00468930
+v 0.15380184 -0.22277357 -0.18518364
+v 0.14065096 -0.23717331 0.00469465
+v 0.07037571 -0.25328328 -0.21494738
+v 0.12422439 -0.16283143 0.17412771
+v 0.07048942 -0.20747487 0.14787802
+v 0.12482368 -0.20580422 0.11734633
+v 0.11172159 -0.25127165 0.00442979
+v 0.12564760 -0.23510152 0.04686585
+v 0.01460120 -0.22777056 0.12221347
+v 0.14048204 -0.22355048 -0.21446845
+v 0.11128856 -0.25029800 -0.16981128
+v 0.11242398 -0.23847017 -0.21482539
+v 0.04138359 -0.26700707 -0.18497448
+v 0.12392235 -0.14922400 0.18776842
+v 0.09702081 -0.17749386 0.17471457
+v 0.13885312 -0.17791272 0.14549631
+v 0.07011088 -0.26662541 -0.15599221
+v 0.12543605 -0.23625215 -0.19962678
+f 6 4 5
+f 9 8 5
+f 9 2 8
+f 9 7 2
+f 9 5 4
+f 10 3 4
+f 12 6 5
+f 13 9 3
+f 13 7 9
+f 14 9 4
+f 14 4 3
+f 14 3 9
+f 15 10 4
+f 15 4 6
+f 15 6 12
+f 18 12 5
+f 18 5 8
+f 19 13 3
+f 21 20 1
+f 22 16 1
+f 22 11 16
+f 22 18 11
+f 22 12 18
+f 23 2 7
+f 24 16 11
+f 24 11 17
+f 24 23 7
+f 24 17 23
+f 26 19 3
+f 27 15 12
+f 28 13 19
+f 28 27 20
+f 28 21 13
+f 28 20 21
+f 29 21 1
+f 29 1 16
+f 29 16 24
+f 30 7 13
+f 30 13 21
+f 30 24 7
+f 30 29 24
+f 30 21 29
+f 31 12 22
+f 31 27 12
+f 31 20 27
+f 31 22 1
+f 31 1 20
+f 32 23 17
+f 32 2 23
+f 33 17 11
+f 34 25 8
+f 34 8 2
+f 34 2 32
+f 34 33 25
+f 35 18 8
+f 35 8 25
+f 36 26 3
+f 36 3 10
+f 36 10 26
+f 37 10 15
+f 37 15 27
+f 37 27 28
+f 37 26 10
+f 38 28 19
+f 38 19 26
+f 38 37 28
+f 38 26 37
+f 39 33 11
+f 39 25 33
+f 39 35 25
+f 39 11 18
+f 39 18 35
+f 40 34 32
+f 40 32 17
+f 40 17 33
+f 40 33 34
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c511fc1cd14658adcda06334beb1c27794ec339
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_14.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01308501 -0.25681775 -0.23019101
+v 0.01338980 -0.19876599 -0.34839426
+v 0.01381367 0.25655387 -0.23342547
+v -0.07186462 0.24549503 -0.22943881
+v -0.10490160 -0.23497969 -0.23325797
+v 0.01457964 0.17441470 -0.36146239
+v -0.05715490 -0.23637441 -0.27139228
+v -0.08723102 -0.24342596 -0.23029716
+v -0.00106005 0.22151115 -0.30611610
+v -0.10090670 0.15984795 -0.34743249
+v -0.09974564 -0.17922147 -0.34297700
+v 0.01334666 -0.20992862 -0.33164655
+v -0.03040730 -0.25693459 -0.23008862
+v -0.10109854 0.23287296 -0.23007935
+v -0.09978768 -0.22187008 -0.27198139
+v -0.04272807 0.24250807 -0.25703369
+v 0.01330150 0.22115830 -0.30568325
+v -0.06999483 0.21190616 -0.29980688
+v -0.04283053 -0.20661495 -0.32959891
+v 0.01288134 -0.25207500 -0.24366086
+v -0.08574460 -0.23889071 -0.24383123
+v -0.09925703 -0.19061000 -0.32800601
+v 0.01260403 0.24545499 -0.25826923
+v -0.05592093 0.22515843 -0.28479960
+v -0.09811564 0.19845708 -0.30028455
+v -0.07022489 0.24105533 -0.24230676
+v -0.07070658 -0.19088768 -0.34230128
+v -0.02981617 -0.25218892 -0.24304385
+v -0.08541293 -0.22092145 -0.28499792
+v 0.01290276 0.23078052 -0.28814622
+v -0.09889412 0.22863742 -0.24293682
+v -0.05682324 -0.22112046 -0.29963420
+f 1 3 4
+f 6 3 1
+f 11 5 10
+f 11 10 6
+f 11 6 2
+f 12 6 1
+f 12 2 6
+f 13 1 4
+f 13 4 8
+f 13 8 7
+f 14 8 4
+f 14 5 8
+f 14 10 5
+f 16 4 3
+f 17 3 6
+f 17 6 9
+f 18 9 6
+f 18 6 10
+f 19 12 7
+f 19 2 12
+f 20 12 1
+f 20 1 13
+f 21 8 5
+f 21 5 15
+f 21 15 7
+f 21 7 8
+f 22 15 5
+f 22 5 11
+f 23 16 3
+f 23 9 16
+f 24 16 9
+f 24 9 18
+f 25 18 10
+f 25 10 14
+f 26 14 4
+f 26 24 18
+f 26 4 16
+f 26 16 24
+f 27 11 2
+f 27 2 19
+f 27 22 11
+f 28 20 13
+f 28 13 7
+f 28 7 12
+f 28 12 20
+f 29 7 15
+f 29 15 22
+f 30 17 9
+f 30 9 23
+f 30 23 3
+f 30 3 17
+f 31 25 14
+f 31 18 25
+f 31 26 18
+f 31 14 26
+f 32 29 22
+f 32 22 27
+f 32 27 19
+f 32 19 7
+f 32 7 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad5fbcb2e846ed33c1275eb7dbf467f7d3eaa6b9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.21761292 -0.16463452 -0.16260683
+v -0.20466836 -0.15393992 -0.23709828
+v -0.21514049 0.11944209 -0.24309591
+v -0.23569668 0.13102509 -0.17038148
+v -0.27145635 -0.02613616 -0.17118491
+v -0.25743025 -0.05486315 -0.21533006
+v -0.25972063 0.08847708 -0.15595549
+v -0.22944668 -0.14978811 -0.15927960
+v -0.25581021 -0.04043011 -0.22922320
+v -0.25247822 0.10573370 -0.15750892
+v -0.21591749 -0.14082085 -0.23084618
+v -0.27361854 -0.02627080 -0.15698211
+v -0.25554073 0.02945916 -0.22874672
+v -0.23915936 0.09913132 -0.21278380
+v -0.27366014 0.03074192 -0.15646021
+v -0.23121283 0.10214309 -0.22990427
+v -0.25417198 0.05751726 -0.21320515
+v -0.25384197 0.08580853 -0.18396585
+v -0.27104368 0.03033598 -0.17054712
+v -0.23953050 0.08588856 -0.22768942
+f 1 2 3
+f 1 3 4
+f 8 2 1
+f 9 3 2
+f 9 6 5
+f 10 1 4
+f 10 8 1
+f 10 7 8
+f 11 8 6
+f 11 2 8
+f 11 9 2
+f 11 6 9
+f 12 5 6
+f 12 6 8
+f 12 8 7
+f 13 3 9
+f 13 9 5
+f 14 10 4
+f 15 12 7
+f 15 5 12
+f 16 14 4
+f 16 4 3
+f 18 7 10
+f 18 10 14
+f 18 17 7
+f 19 13 5
+f 19 5 15
+f 19 17 13
+f 19 15 7
+f 19 7 17
+f 20 16 3
+f 20 3 13
+f 20 13 17
+f 20 14 16
+f 20 18 14
+f 20 17 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a3187d2f18a63c003aebde9d1ba56f0c7e653a7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.09361187 -0.07287732 0.40891142
+v 0.00563736 0.05388835 0.33584370
+v -0.01384400 0.11391577 0.40328740
+v -0.09050857 0.13827505 0.33529554
+v -0.10488972 -0.01964605 0.34446587
+v 0.01134597 0.12023452 0.33556857
+v -0.10281484 0.08544439 0.38473458
+v -0.01371016 0.06641116 0.39397087
+v -0.02219021 -0.00563505 0.32918680
+v -0.04381918 0.13103588 0.40016811
+v -0.11222445 0.01859869 0.40111368
+v -0.00197010 0.10437426 0.38238140
+v -0.09248579 -0.07305465 0.38831671
+v -0.06317257 -0.04928221 0.39192483
+v -0.09498162 0.09523964 0.33380990
+v -0.06658759 0.13858593 0.33030747
+v -0.04282893 0.13035875 0.40057898
+v -0.10800492 -0.01209738 0.35318531
+v -0.00465715 0.07163556 0.37972436
+v -0.07806955 -0.06633533 0.40182905
+v -0.07369232 -0.06381738 0.39284413
+f 8 3 1
+f 9 6 2
+f 10 3 6
+f 10 4 7
+f 11 10 7
+f 12 6 3
+f 12 3 8
+f 12 2 6
+f 13 5 9
+f 14 9 2
+f 15 9 5
+f 15 11 7
+f 15 7 4
+f 16 6 9
+f 16 10 6
+f 16 4 10
+f 16 15 4
+f 16 9 15
+f 17 1 3
+f 17 3 10
+f 17 11 1
+f 17 10 11
+f 18 1 11
+f 18 13 1
+f 18 5 13
+f 18 15 5
+f 18 11 15
+f 19 12 8
+f 19 2 12
+f 19 14 2
+f 19 8 14
+f 20 14 8
+f 20 8 1
+f 20 1 13
+f 21 20 13
+f 21 13 9
+f 21 9 14
+f 21 14 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fdcacf6959322c8695ea1afc9388e5a10eeaeb2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_17.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.12084946 -0.23755181 0.00683286
+v -0.11439110 -0.22680368 0.04754202
+v -0.25907129 -0.05412873 0.00360573
+v -0.21578921 0.17109649 0.00830057
+v -0.12230613 0.12367036 0.00757577
+v -0.12115719 -0.05761467 0.24825310
+v -0.21321661 -0.15346539 0.00239629
+v -0.24290183 0.13063802 0.00368887
+v -0.11630016 0.11854043 0.19403814
+v -0.15267355 -0.20690085 0.03021795
+v -0.14173275 -0.22478003 0.00313625
+v -0.14941136 -0.05903393 0.23459454
+v -0.22160184 0.16421644 0.00577958
+v -0.16871167 0.07007980 0.22279463
+v -0.11496983 0.07263496 0.23597385
+v -0.18155372 -0.17940621 0.03054726
+v -0.13970021 -0.22195839 0.01698099
+v -0.22442109 -0.09467299 0.05941883
+v -0.12459673 -0.17920282 0.11687984
+v -0.20651141 0.16408952 0.05021291
+v -0.25484173 0.04595840 0.04624391
+v -0.16820166 -0.00891820 0.22833763
+v -0.11461827 -0.14138427 0.16356185
+v -0.12487475 -0.22130342 0.04486625
+v -0.24119848 -0.08179267 0.03174697
+v -0.19468706 -0.12233200 0.08710412
+v -0.15268654 -0.19302383 0.05882444
+v -0.15315771 0.11367994 0.17164619
+v -0.21246997 0.15789278 0.04659587
+v -0.22402625 0.10120797 0.08844973
+v -0.25928270 0.08919688 0.00411482
+v -0.24054946 -0.02441417 0.07515887
+v -0.11451409 -0.18411227 0.12091977
+v -0.20985529 -0.15134018 0.01581129
+v -0.20941638 -0.12277635 0.05953244
+v -0.12493178 -0.20730954 0.07381743
+v -0.18039080 -0.16452079 0.05864060
+v -0.24004955 0.12912749 0.01726927
+v -0.21024033 0.11514925 0.10282957
+v -0.23894999 0.07350150 0.07471801
+v -0.25565452 0.00352985 0.04660920
+v -0.24009187 -0.05261640 0.06035719
+v -0.11456691 -0.21279654 0.07676976
+v -0.13820011 -0.17860354 0.10191528
+v -0.16575056 -0.15045923 0.10117297
+v -0.22481044 0.12885277 0.06028239
+v -0.25516953 0.07416571 0.03174725
+v -0.25453810 -0.03870004 0.03141797
+v -0.22412525 -0.08022122 0.07384153
+v -0.22371536 -0.03797267 0.10258657
+v -0.25598264 0.08823704 0.01766762
+v -0.25550939 -0.05313129 0.01715874
+f 5 2 1
+f 8 7 3
+f 9 5 4
+f 9 2 5
+f 11 5 1
+f 11 8 5
+f 11 7 8
+f 13 4 5
+f 13 5 8
+f 15 2 9
+f 15 14 6
+f 15 9 14
+f 16 11 10
+f 16 7 11
+f 17 11 1
+f 17 10 11
+f 20 9 4
+f 22 12 6
+f 22 6 14
+f 22 14 21
+f 23 15 6
+f 24 17 1
+f 24 1 2
+f 24 10 17
+f 25 3 7
+f 27 16 10
+f 28 20 14
+f 28 14 9
+f 28 9 20
+f 29 20 4
+f 29 4 13
+f 31 8 3
+f 33 2 15
+f 33 15 23
+f 33 12 19
+f 33 23 6
+f 33 6 12
+f 34 25 7
+f 34 7 16
+f 35 26 12
+f 35 12 18
+f 35 18 25
+f 35 25 34
+f 36 27 10
+f 36 10 24
+f 36 33 19
+f 37 16 27
+f 37 26 35
+f 37 35 34
+f 37 34 16
+f 38 29 13
+f 38 13 8
+f 38 8 31
+f 39 14 20
+f 39 30 14
+f 40 21 14
+f 40 14 30
+f 41 31 3
+f 41 21 31
+f 41 32 22
+f 41 22 21
+f 43 36 24
+f 43 24 2
+f 43 2 33
+f 43 33 36
+f 44 36 19
+f 44 27 36
+f 44 37 27
+f 44 19 12
+f 45 12 26
+f 45 26 37
+f 45 44 12
+f 45 37 44
+f 46 29 38
+f 46 30 39
+f 46 39 20
+f 46 20 29
+f 47 31 21
+f 47 21 40
+f 48 41 3
+f 48 32 41
+f 48 42 32
+f 49 42 25
+f 49 25 18
+f 49 18 12
+f 50 12 22
+f 50 22 32
+f 50 32 42
+f 50 49 12
+f 50 42 49
+f 51 47 40
+f 51 40 30
+f 51 30 46
+f 51 46 38
+f 51 38 31
+f 51 31 47
+f 52 48 3
+f 52 3 25
+f 52 25 42
+f 52 42 48
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ef1478aaee56922be3461ce1b8f1050cb8a22f4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_18.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.16987426 0.14959053 0.30128269
+v 0.16999214 0.18343274 0.25157141
+v 0.16954767 0.18425624 0.29068517
+v 0.11112615 0.19923567 0.21129214
+v 0.12009844 0.16908992 0.15906082
+v 0.16098429 0.20013420 0.24736881
+v 0.12142167 0.14284995 0.29828564
+v 0.17154605 0.18355693 0.29147937
+v 0.14173880 0.13523913 0.23898509
+v 0.08603233 0.19123255 0.15229737
+v 0.16503625 0.19461214 0.24220441
+v 0.06606936 0.18598569 0.19823981
+v 0.14100368 0.20202681 0.21812248
+v 0.11868423 0.14789834 0.29181452
+v 0.05896488 0.19786458 0.15771664
+v 0.05950568 0.13277784 0.21280571
+v 0.14863951 0.20056461 0.23690997
+v 0.15429889 0.20169849 0.23314663
+v 0.11601186 0.17639421 0.15287513
+v 0.05804940 0.14306237 0.20475450
+v 0.08979441 0.13870294 0.20443906
+f 6 4 3
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 8 6 3
+f 9 5 2
+f 9 2 1
+f 9 1 7
+f 11 2 5
+f 11 8 2
+f 11 6 8
+f 12 3 4
+f 14 12 7
+f 14 7 3
+f 14 3 12
+f 15 12 4
+f 15 13 10
+f 15 4 13
+f 16 9 7
+f 16 7 12
+f 16 15 10
+f 17 13 4
+f 17 4 6
+f 18 6 11
+f 18 17 6
+f 18 13 17
+f 19 10 13
+f 19 16 10
+f 19 5 16
+f 19 13 18
+f 19 18 11
+f 19 11 5
+f 20 16 12
+f 20 12 15
+f 20 15 16
+f 21 16 5
+f 21 5 9
+f 21 9 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49623c6e249e747960295172a632fe11f2e95d7c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.07109558 -0.16962947 0.19519074
+v 0.15969306 -0.09933746 0.19760816
+v 0.09131786 0.13540101 0.27093372
+v 0.02498321 0.14583473 0.21129306
+v 0.12715676 0.12872421 0.19598442
+v 0.00171618 -0.10829738 0.25844936
+v 0.15729902 0.10096725 0.19484698
+v 0.01477907 -0.17302759 0.19865893
+v 0.14452731 0.13579169 0.26590082
+v 0.01232011 0.11566829 0.24887140
+v 0.08334242 -0.09452600 0.24656061
+v 0.10030516 -0.15586742 0.19585236
+v 0.05547793 -0.15040912 0.21821375
+v 0.14173880 0.13523913 0.23898509
+v 0.15440308 0.09591690 0.26774873
+v 0.01097907 0.13157365 0.23980462
+v 0.11050483 -0.12187380 0.21746025
+v 0.01538571 -0.16592351 0.20602233
+v 0.05570696 -0.10864009 0.24683696
+v 0.06869040 -0.16255774 0.20324770
+v 0.14973696 0.12207312 0.26782783
+v 0.12418433 -0.05161892 0.24626245
+v 0.00061936 -0.15734146 0.21195657
+v 0.08210739 -0.12145293 0.23163602
+v 0.15137700 -0.03756424 0.23233179
+v 0.13818474 -0.09395046 0.21754419
+v -0.00094614 -0.14852903 0.21905198
+v 0.09653072 -0.14971326 0.20353307
+v 0.13790378 -0.06543771 0.23195679
+v 0.15370530 -0.09523136 0.20498636
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 9 4 3
+f 10 6 3
+f 12 7 2
+f 12 1 7
+f 14 5 4
+f 14 4 9
+f 14 9 7
+f 14 7 5
+f 15 2 7
+f 15 6 11
+f 15 3 6
+f 16 10 3
+f 16 3 4
+f 16 6 10
+f 17 12 2
+f 18 13 6
+f 18 8 13
+f 19 11 6
+f 19 6 13
+f 20 1 12
+f 20 13 8
+f 20 8 1
+f 21 15 7
+f 21 7 9
+f 21 9 3
+f 21 3 15
+f 22 15 11
+f 23 16 4
+f 23 4 8
+f 23 18 6
+f 23 8 18
+f 24 17 11
+f 24 19 13
+f 24 11 19
+f 25 2 15
+f 25 15 22
+f 26 17 2
+f 26 22 11
+f 26 11 17
+f 27 23 6
+f 27 6 16
+f 27 16 23
+f 28 12 17
+f 28 17 24
+f 28 20 12
+f 28 24 13
+f 28 13 20
+f 29 25 22
+f 29 22 26
+f 30 29 26
+f 30 26 2
+f 30 2 25
+f 30 25 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2987c4e5c97b056e637c3c02ebad1afd1162d673
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_2.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00171618 -0.10829738 0.25844936
+v 0.12607433 -0.03801428 0.24965957
+v 0.00895205 0.07807434 0.35433250
+v -0.09408146 0.22181945 0.25807746
+v -0.11409396 0.01578475 0.25180189
+v 0.12271621 0.14532032 0.26924756
+v 0.07664799 -0.07065940 0.30891441
+v -0.06051393 -0.11828304 0.26036220
+v -0.10488972 -0.01964605 0.34446587
+v -0.03712681 0.22616610 0.26103679
+v 0.09937526 -0.06728851 0.25287593
+v 0.12206627 0.12137416 0.33925792
+v -0.00118124 -0.10669755 0.26456389
+v -0.09207714 0.16361297 0.32938575
+v -0.12483708 -0.01860153 0.32450736
+v 0.11000244 -0.06177669 0.29920064
+v 0.12121747 0.09245110 0.33812690
+v 0.11662124 0.14215545 0.30121422
+v 0.13496465 -0.01910002 0.29154023
+v -0.08382515 0.21342478 0.28747330
+v -0.10727248 -0.04177919 0.25919840
+v -0.12315673 0.01490481 0.32659020
+v 0.12431327 -0.04811023 0.29784251
+v 0.12822457 -0.01236243 0.25360073
+v 0.13424002 -0.02659291 0.29360450
+v -0.09136144 0.20152347 0.29851023
+v -0.05473761 0.21419454 0.28342815
+v -0.11619878 -0.01173160 0.26246034
+v 0.13422468 -0.02419767 0.28898473
+v -0.07061479 0.17705925 0.32252940
+v -0.08762935 0.17444986 0.32524882
+v -0.05837963 0.18945572 0.30867282
+f 5 4 2
+f 8 5 2
+f 9 8 7
+f 9 7 3
+f 10 6 2
+f 10 2 4
+f 11 8 2
+f 11 1 8
+f 13 8 1
+f 13 1 7
+f 13 7 8
+f 14 9 3
+f 14 3 12
+f 15 8 9
+f 16 7 1
+f 16 1 11
+f 17 12 3
+f 17 3 7
+f 18 12 6
+f 18 6 10
+f 18 10 12
+f 19 6 12
+f 20 10 4
+f 21 5 8
+f 21 8 15
+f 22 15 9
+f 22 9 14
+f 22 4 5
+f 22 5 15
+f 23 16 11
+f 23 11 2
+f 23 17 7
+f 23 7 16
+f 24 2 6
+f 24 6 19
+f 25 19 12
+f 25 12 17
+f 25 17 23
+f 25 23 2
+f 26 20 4
+f 26 22 14
+f 26 4 22
+f 27 12 10
+f 27 10 20
+f 28 21 15
+f 28 15 5
+f 28 5 21
+f 29 25 2
+f 29 19 25
+f 29 24 19
+f 29 2 24
+f 30 27 20
+f 31 26 14
+f 31 14 12
+f 31 12 30
+f 31 30 20
+f 31 20 26
+f 32 30 12
+f 32 12 27
+f 32 27 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d29a02e21208f4a37ebb8311a0d00696a2479c28
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.16279825 -0.06171650 0.23101969
+v -0.15010676 -0.05686700 0.18654518
+v -0.15240238 -0.05840925 0.23380888
+v -0.15245862 0.07626505 0.21867973
+v -0.22621608 0.02944632 0.24105735
+v -0.15128934 -0.01188267 0.23010985
+v -0.21470376 -0.00125480 0.23033192
+v -0.16953639 0.07283436 0.17596345
+v -0.22068554 -0.00707963 0.26514288
+v -0.15860344 -0.05387812 0.18009056
+v -0.21676138 0.04607439 0.26028822
+v -0.15244986 0.07811797 0.18919281
+v -0.21190144 0.04161167 0.21735703
+v -0.19781854 -0.00378382 0.26871043
+v -0.22491218 0.00829211 0.24153852
+v -0.19590994 0.06267288 0.22974513
+v -0.22861080 0.02809647 0.26274963
+v -0.21300868 0.05008044 0.22819675
+v -0.21282467 0.01015803 0.22062362
+v -0.19765313 0.05133243 0.25058759
+v -0.22657473 0.00711991 0.26386476
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 10 2 1
+f 10 9 7
+f 10 1 9
+f 12 4 2
+f 12 10 8
+f 12 2 10
+f 14 9 1
+f 14 1 3
+f 14 3 6
+f 14 6 4
+f 15 7 9
+f 16 11 4
+f 16 12 8
+f 16 4 12
+f 17 14 11
+f 17 5 15
+f 18 13 5
+f 18 11 16
+f 18 16 8
+f 18 8 13
+f 18 17 11
+f 18 5 17
+f 19 10 7
+f 19 7 15
+f 19 15 5
+f 19 5 13
+f 19 13 8
+f 19 8 10
+f 20 14 4
+f 20 4 11
+f 20 11 14
+f 21 9 14
+f 21 14 17
+f 21 17 15
+f 21 15 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff5c0dbbdd261c8e2f7bcb6da9805a1c16969012
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_21.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01711938 -0.15091536 -0.39795198
+v 0.01287922 -0.11347695 -0.42079988
+v 0.01717477 0.14873621 -0.38498357
+v -0.11387191 0.13216902 -0.36545133
+v -0.11829898 -0.13234505 -0.37516410
+v -0.02330144 0.00455672 -0.49609063
+v 0.00310373 -0.01965773 -0.47682264
+v -0.07121289 0.11422950 -0.39869850
+v -0.09758084 -0.03909629 -0.42894182
+v -0.02346083 -0.01110611 -0.49480020
+v 0.00046006 0.00807869 -0.47795225
+v -0.10028600 0.11480162 -0.38699420
+v -0.01146741 -0.01278951 -0.49127508
+v -0.07073305 -0.10858096 -0.41313562
+v -0.09867494 -0.08158319 -0.41503966
+v -0.01303681 0.00536656 -0.49352679
+v 0.01207538 0.10137122 -0.41714307
+v -0.09514834 0.01206950 -0.42732563
+v -0.09890309 -0.10905971 -0.40080193
+v 0.01328679 0.11845630 -0.40789461
+v -0.09813305 0.05655113 -0.41199100
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 8 4 3
+f 8 3 6
+f 9 5 4
+f 10 9 6
+f 12 8 6
+f 12 4 8
+f 13 2 1
+f 13 1 10
+f 13 7 2
+f 14 10 1
+f 14 1 5
+f 15 5 9
+f 15 9 10
+f 16 11 7
+f 16 7 13
+f 16 13 10
+f 16 10 6
+f 17 3 7
+f 17 7 11
+f 18 9 4
+f 18 6 9
+f 19 14 5
+f 19 10 14
+f 19 15 10
+f 19 5 15
+f 20 16 6
+f 20 6 3
+f 20 3 17
+f 20 17 11
+f 20 11 16
+f 21 18 4
+f 21 4 12
+f 21 12 6
+f 21 6 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67c338b931e5548835982fd9b404d1ea1827b19f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.10490160 -0.23497969 -0.23325797
+v -0.10087041 -0.12563485 -0.38928629
+v -0.09933428 0.18667822 -0.31631814
+v -0.10641408 0.22835937 -0.23427895
+v -0.24525123 -0.08388737 -0.23065186
+v -0.10157579 0.21930627 -0.26003354
+v -0.10129906 -0.22643722 -0.25990439
+v -0.12889225 0.21676677 -0.22933868
+v -0.18175943 0.04271817 -0.35715385
+v -0.18058676 -0.15042669 -0.30006430
+v -0.12905996 -0.22441705 -0.22953504
+v -0.13890261 0.19701489 -0.25604086
+v -0.11291984 0.21414925 -0.25746382
+v -0.10026769 0.02937326 -0.41926166
+v -0.12647506 -0.17697254 -0.32756607
+v -0.18124300 -0.08182361 -0.35589951
+v -0.21488091 0.12976986 -0.22890574
+v -0.18427627 -0.18240061 -0.22988179
+v -0.11358862 -0.22164609 -0.25816942
+v -0.12623306 0.21282444 -0.24233711
+v -0.12429343 0.18230951 -0.29846802
+v -0.11169096 0.11163853 -0.38291563
+v -0.10323025 -0.17190763 -0.34929124
+v -0.16789610 -0.10818496 -0.35519094
+v -0.11183492 -0.06722269 -0.41349868
+v -0.20916188 -0.08251388 -0.31495422
+v -0.23913882 0.02920583 -0.27155140
+v -0.20943580 -0.13668180 -0.25858146
+v -0.15520630 -0.19294096 -0.27194495
+v -0.24364616 0.07303389 -0.22935340
+v -0.12767191 -0.22054841 -0.24279781
+v -0.11385410 -0.19244499 -0.31503519
+v -0.16610157 0.15371193 -0.28457824
+v -0.15459804 0.04280453 -0.38403577
+v -0.10028600 0.11480162 -0.38699420
+v -0.11034883 0.18206146 -0.31288744
+v -0.10154131 -0.19638695 -0.31753508
+v -0.15445930 -0.17736583 -0.29927536
+v -0.12602609 -0.13530635 -0.36833556
+v -0.10067687 -0.06878377 -0.41887336
+v -0.14092672 -0.09498384 -0.38402925
+v -0.22522550 -0.04078556 -0.30059514
+v -0.18047443 -0.10825665 -0.34162144
+v -0.21591749 -0.14082085 -0.23084618
+v -0.19465615 -0.15021717 -0.27245325
+v -0.22501931 -0.10970605 -0.25853089
+v -0.17048736 -0.19634749 -0.22980448
+v -0.19431443 0.06944396 -0.32753456
+v -0.19473554 0.13986098 -0.25523491
+v -0.15230130 0.16815823 -0.28418046
+v -0.12687888 0.05715991 -0.39696616
+v -0.15137924 0.08349311 -0.36939253
+v -0.14041759 0.01528570 -0.39829213
+v -0.14031886 -0.12195176 -0.36852088
+v -0.16765718 -0.08184146 -0.36940849
+v -0.11290451 -0.12303018 -0.38457462
+v -0.19665405 0.02922881 -0.34331976
+v -0.19528101 -0.06920825 -0.34294507
+v -0.24015413 -0.06892926 -0.25766122
+v -0.18165290 -0.17961905 -0.24398400
+v -0.16798158 -0.19348480 -0.24435846
+v -0.23924135 0.07144012 -0.24268760
+v -0.17981956 0.11186811 -0.31348287
+v -0.11213317 0.02860396 -0.41294005
+f 6 4 1
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 1 4
+f 11 1 8
+f 13 4 6
+f 13 6 3
+f 17 11 8
+f 17 8 12
+f 19 7 1
+f 20 8 4
+f 20 4 13
+f 20 13 12
+f 20 12 8
+f 21 12 13
+f 30 5 18
+f 30 27 5
+f 30 11 17
+f 31 19 1
+f 31 1 11
+f 31 29 19
+f 31 11 29
+f 32 7 19
+f 32 15 23
+f 32 19 29
+f 35 22 3
+f 35 3 14
+f 36 3 22
+f 36 21 13
+f 36 13 3
+f 37 23 2
+f 37 2 7
+f 37 32 23
+f 37 7 32
+f 38 24 15
+f 38 10 24
+f 38 29 10
+f 38 32 29
+f 38 15 32
+f 39 23 15
+f 39 2 23
+f 40 25 14
+f 40 14 3
+f 40 3 2
+f 41 25 40
+f 43 24 10
+f 43 10 26
+f 43 16 24
+f 44 18 5
+f 45 44 28
+f 45 18 44
+f 46 26 10
+f 46 45 28
+f 46 10 45
+f 46 44 5
+f 46 28 44
+f 47 30 18
+f 47 11 30
+f 49 17 12
+f 50 12 21
+f 50 49 12
+f 50 33 49
+f 51 35 14
+f 51 22 35
+f 52 34 9
+f 52 51 34
+f 52 22 51
+f 52 9 48
+f 53 14 25
+f 54 39 15
+f 54 15 24
+f 54 24 41
+f 55 41 24
+f 55 24 16
+f 55 25 41
+f 55 53 25
+f 56 41 40
+f 56 40 2
+f 56 54 41
+f 56 2 39
+f 56 39 54
+f 57 9 34
+f 57 34 53
+f 57 42 27
+f 57 48 9
+f 57 27 48
+f 58 26 42
+f 58 43 26
+f 58 16 43
+f 58 42 57
+f 58 55 16
+f 58 57 53
+f 58 53 55
+f 59 42 26
+f 59 5 27
+f 59 27 42
+f 59 46 5
+f 59 26 46
+f 60 18 45
+f 60 45 10
+f 60 10 29
+f 61 29 11
+f 61 11 47
+f 61 60 29
+f 61 47 18
+f 61 18 60
+f 62 30 17
+f 62 48 27
+f 62 27 30
+f 63 17 49
+f 63 62 17
+f 63 48 62
+f 63 49 33
+f 63 52 48
+f 63 22 52
+f 63 33 50
+f 63 50 21
+f 63 36 22
+f 63 21 36
+f 64 51 14
+f 64 34 51
+f 64 53 34
+f 64 14 53
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b449356867a2a460a70285918042d8652f7643a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01405751 -0.01269327 0.00757577
+v 0.01405751 -0.01269327 -0.23484848
+v 0.01339522 0.27440501 -0.17138929
+v -0.04419344 0.27343168 0.00514330
+v -0.12230613 -0.01269327 0.00757577
+v 0.01295654 0.27599921 0.00518301
+v -0.11233196 0.22766331 -0.22791243
+v -0.07254393 0.27260725 -0.05368152
+v -0.11843413 0.25157434 0.00608154
+v 0.01307269 0.25859128 -0.22850294
+v -0.12230613 -0.01269327 -0.23484848
+v -0.05828362 0.27297310 -0.00966153
+v -0.08470447 0.25529781 -0.18432830
+v -0.02858435 0.25692569 -0.22833926
+v -0.10103885 0.25899355 0.00499644
+v -0.04308477 0.27239756 -0.15635791
+v -0.11396464 0.25653818 -0.11166589
+v -0.08450916 0.24140214 -0.22774930
+v -0.07239569 0.27213880 -0.09736057
+v -0.05634857 0.25592099 -0.21330591
+v -0.02892253 0.27230349 -0.17101176
+v -0.11411190 0.25592739 -0.01010632
+v -0.11289106 0.24242685 -0.18410851
+v -0.09939625 0.25610105 -0.15537826
+v -0.09793461 0.24080078 -0.21298860
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 8 6 3
+f 9 5 1
+f 9 1 6
+f 9 6 4
+f 10 3 2
+f 11 2 5
+f 11 9 7
+f 11 5 9
+f 11 10 2
+f 12 4 6
+f 12 6 8
+f 14 11 7
+f 14 10 11
+f 14 3 10
+f 15 9 4
+f 15 4 12
+f 15 12 8
+f 18 14 7
+f 19 8 3
+f 19 3 16
+f 19 17 8
+f 20 13 16
+f 20 18 13
+f 20 14 18
+f 21 16 3
+f 21 3 14
+f 21 20 16
+f 21 14 20
+f 22 15 8
+f 22 8 17
+f 22 17 9
+f 22 9 15
+f 23 7 9
+f 23 9 17
+f 24 19 16
+f 24 16 13
+f 24 17 19
+f 24 23 17
+f 24 13 23
+f 25 18 7
+f 25 7 23
+f 25 23 13
+f 25 13 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a3184b9b085d6c203943c61c096ecb21991a9e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_24.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.12230613 0.10851885 0.00757577
+v -0.12230613 0.10851885 -0.23484848
+v -0.11462819 0.23140540 -0.21476271
+v -0.11843413 0.25157434 0.00608154
+v -0.26014314 0.10322741 -0.12656022
+v -0.23121283 0.10214309 -0.22990427
+v -0.25311389 0.10648190 0.00619807
+v -0.18388662 0.21332182 -0.09644693
+v -0.26011264 0.10353926 -0.02470867
+v -0.11799962 0.22268580 -0.23184938
+v -0.14163050 0.24208791 -0.11114671
+v -0.19640485 0.18393147 -0.16861295
+v -0.21176720 0.18494467 -0.02522459
+v -0.14190471 0.24177165 -0.01002070
+v -0.11615116 0.24809675 -0.15626726
+v -0.22504006 0.14134677 -0.18305396
+v -0.24017053 0.14256550 -0.12503634
+v -0.19664191 0.15575019 -0.22698024
+v -0.15369463 0.21181649 -0.19763557
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+v -0.18356382 0.21352960 -0.02483776
+v -0.24095513 0.11438837 -0.18403897
+v -0.21249717 0.18507923 -0.09651119
+v -0.25538628 0.11591668 -0.02536336
+v -0.20996260 0.15500242 -0.19732685
+v -0.12553194 0.22572208 -0.21253095
+v -0.18247602 0.19806091 -0.16857742
+v -0.13897957 0.21088245 -0.22664691
+v -0.15603494 0.22760786 -0.13998394
+v -0.15682871 0.22970497 0.00436301
+v -0.22412069 0.12640679 -0.21212102
+v -0.24622625 0.10276591 -0.18580359
+v -0.25536634 0.11481588 -0.12540705
+v -0.23949562 0.14273487 -0.01136883
+v -0.14045985 0.22625896 -0.18341933
+v -0.19729170 0.19861447 -0.11065372
+v -0.12739772 0.24231112 -0.15478496
+v -0.13006095 0.24602387 0.00508512
+v -0.22597764 0.11337350 -0.22740385
+v -0.24290183 0.13063802 0.00368887
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 9 6 1
+f 9 5 6
+f 9 1 7
+f 10 3 2
+f 10 2 6
+f 14 4 11
+f 15 11 4
+f 15 4 3
+f 17 12 16
+f 18 10 6
+f 21 14 11
+f 21 11 8
+f 22 17 16
+f 23 12 17
+f 23 21 8
+f 23 13 21
+f 24 5 9
+f 24 9 7
+f 25 16 12
+f 25 12 18
+f 26 3 10
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+f 27 18 12
+f 28 10 18
+f 28 18 19
+f 28 26 10
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+f 29 19 27
+f 29 8 11
+f 30 20 7
+f 30 7 4
+f 30 14 21
+f 30 21 13
+f 30 13 20
+f 31 22 16
+f 31 16 25
+f 31 25 18
+f 32 22 6
+f 32 6 5
+f 33 17 22
+f 33 24 17
+f 33 5 24
+f 33 32 5
+f 33 22 32
+f 34 23 17
+f 34 13 23
+f 34 17 24
+f 34 20 13
+f 35 3 26
+f 35 26 19
+f 35 19 29
+f 36 23 8
+f 36 29 27
+f 36 8 29
+f 36 27 12
+f 36 12 23
+f 37 29 11
+f 37 11 15
+f 37 35 29
+f 37 15 3
+f 37 3 35
+f 38 30 4
+f 38 4 14
+f 38 14 30
+f 39 6 22
+f 39 22 31
+f 39 31 18
+f 39 18 6
+f 40 34 24
+f 40 24 7
+f 40 7 20
+f 40 20 34
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e76484b85d09b9d2e6db63a3412362d3974eae
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_25.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.07076416 -0.19800739 -0.33282239
+v 0.13491133 -0.13394251 -0.35979492
+v 0.01405751 -0.11875388 -0.34090908
+v -0.10359700 -0.11470621 -0.39490969
+v 0.02642832 -0.12433942 -0.41363296
+v -0.10323025 -0.17190763 -0.34929124
+v 0.11612171 -0.17342613 -0.33586391
+v 0.11251401 -0.11227223 -0.38861538
+v -0.11829898 -0.13234505 -0.37516410
+v -0.02850119 -0.17810736 -0.37079807
+v 0.09989830 -0.18502850 -0.33354941
+v 0.08112804 -0.16322821 -0.36913499
+v -0.04369172 -0.11170899 -0.41884764
+v -0.08690722 -0.11165940 -0.40506130
+v 0.01377539 -0.20567430 -0.33825254
+v 0.09542352 -0.13668537 -0.38353212
+v 0.11201914 -0.15353479 -0.35970728
+v 0.09657628 -0.17906802 -0.34302696
+v 0.02723248 -0.16485665 -0.38543855
+v 0.02690195 -0.11303238 -0.41904851
+v -0.09806419 -0.13597051 -0.38347669
+v -0.07370250 -0.18507653 -0.34871833
+v 0.10992342 -0.12346994 -0.38399837
+v 0.11233724 -0.16766358 -0.34519334
+v 0.06852372 -0.19160387 -0.34288021
+v 0.05460472 -0.13812270 -0.39954574
+v -0.01460664 -0.16493735 -0.38566752
+v 0.02711077 -0.17861504 -0.37175578
+v 0.08396848 -0.11243795 -0.40326278
+v -0.08441038 -0.12242512 -0.39933618
+v -0.09953671 -0.16596469 -0.35745005
+v -0.04280254 -0.12252923 -0.41281148
+v 0.01338980 -0.19876599 -0.34839426
+v 0.08184429 -0.12352914 -0.39850249
+v -0.07055872 -0.15056010 -0.38472262
+v -0.07097010 -0.17892364 -0.35730969
+f 6 1 3
+f 7 2 3
+f 8 3 2
+f 9 6 3
+f 9 3 4
+f 11 7 3
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+f 14 4 3
+f 14 3 8
+f 14 8 13
+f 15 1 6
+f 17 16 2
+f 17 12 16
+f 18 7 11
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+f 21 9 4
+f 22 15 6
+f 22 10 15
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+f 23 2 16
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+f 24 2 7
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+f 24 12 17
+f 25 18 11
+f 25 11 1
+f 25 12 18
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+f 26 16 12
+f 26 12 19
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+f 26 5 20
+f 27 5 19
+f 28 27 19
+f 28 10 27
+f 28 19 12
+f 28 12 25
+f 29 20 13
+f 29 13 8
+f 29 26 20
+f 30 21 4
+f 30 4 14
+f 31 6 9
+f 31 9 21
+f 32 13 5
+f 32 5 27
+f 32 30 14
+f 32 14 13
+f 33 15 10
+f 33 10 28
+f 33 28 25
+f 33 25 15
+f 34 16 26
+f 34 26 29
+f 34 23 16
+f 34 29 8
+f 34 8 23
+f 35 21 30
+f 35 31 21
+f 35 30 32
+f 35 32 27
+f 35 27 10
+f 36 22 6
+f 36 6 31
+f 36 31 35
+f 36 35 10
+f 36 10 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f81fff29e768c14d6afdcaa3316e6ef696619bc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_26.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00432113 0.16278576 0.22372109
+v 0.01550648 0.17228949 0.19274292
+v -0.03800904 0.22903172 0.25798598
+v -0.08817413 0.22639400 0.25518044
+v -0.08785514 0.16355941 0.18195519
+v -0.08670252 0.20484502 0.27085873
+v -0.01721830 0.22166304 0.23549990
+v -0.05328835 0.20613809 0.27088393
+v -0.09268762 0.21728189 0.26417519
+v -0.08445063 0.17167940 0.22285910
+v -0.00094045 0.19180526 0.21956873
+v -0.03843035 0.22178022 0.26426113
+v 0.01273059 0.18800928 0.17748438
+v -0.08485114 0.22727635 0.23099953
+v -0.02364223 0.22608620 0.22676499
+v -0.07021467 0.21744953 0.20849412
+v -0.09296167 0.22134846 0.23002739
+v -0.02990074 0.22906479 0.24296571
+v -0.08412535 0.20534110 0.20423895
+v -0.03915734 0.21904187 0.20422202
+v -0.09408146 0.22181945 0.25807746
+v -0.02466454 0.22788980 0.23454718
+v -0.09050764 0.20824609 0.21323131
+v -0.09059795 0.18636468 0.20923050
+f 5 2 1
+f 8 6 1
+f 9 3 4
+f 10 5 1
+f 10 1 6
+f 10 9 5
+f 10 6 9
+f 11 7 1
+f 11 1 2
+f 11 2 7
+f 12 7 3
+f 12 1 7
+f 12 8 1
+f 12 3 9
+f 12 9 6
+f 12 6 8
+f 13 7 2
+f 13 2 5
+f 14 4 3
+f 15 7 13
+f 17 4 14
+f 18 14 3
+f 18 3 7
+f 19 16 13
+f 19 13 5
+f 19 17 14
+f 19 14 16
+f 20 15 13
+f 20 13 16
+f 20 16 14
+f 20 14 15
+f 21 9 4
+f 21 4 17
+f 22 15 14
+f 22 14 18
+f 22 18 7
+f 22 7 15
+f 23 19 5
+f 23 5 17
+f 23 17 19
+f 24 21 17
+f 24 17 5
+f 24 5 9
+f 24 9 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7554485743802b393780c05f221fd935ea57a44b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_27.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02325461 0.07803890 0.49199195
+v -0.01044007 0.07084714 0.39730767
+v -0.01750394 0.11197078 0.46019093
+v -0.04381918 0.13103588 0.40016811
+v -0.06333485 0.07804169 0.39948533
+v -0.01384400 0.11391577 0.40328740
+v -0.05369410 0.10604531 0.49745223
+v -0.01637004 0.08411731 0.47214492
+v -0.05612881 0.07646728 0.48590638
+v -0.03016528 0.10767850 0.49619737
+v -0.06174966 0.10916711 0.47697141
+v -0.04158490 0.07578075 0.49068626
+v -0.01784211 0.10438162 0.47283352
+v -0.06244231 0.10171865 0.40570761
+v -0.06097033 0.09325145 0.49281009
+v -0.05731716 0.08642966 0.49401297
+v -0.06039892 0.11063105 0.46472712
+v -0.06023890 0.08412913 0.47617655
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 10 7 1
+f 10 3 4
+f 10 4 7
+f 11 7 4
+f 12 9 2
+f 12 2 1
+f 13 8 3
+f 13 3 10
+f 13 10 1
+f 13 1 8
+f 14 4 5
+f 14 5 11
+f 15 7 11
+f 15 11 5
+f 16 12 1
+f 16 1 7
+f 16 7 15
+f 16 15 9
+f 16 9 12
+f 17 14 11
+f 17 11 4
+f 17 4 14
+f 18 15 5
+f 18 5 9
+f 18 9 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1073694c147fe3c71a813d4d2e44524d07bd59fb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.11483678 -0.24209763 0.00359685
+v -0.11732107 -0.22972322 -0.23146109
+v -0.12230613 -0.14905691 0.00757577
+v -0.21940306 -0.14328054 0.00448105
+v -0.15507255 -0.22210456 -0.18543523
+v -0.21591749 -0.14082085 -0.23084618
+v -0.12230613 -0.14905691 -0.23484848
+v -0.14077094 -0.23644002 -0.15653622
+v -0.22585444 -0.15168326 -0.17057625
+v -0.15591952 -0.20836092 -0.22922428
+v -0.11507952 -0.24065522 -0.20017282
+v -0.16825204 -0.20793437 -0.01220198
+v -0.23227710 -0.14191103 -0.17173864
+v -0.14068037 -0.23741504 -0.05559704
+v -0.19643125 -0.18028101 -0.19976038
+v -0.12728012 -0.23501663 -0.19865353
+v -0.12523920 -0.23624084 0.00213649
+v -0.22565492 -0.15222402 -0.04133890
+v -0.23189885 -0.14201837 -0.04005179
+v -0.20968670 -0.15097438 -0.22852430
+v -0.16899178 -0.20778843 -0.19960726
+v -0.12905996 -0.22441705 -0.22953504
+v -0.21321661 -0.15346539 0.00239629
+v -0.15445217 -0.22253340 -0.02618288
+v -0.19670116 -0.17985075 -0.01250417
+f 1 3 4
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 10 6 2
+f 11 7 1
+f 11 2 7
+f 14 9 5
+f 14 5 8
+f 14 11 1
+f 14 8 11
+f 16 11 8
+f 16 8 5
+f 16 5 10
+f 16 2 11
+f 17 1 4
+f 17 14 1
+f 18 9 14
+f 18 13 9
+f 19 6 13
+f 19 4 3
+f 19 3 6
+f 19 18 4
+f 19 13 18
+f 20 13 6
+f 20 9 13
+f 20 15 9
+f 20 6 10
+f 20 10 15
+f 21 15 10
+f 21 10 5
+f 21 5 9
+f 21 9 15
+f 22 16 10
+f 22 10 2
+f 22 2 16
+f 23 17 4
+f 23 12 17
+f 23 4 18
+f 24 17 12
+f 24 14 17
+f 24 18 14
+f 25 23 18
+f 25 12 23
+f 25 24 12
+f 25 18 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2765aed03b10ea6837c342adea0be845cfc6b6d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.04243495 -0.27074569 0.00463582
+v 0.10983373 -0.25117155 0.00963948
+v 0.08745289 -0.23272929 0.09555537
+v -0.04638011 -0.23923239 0.08299965
+v -0.04578658 -0.26622203 0.00655542
+v 0.10248390 -0.23340358 0.08065857
+v 0.02875973 -0.23688841 0.10462146
+v 0.09939067 -0.25635042 0.00506987
+v -0.05164975 -0.26306496 0.01397340
+v 0.01424376 -0.23391176 0.11056062
+v 0.07017617 -0.25059135 0.06116510
+v -0.01455244 -0.26761617 0.01806438
+v -0.01479989 -0.27102031 0.00417744
+v 0.09778210 -0.25087381 0.03306419
+v 0.02900241 -0.23390818 0.11049491
+v 0.09829869 -0.23682750 0.07607159
+v 0.04244411 -0.26764439 0.01833422
+v 0.08454341 -0.23546936 0.09088336
+v -0.02855166 -0.25198188 0.06115870
+v -0.04311525 -0.25433311 0.04741112
+v 0.01444040 -0.23697836 0.10452600
+v -0.04359762 -0.24226568 0.07766705
+f 6 2 4
+f 8 5 2
+f 9 4 2
+f 9 2 5
+f 10 6 4
+f 10 3 6
+f 13 8 1
+f 13 5 8
+f 13 12 5
+f 14 8 2
+f 14 2 6
+f 14 1 8
+f 15 7 3
+f 15 3 10
+f 16 6 3
+f 16 14 6
+f 16 11 14
+f 17 11 7
+f 17 14 11
+f 17 1 14
+f 17 13 1
+f 17 12 13
+f 18 3 7
+f 18 7 11
+f 18 16 3
+f 18 11 16
+f 20 9 5
+f 20 5 12
+f 20 12 19
+f 20 4 9
+f 21 17 7
+f 21 12 17
+f 21 19 12
+f 21 10 4
+f 21 15 10
+f 21 7 15
+f 22 20 19
+f 22 4 20
+f 22 21 4
+f 22 19 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..426a511b15aca24bcb96aea1b757456d43e89ea7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_3.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.10663659 -0.05987573 0.32680677
+v 0.18686578 0.08480803 0.29040620
+v 0.11036111 0.05145532 0.37166869
+v 0.17375074 0.18031913 0.29316462
+v 0.13149905 0.04647723 0.24389268
+v 0.15391032 0.13306202 0.33704366
+v 0.12295334 -0.01942347 0.35639587
+v 0.12822457 -0.01236243 0.25360073
+v 0.15194214 0.09440036 0.25774384
+v 0.07439686 0.04993814 0.30687717
+v 0.16765871 0.17085434 0.30937007
+v 0.12431327 -0.04811023 0.29784251
+v 0.08890471 -0.00530622 0.36967275
+v 0.11545346 -0.00451933 0.36992326
+v 0.18608757 0.08444543 0.28686379
+v 0.11913351 0.14034014 0.26392505
+v 0.07585405 -0.06998634 0.29590701
+v 0.11586090 -0.04590986 0.33108942
+v 0.08615406 0.03244267 0.36956499
+v 0.13258265 0.10291133 0.35520847
+v 0.08837222 -0.03554792 0.35361485
+v 0.15114016 0.12668522 0.34047587
+v 0.18596341 0.09147839 0.29026724
+v 0.13416472 0.09096441 0.24480228
+v 0.11868423 0.14789834 0.29181452
+v 0.11000244 -0.06177669 0.29920064
+v 0.12053588 0.04799676 0.25058166
+v 0.11351340 0.09850466 0.35536417
+v 0.10935293 -0.03118482 0.35610527
+v 0.08772507 -0.06080237 0.33339014
+v 0.15650300 0.16492099 0.31814739
+v 0.16660690 0.17851804 0.29451139
+v 0.07465659 -0.01268557 0.29551293
+v 0.09991177 0.05128519 0.37064731
+v 0.10756352 0.09800519 0.34950517
+v 0.15797439 0.15683617 0.32369549
+v 0.09006355 0.05217676 0.36319578
+v 0.13565858 0.14441563 0.33068826
+v 0.14299597 0.15307709 0.32779379
+v 0.10650883 0.08780906 0.35567818
+f 11 6 2
+f 11 2 4
+f 12 2 7
+f 14 3 13
+f 14 7 2
+f 15 8 5
+f 15 12 8
+f 15 2 12
+f 15 5 9
+f 15 9 4
+f 18 12 7
+f 18 7 1
+f 18 1 12
+f 19 13 3
+f 19 17 13
+f 19 10 17
+f 20 3 14
+f 21 13 17
+f 22 14 2
+f 22 2 6
+f 22 20 14
+f 22 6 20
+f 23 15 4
+f 23 4 2
+f 23 2 15
+f 24 9 5
+f 24 16 4
+f 24 4 9
+f 25 16 10
+f 26 12 1
+f 26 1 17
+f 26 17 8
+f 26 8 12
+f 27 5 8
+f 27 8 17
+f 27 24 5
+f 27 16 24
+f 28 3 20
+f 29 14 13
+f 29 13 21
+f 29 7 14
+f 29 1 7
+f 30 21 17
+f 30 17 1
+f 30 29 21
+f 30 1 29
+f 31 11 4
+f 32 4 16
+f 32 16 25
+f 32 31 4
+f 32 25 31
+f 33 27 17
+f 33 17 10
+f 33 10 16
+f 33 16 27
+f 34 19 3
+f 34 3 28
+f 35 25 10
+f 36 6 11
+f 36 11 31
+f 37 34 28
+f 37 19 34
+f 37 35 10
+f 37 10 19
+f 38 25 35
+f 38 35 28
+f 39 20 6
+f 39 6 36
+f 39 36 31
+f 39 31 25
+f 39 25 38
+f 39 38 28
+f 39 28 20
+f 40 37 28
+f 40 28 35
+f 40 35 37
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07cd8872ea2e4f7ee06bb9ccf8af2b482c3d9e9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.12230613 -0.14905691 0.00757577
+v -0.12230613 -0.14905691 -0.23484848
+v -0.12230613 0.10851885 0.00757577
+v -0.23886382 0.12991286 0.01986576
+v -0.20809512 -0.15623489 0.01127553
+v -0.21514049 0.11944209 -0.24309591
+v -0.12230613 0.10851885 -0.23484848
+v -0.20466836 -0.15393992 -0.23709828
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2eec99fb8726457b3fa435dba4f7eff4db43c28
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_31.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01331334 -0.02596492 0.29075445
+v 0.01405751 -0.01269327 0.00757577
+v 0.01343556 0.12138658 0.24576080
+v -0.12180605 0.12323826 0.18854368
+v -0.12230613 -0.01269327 0.00757577
+v 0.01405751 0.12367036 0.00757577
+v -0.06416814 0.09795599 0.25548003
+v -0.11619878 -0.01173160 0.26246034
+v -0.12230613 0.12367036 0.00757577
+v -0.00425261 0.11626169 0.25134080
+v -0.11051636 0.08108473 0.23419428
+v 0.01232011 0.11566829 0.24887140
+v -0.05316322 0.11510737 0.24826478
+v -0.11276031 0.04330525 0.24668520
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 8 5 1
+f 8 4 5
+f 8 1 7
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 7 1
+f 11 7 4
+f 12 10 1
+f 12 1 3
+f 12 3 10
+f 13 10 3
+f 13 3 4
+f 13 4 7
+f 13 7 10
+f 14 8 7
+f 14 7 11
+f 14 11 4
+f 14 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19813d86fe4ef43482e9981be777ac65e608c478
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.20809512 -0.15623489 0.01127553
+v -0.21896826 -0.14296339 -0.21678828
+v -0.23569668 0.13102509 -0.17038148
+v -0.23886382 0.12991286 0.01986576
+v -0.27073131 -0.05386710 -0.05518750
+v -0.20847231 -0.13098610 0.05086863
+v -0.21761292 -0.16463452 -0.16260683
+v -0.25194962 -0.05674459 -0.23269387
+v -0.27092069 0.07371959 -0.11175281
+v -0.23917638 -0.10971199 0.00191430
+v -0.22216587 -0.13007377 -0.23289475
+v -0.25448479 -0.09599078 -0.17091007
+v -0.27094852 0.04604116 -0.01094709
+v -0.25529262 0.10087142 -0.15472036
+v -0.27181692 -0.04035517 -0.15684687
+v -0.22444573 -0.13712406 0.00113661
+v -0.24763411 -0.06248560 -0.24177224
+v -0.25477798 -0.09600751 -0.04145927
+v -0.23932922 -0.12394235 -0.18477623
+v -0.27070961 0.07408380 -0.04017795
+v -0.27095385 -0.01084403 -0.01149200
+v -0.22517217 -0.09393153 0.05852377
+v -0.25541180 0.10204226 0.00325634
+v -0.27155665 0.04459900 -0.15596226
+v -0.27092328 -0.05421750 -0.14204383
+v -0.25456256 -0.06805117 -0.21467130
+v -0.22389747 -0.10871819 0.04479852
+v -0.23947317 -0.12400092 -0.02683521
+v -0.25536132 -0.06719097 0.00262699
+v -0.22392238 -0.13675494 -0.21376682
+v -0.23352515 -0.08436826 0.04883426
+v -0.27082754 0.05872487 -0.14122794
+v -0.25743025 -0.05486315 -0.21533006
+v -0.25387909 -0.08187157 -0.20022885
+v -0.21388170 -0.12533333 0.04647091
+v -0.25411167 -0.08123200 -0.01221659
+v -0.23942609 -0.10922580 -0.21432970
+v -0.22682011 -0.12401324 -0.22962905
+v -0.24090637 -0.09624216 -0.22953092
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 11 3 2
+f 14 4 3
+f 14 3 8
+f 17 8 3
+f 17 3 11
+f 18 12 7
+f 19 7 12
+f 21 15 5
+f 21 13 15
+f 22 6 4
+f 23 14 9
+f 23 4 14
+f 23 9 20
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+f 24 15 13
+f 24 14 8
+f 24 20 9
+f 24 13 20
+f 25 5 15
+f 25 18 5
+f 25 12 18
+f 26 8 17
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+f 28 1 16
+f 28 18 7
+f 28 16 10
+f 28 10 18
+f 29 21 5
+f 30 11 2
+f 30 2 7
+f 30 7 19
+f 31 13 21
+f 31 21 29
+f 31 29 10
+f 31 27 22
+f 31 10 27
+f 31 23 13
+f 31 22 4
+f 31 4 23
+f 32 24 9
+f 32 9 14
+f 32 14 24
+f 33 24 8
+f 33 15 24
+f 33 26 15
+f 33 8 26
+f 34 25 15
+f 34 15 26
+f 34 12 25
+f 35 27 16
+f 35 6 22
+f 35 22 27
+f 35 16 1
+f 35 1 6
+f 36 18 10
+f 36 10 29
+f 36 29 5
+f 36 5 18
+f 37 19 12
+f 37 12 34
+f 38 30 19
+f 38 19 37
+f 38 11 30
+f 39 37 34
+f 39 34 26
+f 39 26 17
+f 39 38 37
+f 39 17 11
+f 39 11 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62dd22b2438cd860ec670439b9fd969b05f3337c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.12132609 -0.18620390 0.30088828
+v 0.01390030 -0.14993148 0.22071767
+v 0.00776223 -0.09875235 0.26091899
+v -0.12115719 -0.05761467 0.24825310
+v -0.13004948 -0.09801451 0.18037402
+v -0.18177442 -0.12894420 0.30928451
+v 0.01492583 -0.14288495 0.22670377
+v -0.14084509 -0.17706436 0.26134081
+v -0.12445021 -0.06309829 0.20951160
+v -0.15259790 -0.14880255 0.30881588
+v -0.03851659 -0.14951747 0.20609170
+v -0.07370781 -0.17773014 0.25338272
+v -0.17941258 -0.13815858 0.27327833
+v -0.17753020 -0.17519035 0.31200945
+v 0.01300589 -0.11854284 0.24292426
+v -0.16608647 -0.06432227 0.22122708
+v -0.17778223 -0.13007715 0.30925811
+v -0.13805417 -0.16918920 0.25242491
+v -0.07398493 -0.17712228 0.25751823
+v -0.16907042 -0.13348159 0.25048505
+v -0.15851604 -0.17868334 0.28559975
+v -0.18291948 -0.14637901 0.31036456
+v -0.16413518 -0.18023100 0.31102911
+v -0.13717455 -0.07310824 0.18905671
+v -0.16050688 -0.06407967 0.23405521
+v -0.15204597 -0.05836843 0.20768136
+v -0.18220273 -0.12037198 0.26663422
+v -0.16709843 -0.17077659 0.28908602
+v -0.16971085 -0.11119237 0.23587535
+v -0.16145173 -0.06020744 0.21125334
+v -0.16612499 -0.06652480 0.22997978
+f 6 3 4
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+f 10 1 3
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+f 12 11 2
+f 12 8 11
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+f 15 7 2
+f 17 10 3
+f 17 3 6
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+f 17 6 14
+f 18 11 8
+f 18 8 5
+f 18 5 11
+f 19 12 2
+f 19 2 1
+f 19 1 12
+f 20 5 8
+f 21 8 1
+f 21 20 8
+f 22 14 6
+f 23 1 10
+f 23 10 14
+f 23 21 1
+f 23 14 21
+f 24 9 3
+f 24 3 15
+f 24 15 2
+f 24 2 5
+f 25 6 4
+f 26 4 9
+f 26 9 24
+f 27 6 16
+f 27 22 6
+f 27 13 14
+f 27 14 22
+f 28 14 13
+f 28 13 20
+f 28 21 14
+f 28 20 21
+f 29 5 20
+f 29 27 16
+f 29 20 13
+f 29 13 27
+f 30 24 5
+f 30 26 24
+f 30 16 25
+f 30 25 4
+f 30 4 26
+f 30 29 16
+f 30 5 29
+f 31 25 16
+f 31 16 6
+f 31 6 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09fde2d9d0d34480b1423fe413eb2d6aa488ef43
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.05687916 -0.25607380 -0.21541167
+v 0.24068453 -0.09778059 -0.21536002
+v 0.24260402 0.07275230 -0.21499239
+v 0.01405751 0.12367036 -0.21969696
+v 0.00725854 0.01231359 -0.46908547
+v 0.14048204 -0.22355048 -0.21446845
+v 0.01334179 -0.26127031 -0.21678153
+v 0.20879343 -0.02599763 -0.32909403
+v 0.05196440 0.11506848 -0.39963920
+v 0.21141024 -0.15380690 -0.21475160
+v 0.05472333 -0.11049411 -0.41404026
+v 0.23857485 -0.05495481 -0.25832515
+v 0.01328679 0.11845630 -0.40789461
+v 0.21939298 0.12004143 -0.21752004
+v 0.16667283 0.02756189 -0.36920404
+v 0.09605101 -0.19146658 -0.32763691
+v 0.01334666 -0.20992862 -0.33164655
+v 0.22252060 0.02930973 -0.30169709
+v 0.19290815 -0.10982642 -0.31345819
+v 0.03814232 0.09954902 -0.41251967
+v 0.01207538 0.10137122 -0.41714307
+v 0.22902885 0.10252967 -0.21560501
+v 0.10941767 0.11382203 -0.36896333
+v 0.15305182 -0.04037816 -0.38400231
+v 0.08317720 -0.23508410 -0.25624432
+v 0.01308501 -0.25681775 -0.23019101
+v 0.01130105 -0.09540524 -0.42949625
+v 0.04106357 -0.20727283 -0.33019736
+v 0.22250732 -0.03980246 -0.30142774
+v 0.23671819 0.04318103 -0.25810339
+v 0.20953602 0.01537920 -0.32810308
+v 0.16544907 -0.16338841 -0.29899233
+v 0.22177949 -0.09608084 -0.27173927
+v 0.20588590 0.09866725 -0.28694776
+v 0.12427398 0.06937553 -0.38230722
+v 0.00868185 -0.03398346 -0.46477132
+v 0.15250261 0.01374029 -0.38380540
+v 0.12341977 -0.10980245 -0.38321413
+v 0.17857636 -0.06779307 -0.35560978
+v 0.15148733 -0.19092011 -0.27078876
+v 0.11242398 -0.23847017 -0.21482539
+v 0.05531535 -0.23574249 -0.27148060
+v 0.05638963 -0.25198597 -0.22893010
+v 0.23721052 -0.08265488 -0.24345476
+v 0.22188997 -0.10994668 -0.25741181
+v 0.20831094 -0.06788107 -0.31498325
+v 0.20864635 0.11449221 -0.25909424
+v 0.20853271 0.05729511 -0.31462274
+v 0.22199328 0.05710895 -0.28746555
+v 0.04799708 -0.02491527 -0.44414206
+v 0.01328976 -0.24014610 -0.27376473
+v 0.19562455 0.02880664 -0.34168754
+v 0.12509381 0.02718605 -0.39823782
+v 0.12383537 -0.06886184 -0.39711198
+v 0.09587837 -0.11059725 -0.39851605
+v 0.15062166 -0.12227381 -0.35542728
+v 0.19358802 -0.05359879 -0.34254892
+v 0.08302632 -0.20607831 -0.31402244
+v 0.13847008 -0.22033976 -0.22727829
+v 0.13710349 -0.17667449 -0.31294760
+v 0.16635537 -0.19367025 -0.24164882
+v 0.11082699 -0.23500843 -0.22813540
+v 0.19217679 -0.15034907 -0.27199460
+v 0.20750322 -0.09608956 -0.29982210
+f 1 3 4
+f 6 3 1
+f 7 1 4
+f 7 4 5
+f 10 2 3
+f 10 3 6
+f 12 3 2
+f 14 13 4
+f 20 13 9
+f 20 9 5
+f 20 5 13
+f 21 13 5
+f 21 5 4
+f 21 4 13
+f 22 14 4
+f 22 4 3
+f 23 9 13
+f 23 13 14
+f 26 7 5
+f 27 11 17
+f 28 17 11
+f 28 11 16
+f 29 18 12
+f 30 3 12
+f 30 12 18
+f 31 8 24
+f 31 29 8
+f 31 18 29
+f 33 29 12
+f 35 5 9
+f 35 9 23
+f 36 11 27
+f 36 27 17
+f 36 26 5
+f 37 24 5
+f 41 6 1
+f 43 1 7
+f 43 7 26
+f 43 42 25
+f 43 25 1
+f 44 33 12
+f 44 12 2
+f 45 2 10
+f 45 44 2
+f 45 33 44
+f 46 29 33
+f 46 19 39
+f 46 8 29
+f 47 14 22
+f 47 22 3
+f 47 3 34
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+f 47 23 14
+f 48 18 31
+f 48 23 34
+f 48 35 23
+f 48 15 35
+f 49 34 3
+f 49 3 30
+f 49 48 34
+f 49 30 18
+f 49 18 48
+f 50 36 5
+f 50 5 24
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+f 51 17 28
+f 51 28 42
+f 51 43 26
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+f 52 48 31
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+f 53 35 15
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+f 53 5 35
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+f 54 50 24
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+f 55 11 36
+f 55 54 38
+f 55 36 54
+f 55 38 16
+f 55 16 11
+f 56 19 32
+f 56 16 38
+f 56 39 19
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+f 57 39 24
+f 57 24 8
+f 57 46 39
+f 57 8 46
+f 58 25 42
+f 58 42 28
+f 58 28 16
+f 60 32 40
+f 60 56 32
+f 60 16 56
+f 60 58 16
+f 60 40 58
+f 61 40 32
+f 61 10 6
+f 61 59 40
+f 61 6 59
+f 62 41 1
+f 62 1 25
+f 62 25 58
+f 62 58 40
+f 62 40 59
+f 62 59 6
+f 62 6 41
+f 63 45 10
+f 63 32 19
+f 63 19 45
+f 63 61 32
+f 63 10 61
+f 64 45 19
+f 64 33 45
+f 64 46 33
+f 64 19 46
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e311e1771a5199dafeeb5b358aa8e779e6061dbb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.19829716 0.11455783 0.13564181
+v 0.24446469 0.11760234 -0.14100618
+v 0.15406933 0.22737350 -0.01018461
+v 0.01295654 0.27599921 0.00518301
+v 0.01717477 0.14873621 -0.38498357
+v 0.10138913 0.18573740 0.20306743
+v 0.22467927 0.15670705 0.00404874
+v 0.09774438 0.11712224 -0.37407838
+v 0.03987062 0.25530618 -0.22703767
+v 0.08183096 0.25537841 0.03292895
+v 0.01340931 0.13784092 0.23383585
+v 0.24323448 0.11660211 0.03430796
+v 0.17902839 0.19836109 -0.16989279
+v 0.20823804 0.15476669 0.06054797
+v 0.14259542 0.11544107 -0.34538310
+v 0.01307269 0.25859128 -0.22850294
+v 0.06791169 0.21158228 -0.29958992
+v 0.13930736 0.22622887 0.03221376
+v 0.02657322 0.25599799 0.07576110
+v 0.06818089 0.27209553 -0.11259942
+v 0.14229284 0.11551620 0.19571579
+v 0.08589095 0.12007164 -0.37945599
+v 0.22711075 0.11610215 -0.20006146
+v 0.23885621 0.14282351 -0.03847759
+v 0.17885628 0.15361923 0.11767751
+v 0.23746939 0.12738868 0.03257292
+v 0.22830249 0.11574707 0.07774773
+v 0.19418137 0.18345599 0.03247994
+v 0.00432113 0.16278576 0.22372109
+v 0.01290276 0.23078052 -0.28814622
+v 0.12532438 0.22641348 -0.21318327
+v 0.09536740 0.24051560 0.06093120
+v 0.12526136 0.24100339 0.00373574
+v 0.04124625 0.27258290 0.00435516
+v 0.05476537 0.25559671 0.06207482
+v 0.01339522 0.27440501 -0.17138929
+v 0.15346767 0.22663965 -0.14116904
+v 0.15869765 0.11638137 0.18110987
+v 0.02356856 0.13257808 0.23123988
+v 0.08280876 0.13162105 -0.37444418
+v 0.17816430 0.15403238 -0.26982156
+v 0.17846457 0.18516324 -0.21381832
+v 0.22465133 0.15703239 -0.12485717
+v 0.16687401 0.19764669 0.06096063
+v 0.19296312 0.12498626 0.13201778
+v 0.22252608 0.12639285 0.07527370
+v 0.01285183 0.25718136 0.07636164
+v 0.04017672 0.22705129 -0.28634504
+v 0.01457964 0.17441470 -0.36146239
+v 0.06800087 0.24103979 -0.24138883
+v 0.08219201 0.25595231 -0.18434559
+v 0.12417285 0.22518625 0.06059223
+v 0.06934194 0.27200507 -0.05407307
+v 0.04111388 0.27145200 -0.17042750
+v 0.16590696 0.19895776 -0.21336396
+v 0.10807556 0.16812434 -0.32540024
+v 0.09429294 0.12822615 -0.36973498
+v 0.18586850 0.11670059 -0.30372502
+v 0.20662920 0.12807898 -0.24353066
+v 0.23823914 0.14338765 -0.09705649
+v 0.16638811 0.21221303 0.01788951
+v 0.01297900 0.22753876 0.13256006
+v 0.04060956 0.24098905 0.10364052
+v 0.01330150 0.22115830 -0.30568325
+f 21 15 1
+f 21 8 15
+f 23 2 12
+f 23 1 15
+f 24 12 2
+f 24 3 7
+f 26 7 14
+f 26 24 7
+f 26 12 24
+f 27 12 26
+f 27 23 12
+f 27 1 23
+f 28 14 7
+f 28 7 3
+f 29 11 6
+f 29 5 11
+f 30 16 9
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4210472ec8c60bf1a9c037c7d40d5327b30e5a62
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..899f79418a5940ec4fbb5dbd510ebdc48f2cb41a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a44e128c7b496d2ed8925b306c189be52083e80
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80392157 0.80392157 0.80392157
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a6d7ea348ebe9856925f016833a00546da5354
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_7/visual/model_normalized_1.obj
@@ -0,0 +1,368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5e17afe52f9cf59f5ba20b5b33207d2ccc1fa7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v 0.12222453 0.47358894 -0.00925468
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4e98597977af45541bdb2a1a3c6ffc32703ba64
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.10912587 -0.47811513 -0.00867480
+v 0.14621837 -0.46876710 -0.03618376
+v 0.01001464 -0.42361036 0.12821569
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+v -0.10833629 -0.47465460 0.00152069
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+v 0.14896503 -0.46143006 -0.00119836
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+v -0.20071310 -0.39387470 0.10980975
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+v -0.05094779 -0.45870647 0.06210329
+v 0.10808561 -0.44545689 0.07475659
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+v -0.23260442 -0.39852325 -0.21732648
+v -0.06631717 -0.49096778 -0.09547239
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+v -0.09636670 -0.45839243 -0.21131127
+v 0.15635102 -0.43900824 0.05086629
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+f 64 55 37
+f 64 5 55
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5e6c66475a33993e0446278537c127cbf8af0ef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.28046505 -0.24917455
+v -0.09697970 -0.27622482 -0.38930626
+v -0.09848485 0.09832283 -0.34008365
+v -0.25548750 0.17977554 -0.37137139
+v -0.25870320 -0.30429188 -0.27991357
+v -0.09573315 0.05113388 -0.44676747
+v -0.23484848 -0.02288929 -0.24917455
+v -0.22917870 -0.13907032 -0.39732588
+v -0.17133931 0.17114310 -0.40811078
+v -0.09655066 -0.24466039 -0.40112360
+v -0.09848485 -0.02288929 -0.24917455
+v -0.17957599 -0.23674293 -0.38285698
+v -0.22760491 0.06549728 -0.41157989
+v -0.15909091 0.15892889 -0.34008365
+v -0.09753416 0.09737483 -0.44014755
+v -0.09572617 -0.05145353 -0.44673063
+v -0.13370047 -0.27117752 -0.38311705
+v -0.22345916 -0.19333956 -0.38352666
+v -0.15242066 -0.18289193 -0.41044581
+v -0.22759132 -0.06581658 -0.41154347
+v -0.22920178 0.13876694 -0.39740145
+v -0.19729205 0.12405345 -0.41229334
+v -0.22714939 -0.27277232 -0.32846821
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+v -0.12486919 -0.19845156 -0.41236304
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+v -0.10996978 0.05159123 -0.44395389
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+f 16 11 1
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+f 23 18 12
+f 23 5 18
+f 24 10 2
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+f 28 21 4
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+f 29 9 15
+f 30 13 21
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+f 33 16 10
+f 33 10 25
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+f 34 32 25
+f 34 19 32
+f 35 26 19
+f 35 19 18
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+f 36 8 20
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+f 37 27 13
+f 37 30 29
+f 37 13 30
+f 38 6 16
+f 38 16 32
+f 39 22 21
+f 39 21 28
+f 39 28 9
+f 39 29 22
+f 39 9 29
+f 40 29 15
+f 40 15 6
+f 40 37 29
+f 40 6 38
+f 40 38 27
+f 40 27 37
+f 41 32 26
+f 41 38 32
+f 41 27 38
+f 41 36 27
+f 41 26 36
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82f02cb2a0886e81b5a8057537de20929444cace
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.13706255 -0.17438955 0.42187671
+v -0.04696413 0.02261700 0.31947127
+v -0.03773979 -0.09836830 0.28551898
+v 0.02131673 0.01762267 0.32231604
+v -0.01613735 0.02083331 0.24843732
+v -0.09861448 -0.06845019 0.28575452
+v 0.13846845 -0.17213174 0.42161382
+v 0.05292805 0.03769734 0.29567049
+v 0.12783794 -0.17556027 0.42175232
+v -0.03222181 -0.02686888 0.25537218
+v -0.09865339 -0.02292532 0.28546155
+v 0.08338512 -0.09898879 0.28426473
+v 0.06225153 0.03553532 0.29395314
+v -0.01677455 -0.01928203 0.33982827
+v 0.13127199 -0.16450635 0.40294129
+v 0.08350557 0.02260207 0.28522448
+v 0.13757698 -0.17415548 0.42179968
+v 0.06524172 0.01477113 0.27739455
+v 0.13338802 -0.16107340 0.40767065
+v 0.06560225 -0.01521481 0.27731340
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+f 12 3 10
+f 12 10 5
+f 12 9 3
+f 13 8 4
+f 13 4 7
+f 13 5 8
+f 14 9 2
+f 14 6 9
+f 14 11 6
+f 14 2 11
+f 15 1 9
+f 15 9 12
+f 16 13 7
+f 16 5 13
+f 17 15 7
+f 17 7 1
+f 17 1 15
+f 18 5 16
+f 19 15 12
+f 19 12 16
+f 19 16 7
+f 19 7 15
+f 20 12 5
+f 20 5 18
+f 20 18 16
+f 20 16 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b39799cea0ff547ec6bf6df13ae3a8debba55b27
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00641875 -0.43672661 0.10793697
+v 0.00566711 -0.42996704 0.11884968
+v -0.23109843 -0.37889074 0.10990965
+v -0.21552389 -0.23087013 0.23756214
+v 0.00757576 -0.28046505 0.11446181
+v -0.16443419 -0.31196905 0.21825746
+v -0.12614256 -0.42051927 0.10708251
+v 0.00931725 -0.24388665 0.26200840
+v -0.23484848 -0.28046505 0.11446181
+v -0.23063767 -0.31430201 0.18897303
+v -0.02143698 -0.43552798 0.10718533
+v -0.10997865 -0.39908796 0.14616229
+v 0.00649248 -0.33132114 0.21914938
+v 0.00752479 -0.23475073 0.26520624
+v -0.21357540 -0.38921395 0.10703088
+v -0.22972902 -0.28807138 0.20779028
+v -0.18339525 -0.37242790 0.15992333
+v -0.02068535 -0.42876841 0.11809804
+v 0.00706141 -0.27583001 0.25157821
+v -0.11087137 -0.34070153 0.20480471
+v -0.15667847 -0.22965647 0.25303518
+v -0.20122750 -0.25794985 0.23302593
+v -0.23098725 -0.27662692 0.21294811
+v -0.21139319 -0.35507243 0.16486805
+v -0.15466025 -0.39763267 0.13240519
+v -0.03669922 -0.33045447 0.21768052
+v -0.07980029 -0.27036541 0.24795074
+v -0.21950835 -0.23482336 0.23507443
+v -0.22533861 -0.36785617 0.13308352
+v -0.19515536 -0.38255941 0.13336627
+v -0.12518313 -0.25831409 0.24733077
+v -0.21428007 -0.24478758 0.23360892
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+f 22 16 6
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+f 30 3 15
+f 30 29 3
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+f 31 27 21
+f 31 21 6
+f 31 6 27
+f 32 28 23
+f 32 23 22
+f 32 22 4
+f 32 4 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3327f5b3529583f37f19969ff07fb437584513e8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.25867869 -0.25887896 0.20782519
+v 0.28605476 -0.30134388 -0.26097423
+v 0.26515152 -0.02288929 -0.23402304
+v 0.00609799 -0.02316473 0.22489369
+v 0.00939315 -0.28167523 0.24825185
+v 0.00757576 -0.28046505 -0.23402304
+v 0.28111652 -0.02471327 0.24758970
+v 0.26515152 -0.28046505 -0.00675031
+v 0.00757576 -0.02288929 -0.23402304
+v 0.00757576 -0.28046505 -0.00675031
+f 6 2 5
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+f 7 1 2
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+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 9 2 6
+f 9 6 4
+f 9 4 3
+f 10 6 5
+f 10 5 4
+f 10 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09aff94efb30e5a1aab4059d2a997eeb5b2d81af
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22718084 -0.43489046 -0.02372836
+v -0.22643083 -0.40499809 -0.21307596
+v -0.23433332 -0.02283038 0.26437594
+v -0.36147309 -0.02177684 0.19586670
+v -0.47442517 -0.13783182 -0.11033978
+v -0.25840512 -0.32544357 0.17394903
+v -0.22982433 -0.15702468 0.25294080
+v -0.38523402 -0.30968462 -0.12497871
+v -0.23347593 -0.02273262 -0.41234486
+v -0.42662770 -0.18277708 0.06114041
+v -0.22847530 -0.25897801 0.22317216
+v -0.29972630 -0.09798929 0.23260091
+v -0.30958210 -0.38554720 -0.12499766
+v -0.36979813 -0.30940783 0.01695385
+v -0.40023158 -0.10644987 -0.29405231
+v -0.22714939 -0.27277232 -0.32846821
+v -0.30052266 -0.02173794 -0.38440845
+v -0.47823900 -0.02127078 0.01832252
+v -0.22630587 -0.41997398 -0.18268689
+v -0.22883825 -0.34442353 0.16768529
+v -0.27296361 -0.08096168 0.24767611
+v -0.31431001 -0.16689654 0.21659684
+v -0.35485628 -0.30960114 -0.19186652
+v -0.29416917 -0.35499059 0.09275174
+v -0.44371612 -0.21344839 -0.02436673
+v -0.31076178 -0.38672406 -0.05486130
+v -0.23025845 -0.12487693 -0.40085195
+v -0.22614397 -0.33237954 -0.28341451
+v -0.33077847 -0.02173168 0.21849862
+v -0.42938062 -0.09663935 0.10342725
+v -0.46049466 -0.02097433 -0.22735867
+v -0.29970161 -0.38428563 -0.16287518
+v -0.22728648 -0.43505912 -0.14126774
+v -0.23063767 -0.31430201 0.18897303
+v -0.22831956 -0.37323309 0.12168791
+v -0.24456345 -0.21446505 0.23354646
+v -0.28774505 -0.15583372 0.23082164
+v -0.32524839 -0.25847007 0.17387280
+v -0.41400966 -0.20739414 -0.22369997
+v -0.36735689 -0.28501411 0.07806397
+v -0.44444281 -0.22386447 -0.09495056
+v -0.47343277 -0.12233506 -0.00929375
+v -0.29954369 -0.38395327 0.00251184
+v -0.38641328 -0.31086054 -0.05488029
+v -0.25784553 -0.09607524 -0.39629200
+v -0.29944422 -0.16313026 -0.35346569
+v -0.26813673 -0.37130085 -0.21889645
+v -0.27518600 -0.02230422 0.25125002
+v -0.34034878 -0.11099870 0.20497130
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+v -0.23823678 -0.42835725 -0.14023842
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+v -0.24515195 -0.31254390 0.18649150
+v -0.24207885 -0.38555011 0.08969487
+v -0.25555393 -0.35253247 0.13297579
+v -0.23066558 -0.21570887 0.23753091
+v -0.25800059 -0.12577842 0.24742249
+v -0.27239642 -0.18527433 0.23073758
+v -0.28412382 -0.21242772 0.21679156
+v -0.27984850 -0.32552947 0.14746354
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+f 21 7 3
+f 26 8 13
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+f 33 19 1
+f 34 20 11
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+f 39 31 15
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+f 42 5 25
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+f 48 21 3
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+f 49 4 30
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+f 50 4 29
+f 50 30 4
+f 50 18 30
+f 50 29 31
+f 51 31 17
+f 51 15 31
+f 51 46 15
+f 51 17 45
+f 51 45 46
+f 52 31 5
+f 52 50 31
+f 52 18 50
+f 52 42 18
+f 52 5 42
+f 53 32 2
+f 53 2 19
+f 53 33 32
+f 53 19 33
+f 54 32 13
+f 54 13 8
+f 54 23 32
+f 54 39 23
+f 54 41 39
+f 54 8 41
+f 55 13 32
+f 55 32 33
+f 56 26 13
+f 56 55 33
+f 56 13 55
+f 56 33 1
+f 56 1 26
+f 57 34 11
+f 57 11 6
+f 57 6 34
+f 58 24 1
+f 58 1 35
+f 59 35 20
+f 59 20 6
+f 59 58 35
+f 59 6 24
+f 59 24 58
+f 60 36 11
+f 60 11 7
+f 60 7 36
+f 61 37 7
+f 61 7 21
+f 61 21 37
+f 62 36 7
+f 62 7 37
+f 62 37 22
+f 63 22 38
+f 63 62 22
+f 63 36 62
+f 63 38 11
+f 63 11 36
+f 64 38 24
+f 64 24 6
+f 64 6 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c14f6db659594a2e3586bb6ef117e34a85e47e7e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.14896503 -0.46143006 -0.00119836
+v 0.27429450 -0.40117569 -0.00188173
+v 0.25840512 -0.32544357 0.17394903
+v 0.08322656 -0.26500831 0.25028066
+v 0.00757576 -0.26531354 -0.00675031
+v 0.00566711 -0.42996704 0.11884968
+v 0.24380427 -0.39011872 0.07955499
+v 0.26515152 -0.26531354 -0.00675031
+v 0.11087137 -0.34070153 0.20480471
+v 0.01162165 -0.48351694 0.00666269
+v 0.00939315 -0.28167523 0.24825185
+v 0.25682302 -0.36956925 0.10435191
+v 0.13761995 -0.42797519 0.08860605
+v 0.25867869 -0.25887896 0.20782519
+v 0.00597176 -0.44785827 0.09026468
+v 0.00679357 -0.34918264 0.20859083
+v 0.16443419 -0.31196905 0.21825746
+v 0.18507627 -0.41889176 0.07684525
+v 0.05177810 -0.45102196 0.07709705
+v 0.10997865 -0.39908796 0.14616229
+v 0.17168184 -0.26034158 0.23758039
+v 0.14047364 -0.28888702 0.23289824
+v 0.22589450 -0.27156463 0.21810952
+v 0.19515536 -0.38255941 0.13336627
+v 0.00672340 -0.45461785 0.07935196
+v 0.09652686 -0.42953370 0.10342481
+v 0.18339525 -0.37242790 0.15992333
+v 0.22847530 -0.25897801 0.22317216
+v 0.17074867 -0.27368112 0.23275337
+v 0.24207885 -0.38555011 0.08969487
+v 0.02068535 -0.42876841 0.11809804
+v 0.15466025 -0.39763267 0.13240519
+v 0.25555393 -0.35253247 0.13297579
+v 0.18311089 -0.41293399 0.08866769
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 10 5 1
+f 11 4 5
+f 12 7 2
+f 12 2 3
+f 14 3 2
+f 14 2 8
+f 14 8 5
+f 15 6 5
+f 16 11 5
+f 16 5 6
+f 17 16 9
+f 17 11 16
+f 18 13 1
+f 18 1 7
+f 19 10 1
+f 19 1 13
+f 19 6 15
+f 20 16 6
+f 20 9 16
+f 21 5 4
+f 22 4 11
+f 22 11 17
+f 22 21 4
+f 23 17 3
+f 23 3 14
+f 25 19 15
+f 25 10 19
+f 25 15 5
+f 25 5 10
+f 26 19 13
+f 27 17 9
+f 27 9 20
+f 27 3 17
+f 27 18 24
+f 27 24 12
+f 28 14 5
+f 28 5 21
+f 28 23 14
+f 28 17 23
+f 29 22 17
+f 29 21 22
+f 29 28 21
+f 29 17 28
+f 30 24 18
+f 30 18 7
+f 30 7 12
+f 30 12 24
+f 31 26 20
+f 31 20 6
+f 31 6 19
+f 31 19 26
+f 32 26 13
+f 32 27 20
+f 32 20 26
+f 33 27 12
+f 33 12 3
+f 33 3 27
+f 34 32 13
+f 34 13 18
+f 34 18 27
+f 34 27 32
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc3ee39449fb74d4f498eb73892b35d101ae4e19
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.12212475 -0.47362911 -0.00929276
+v 0.15538864 -0.41802066 -0.24542347
+v 0.14393939 -0.28046505 -0.00675031
+v 0.00757576 -0.28046505 -0.00675031
+v 0.00641913 -0.46703303 -0.21474123
+v 0.14393939 -0.28046505 -0.18856849
+v 0.14478590 -0.46469162 -0.00581515
+v 0.12217671 -0.47377693 -0.15568005
+v 0.00721472 -0.48934048 -0.00780617
+v 0.00757576 -0.28046505 -0.18856849
+v 0.09636670 -0.45839243 -0.21131127
+v 0.13761201 -0.47458432 -0.11033648
+v 0.00577655 -0.49155631 -0.02396083
+v 0.00757576 -0.38652566 -0.21887152
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+f 23 11 20
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+f 24 19 15
+f 24 15 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05d14c92f5b544c380d6f1a11ca85684e17c5fa6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.42508501 0.23046081 0.00562532
+v 0.43519622 0.22726341 -0.14130991
+v 0.38657279 0.31069555 -0.05485203
+v 0.22732432 0.43479549 -0.02369418
+v 0.23250267 0.23234259 -0.35169613
+v 0.22656287 0.40485962 -0.21316687
+v 0.29967853 0.38384526 0.00258363
+v 0.43503285 0.22717405 -0.02368572
+v 0.23484848 0.23468646 0.00840120
+v 0.29981701 0.38414565 -0.16298675
+v 0.38312381 0.30018485 0.00250370
+v 0.41380819 0.26878835 -0.11004835
+v 0.27267087 0.22706061 -0.32856929
+v 0.22722511 0.27252393 -0.32858255
+v 0.23098688 0.42546917 0.00634537
+v 0.22742985 0.43496396 -0.14130274
+v 0.30974144 0.38538204 -0.12502686
+v 0.30959630 0.38523786 -0.03991625
+v 0.42831015 0.23809465 -0.02469038
+v 0.41292399 0.25313172 0.00061169
+v 0.41358104 0.26864516 -0.05490910
+v 0.38539497 0.29848784 -0.16306262
+v 0.33238489 0.22595306 -0.28302889
+v 0.24410949 0.22880082 -0.34634837
+v 0.22896090 0.24395526 -0.34635278
+v 0.22623245 0.33214385 -0.28352851
+v 0.28357938 0.39751656 -0.00955943
+v 0.25372029 0.41342447 -0.16236593
+v 0.22643790 0.41983550 -0.18277780
+v 0.26904133 0.41367707 -0.11006145
+v 0.28361464 0.39760779 -0.15537119
+v 0.37011741 0.32454690 -0.03993150
+v 0.39769395 0.28333043 -0.15535830
+v 0.38539335 0.30951946 -0.12500791
+v 0.40657942 0.22720484 -0.21239226
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+v 0.39707440 0.26778243 -0.17924429
+v 0.26823534 0.37110022 -0.21901906
+v 0.29483054 0.36970424 -0.19196978
+v 0.36962362 0.29476347 -0.19191677
+v 0.26700583 0.35777609 -0.23203557
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+f 41 23 36
+f 41 40 23
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c15f53300003166a06f7543bc4401030e2d7ac83
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01001464 -0.42361036 0.12821569
+v 0.01251214 -0.44607075 -0.25010687
+v 0.00968708 -0.29945027 -0.38588021
+v -0.23484848 -0.28046505 0.11446181
+v -0.22643769 -0.38455321 0.10425200
+v 0.00757576 -0.28046505 0.11446181
+v -0.23260442 -0.39852325 -0.21732648
+v -0.11107546 -0.27322442 -0.38837143
+v -0.09697970 -0.27622482 -0.38930626
+v -0.22714939 -0.27277232 -0.32846821
+v -0.09559781 -0.39551147 -0.30278836
+v -0.16449363 -0.34157405 -0.32246047
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+v -0.14824565 -0.28577904 -0.36692490
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+v -0.09506225 -0.28593959 -0.38422656
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+v -0.16279083 -0.30038057 -0.35073276
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+f 17 9 3
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+f 27 10 25
+f 27 25 16
+f 27 16 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55c3cf022e4b362ccb8beccaea5873fda9a1fbe9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.03743365 -0.33706466 0.21373216
+v 0.26125949 -0.24629299 0.21288773
+v 0.09726176 -0.15755288 0.27903505
+v 0.00755371 -0.02284511 0.28422768
+v 0.00609799 -0.02316473 0.22489369
+v 0.28111652 -0.02471327 0.24758970
+v 0.00662856 -0.23018277 0.26680515
+v 0.22916871 -0.18392071 0.24792388
+v 0.17231942 -0.02279417 0.28042653
+v 0.00724621 -0.17253842 0.28067789
+v 0.00722691 -0.33793133 0.21520103
+v 0.25814135 -0.20091196 0.23301475
+v 0.12518313 -0.25831409 0.24733077
+v 0.00757336 -0.09881985 0.28542073
+v 0.22897837 -0.08147448 0.26191879
+v 0.26179670 -0.02250565 0.25555092
+v 0.05248158 -0.17245183 0.27957865
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+f 33 28 1
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+f 35 33 2
+f 35 29 33
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+f 36 1 34
+f 36 26 18
+f 36 18 1
+f 37 32 26
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+f 37 34 13
+f 37 13 32
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f313f0e58575093fd7b049c16938062cb70ab9e4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.26652234 -0.38871219 -0.18989402
+v 0.33758454 -0.23160436 -0.27495335
+v 0.26515152 -0.15925293 -0.23402304
+v 0.00757576 -0.15925293 -0.23402304
+v -0.09697970 -0.27622482 -0.38930626
+v 0.26515152 -0.28046505 -0.18856849
+v 0.07958543 -0.34562679 -0.35236019
+v 0.00757576 -0.38652566 -0.18856849
+v 0.16888355 -0.15390902 -0.41448809
+v 0.33360584 -0.24267953 -0.26953891
+v -0.09483856 -0.36358697 -0.33125255
+v 0.00757576 -0.28046505 -0.18856849
+v 0.28401620 -0.17830748 -0.35353037
+v 0.08119093 -0.21376511 -0.41469116
+v 0.00852285 -0.16777139 -0.43204072
+v 0.19192437 -0.37294594 -0.27853821
+v -0.10320013 -0.29379691 -0.37791624
+v 0.00994110 -0.40778487 -0.30181214
+v -0.10049840 -0.34551797 -0.34501847
+v 0.18678011 -0.15664640 -0.40779097
+v 0.33229980 -0.22618992 -0.28291309
+v 0.05179944 -0.29970000 -0.38282412
+v 0.08304971 -0.15880014 -0.42903834
+v 0.25667008 -0.37591206 -0.22347791
+v 0.17957651 -0.23674233 -0.38285682
+v 0.26798372 -0.23785653 -0.32420926
+v 0.14236048 -0.39799732 -0.27670484
+v -0.07958572 -0.34562672 -0.35236018
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+v 0.09611627 -0.21312175 -0.41297013
+v 0.16449363 -0.34157405 -0.32246047
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+f 40 38 5
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+f 40 7 28
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+f 41 23 9
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+f 41 20 32
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+f 43 33 7
+f 43 7 22
+f 43 22 39
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+f 45 35 18
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+f 46 34 35
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+f 47 43 39
+f 47 33 43
+f 47 30 41
+f 47 41 25
+f 47 25 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2a78cc877920b36e4242912ea1b7ae0a5c0886c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.12431791 -0.44956580 -0.21355247
+v 0.17355417 -0.43005568 -0.21804841
+v -0.24336333 -0.39234966 -0.21430217
+v -0.24520343 -0.38052327 -0.22805937
+v 0.00738997 -0.36970422 -0.33832924
+v -0.24953692 -0.38587482 -0.21855269
+v 0.16942047 -0.43364837 -0.21310475
+v 0.10624558 -0.40040017 -0.29408118
+v 0.13962125 -0.36183768 -0.31434921
+v -0.10599050 -0.44446359 -0.23574758
+v -0.19318198 -0.40114321 -0.24914635
+v -0.20949833 -0.41764652 -0.21184975
+v 0.10599050 -0.44446359 -0.23574758
+v -0.19705910 -0.37715729 -0.27016966
+v 0.09483856 -0.36358697 -0.33125255
+v 0.14916086 -0.38252533 -0.29212367
+v -0.24059222 -0.38990436 -0.22232617
+v 0.03640193 -0.46415314 -0.21359769
+v -0.20647402 -0.41339600 -0.22491903
+v 0.17203269 -0.42590158 -0.22889844
+v -0.09238639 -0.38865304 -0.31016203
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+v -0.12431791 -0.44956580 -0.21355247
+v -0.02070956 -0.44413764 -0.25155882
+v 0.09460378 -0.41448659 -0.28201568
+v 0.12249917 -0.44469851 -0.22650212
+v -0.09521818 -0.37954922 -0.31702046
+v -0.10624558 -0.40040017 -0.29408118
+v -0.03640193 -0.46415314 -0.21359769
+v -0.12249917 -0.44469851 -0.22650212
+v 0.03583016 -0.45901113 -0.22670742
+v 0.01073759 -0.39979334 -0.30933450
+v -0.17044979 -0.37783183 -0.28747233
+v -0.09460378 -0.41448659 -0.28201568
+v -0.03583016 -0.45901113 -0.22670742
+v 0.02070956 -0.44413764 -0.25155882
+v 0.00659336 -0.37769568 -0.33080696
+v -0.19244788 -0.38653838 -0.26443645
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+f 30 10 23
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+f 32 22 25
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+f 34 24 10
+f 34 28 21
+f 34 32 24
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+f 38 14 33
+f 38 11 4
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de1dbcdd5bc14a78e9cb72696573d9be2cb32e9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 0.09832283 -0.34008365
+v 0.14052145 0.09616822 -0.43136498
+v 0.16276933 0.26042559 -0.37428733
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+v -0.05127338 0.09557651 -0.44677870
+v -0.15909091 0.09832283 -0.34008365
+v 0.05127338 0.09557651 -0.44677870
+v -0.13887050 0.22875534 -0.39874057
+v -0.25548750 0.17977554 -0.37137139
+v -0.14052145 0.09616822 -0.43136498
+v 0.10939169 0.21275862 -0.41081408
+v -0.20582378 0.10867989 -0.41274309
+v -0.19324540 0.22340748 -0.38366104
+v -0.12501472 0.14001489 -0.42665350
+v 0.13902108 0.18347699 -0.41440009
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+v -0.23209578 0.15648636 -0.39170053
+v -0.06563600 0.22744510 -0.41162156
+v -0.14016486 0.12486186 -0.42664586
+v 0.13887050 0.22875534 -0.39874057
+v 0.14016486 0.12486186 -0.42664586
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+v -0.18274352 0.15229703 -0.41050995
+v -0.10939169 0.21275862 -0.41081408
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+v -0.15244897 0.18259596 -0.41053265
+v -0.06655014 0.16943924 -0.42814855
+v -0.16825908 0.21253383 -0.39565554
+v -0.05177484 0.10979285 -0.44397530
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+f 33 28 8
+f 33 8 6
+f 33 31 23
+f 33 23 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd6633896e1c6a3da2f7459b4d2b6db43d78c77
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.20454545 0.23468646 0.00840120
+v -0.20394690 0.23408902 -0.36948468
+v -0.19652200 0.30210174 -0.32896285
+v -0.19973856 0.44828551 -0.02373458
+v -0.43519622 0.22726341 -0.14130991
+v -0.19594174 0.36245918 -0.28354438
+v -0.19790969 0.25591890 -0.35833313
+v -0.22714852 0.22700085 -0.35878318
+v -0.42508501 0.23046081 0.00562532
+v -0.29981967 0.38414834 -0.16298705
+v -0.43503285 0.22717405 -0.02368572
+v -0.20845954 0.25377301 -0.35345238
+v -0.37240050 0.26844350 -0.21731997
+v -0.20227011 0.44006152 0.00591860
+v -0.19980457 0.44847328 -0.14126136
+v -0.33238489 0.22595306 -0.28302889
+v -0.38657279 0.31069555 -0.05485203
+v -0.27267087 0.22706061 -0.32856929
+v -0.26823534 0.37110022 -0.21901906
+v -0.38539497 0.29848784 -0.16306262
+v -0.22380169 0.44432319 -0.09496240
+v -0.40657942 0.22720484 -0.21239226
+v -0.41380819 0.26878835 -0.11004835
+v -0.38312381 0.30018485 0.00250370
+v -0.30959710 0.38523973 -0.03991490
+v -0.26807220 0.23762087 -0.32432328
+v -0.29483073 0.36970649 -0.19196918
+v -0.34272521 0.28198171 -0.23199904
+v -0.19922099 0.41676778 -0.22765533
+v -0.30974218 0.38538385 -0.12502824
+v -0.21331709 0.44381102 -0.14062090
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+v -0.42054949 0.22757830 -0.18320558
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+v -0.21324978 0.44361954 -0.02435998
+v -0.37011741 0.32454690 -0.03993150
+v -0.20788767 0.29816545 -0.32371554
+v -0.26700583 0.35777609 -0.23203557
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+v -0.28361698 0.39760983 -0.15537292
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+v -0.28358175 0.39751866 -0.00955775
+v -0.22478890 0.43076217 -0.16368983
+v -0.22468310 0.43051942 0.00298819
+v -0.25372210 0.41342572 -0.16236528
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+f 7 1 2
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+f 8 2 1
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+f 48 4 21
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+f 51 39 14
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+f 52 50 29
+f 52 29 10
+f 52 10 45
+f 52 45 50
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8970c1d4fe46d1ffea3604889bbf5d2a0f6b2ac7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.37203968 0.21210474 0.13613359
+v 0.42023990 0.23128638 0.01612086
+v 0.20950418 0.42779252 0.03113040
+v -0.06666311 0.47860889 0.00336874
+v -0.43116553 0.21912535 0.00813213
+v 0.27094094 0.40150489 0.00341703
+v -0.07982644 0.27011656 0.24808489
+v 0.40049612 0.21903522 0.08352798
+v 0.13907343 0.46326664 0.00302564
+v -0.40138066 0.27054769 0.00209924
+v 0.25854732 0.32535450 0.17397562
+v -0.18501821 0.21518228 0.25203184
+v -0.41918244 0.21160491 0.04864641
+v 0.35485045 0.29413559 0.09269176
+v 0.18430042 0.44746770 0.00277426
+v 0.38983733 0.28796366 0.00358679
+v 0.29433117 0.35482813 0.09275153
+v 0.18501785 0.21518244 0.25203162
+v 0.15471120 0.39752939 0.13254733
+v -0.25854732 0.32535450 0.17397562
+v -0.37203968 0.21210474 0.13613359
+v -0.36748465 0.28476130 0.07810490
+v 0.36748465 0.28476130 0.07810490
+v 0.32539107 0.25824372 0.17383036
+v 0.18247651 0.42629823 0.06145973
+v -0.18430042 0.44746770 0.00277426
+v -0.41900450 0.24179627 0.00311851
+v 0.37275427 0.31202531 0.00298271
+v 0.23940241 0.41188583 0.03082961
+v 0.27997119 0.32532771 0.14756149
+v 0.16450881 0.31175115 0.21838997
+v 0.08205992 0.21465073 0.26639947
+v 0.05097917 0.45866463 0.06220733
+v -0.16450881 0.31175115 0.21838997
+v -0.30172512 0.21371107 0.20572316
+v -0.32539107 0.25824372 0.17383036
+v 0.38387545 0.25514958 0.07850230
+v 0.35202211 0.25557888 0.13288594
+v 0.30172512 0.21371107 0.20572316
+v 0.18353746 0.37233883 0.15994992
+v -0.31223072 0.37271455 0.00301506
+v -0.15471120 0.39752939 0.13254733
+v 0.31222913 0.37271206 0.00301493
+v 0.26884601 0.39814844 0.01745325
+v 0.32536243 0.27980247 0.14750135
+v -0.08205992 0.21465073 0.26639947
+v 0.07982644 0.27011656 0.24808489
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+v -0.18353746 0.37233883 0.15994992
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+f 21 13 1
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+f 26 4 9
+f 26 9 15
+f 27 16 2
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+f 59 22 53
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+f 64 31 47
+f 64 47 63
+f 64 63 32
+f 64 32 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4e99df7bfd7590ecd8232db0df4846ad2a8f5f2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.15925293 -0.23402304
+v 0.28401620 -0.17830748 -0.35353037
+v 0.26515152 -0.02288929 -0.32493213
+v 0.00757576 -0.02288929 -0.23402304
+v 0.00757576 -0.15925293 -0.23402304
+v 0.00757576 -0.02288929 -0.34008365
+v 0.26515152 -0.02288929 -0.23402304
+v 0.14393939 -0.02288929 -0.34008365
+v 0.00757576 -0.15925293 -0.34008365
+f 5 2 1
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+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 2 5
+f 9 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c5a5cb64ccdf12d21c79a9a323f3e10b9915e6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.26179670 -0.02250565 0.25555092
+v 0.26515152 -0.02288929 0.00840120
+v 0.26515152 0.21953495 0.00840120
+v -0.40385146 0.24952792 0.02810394
+v -0.35606061 -0.02288929 0.00840120
+v 0.10995722 0.21461986 0.26321276
+v 0.26247231 0.21687683 0.22715839
+v -0.17231942 -0.02279417 0.28042653
+v 0.15725200 0.09732225 0.27904144
+v 0.17231942 -0.02279417 0.28042653
+v -0.28417351 0.21213715 0.21687514
+v 0.19955740 0.15632473 0.26193307
+v -0.06761820 0.17207480 0.27912541
+v 0.17231030 0.06720455 0.27901236
+v -0.10995722 0.21461986 0.26321276
+v -0.34864032 -0.02204138 0.20794218
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+v 0.22992081 -0.02232579 0.26581433
+v -0.19892227 0.21394140 0.24805631
+v -0.34264481 0.21386890 0.17515519
+v -0.27297826 0.08064269 0.24771411
+v 0.22919512 0.18362303 0.24800837
+v 0.17045881 0.18547419 0.26183944
+v 0.06761820 0.17207480 0.27912541
+v 0.22898780 0.08115369 0.26194966
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+v -0.32673007 0.21354655 0.18944970
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+v -0.22919517 0.18362308 0.24800957
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+v -0.17231030 0.06720455 0.27901236
+v -0.34091682 0.18283606 0.18836639
+v -0.33034262 0.03650934 0.21775969
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+v -0.22992081 -0.02232579 0.26581433
+v -0.29973101 0.09766471 0.23260850
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+v -0.25801818 0.12546208 0.24746948
+v -0.22898780 0.08115369 0.26194966
+v -0.28776215 0.15551716 0.23086748
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+f 29 11 4
+f 29 4 22
+f 30 4 16
+f 31 16 5
+f 31 5 8
+f 32 21 11
+f 33 24 19
+f 33 19 7
+f 33 7 24
+f 34 28 8
+f 34 8 13
+f 34 13 15
+f 35 8 28
+f 36 22 4
+f 36 4 30
+f 36 29 22
+f 37 30 16
+f 37 16 31
+f 38 36 30
+f 38 11 29
+f 38 29 36
+f 39 21 32
+f 39 28 34
+f 39 35 28
+f 40 31 8
+f 40 8 35
+f 41 37 31
+f 41 31 23
+f 41 23 38
+f 41 38 30
+f 41 30 37
+f 42 32 11
+f 42 11 38
+f 43 39 34
+f 43 34 15
+f 43 15 21
+f 43 21 39
+f 44 39 32
+f 45 35 39
+f 45 40 35
+f 45 23 31
+f 45 31 40
+f 45 44 23
+f 45 39 44
+f 46 44 32
+f 46 32 42
+f 46 42 38
+f 46 38 23
+f 46 23 44
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f0967266203bf9f934535831b7e8280deb53f6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00822582 -0.28631592 0.24559016
+v 0.00757576 -0.28046505 -0.24917455
+v 0.00717743 -0.02253177 0.27398615
+v -0.22992081 -0.02232579 0.26581433
+v -0.25870320 -0.30429188 -0.27991357
+v 0.00757576 -0.02288929 -0.24917455
+v -0.05248158 -0.17245183 0.27957865
+v -0.22589450 -0.27156463 0.21810952
+v -0.23484848 -0.02288929 -0.24917455
+v 0.00757336 -0.09881985 0.28542073
+v -0.22916876 -0.18392075 0.24792508
+v -0.18375080 -0.22939710 0.24799268
+v 0.00724621 -0.17253842 0.28067789
+v -0.09865339 -0.02292532 0.28546155
+v -0.15725002 -0.09764522 0.27902291
+v -0.08128601 -0.22913350 0.26190662
+v -0.09726176 -0.15755288 0.27903505
+v -0.22897837 -0.08147448 0.26191879
+v -0.17231942 -0.02279417 0.28042653
+v -0.19954739 -0.15664354 0.26189337
+v 0.00662856 -0.23018277 0.26680515
+v -0.17044761 -0.18578665 0.26178106
+v -0.17230861 -0.06752788 0.27899728
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 6 1 2
+f 8 5 1
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 6 3
+f 10 1 6
+f 11 4 5
+f 11 5 8
+f 12 8 1
+f 12 11 8
+f 13 10 7
+f 13 1 10
+f 14 10 3
+f 14 3 4
+f 16 12 1
+f 17 7 10
+f 17 10 14
+f 17 14 15
+f 17 16 7
+f 18 4 11
+f 19 14 4
+f 20 11 12
+f 20 17 15
+f 20 18 11
+f 21 13 7
+f 21 7 16
+f 21 16 1
+f 21 1 13
+f 22 12 16
+f 22 16 17
+f 22 20 12
+f 22 17 20
+f 23 15 14
+f 23 14 19
+f 23 20 15
+f 23 18 20
+f 23 19 4
+f 23 4 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..366b45924296af4fc9f69d95b934a3ca46108c05
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.28046505 -0.24917455
+v 0.00677171 -0.27323316 -0.39742534
+v 0.00757576 -0.02288929 -0.24917455
+v -0.09848485 -0.02288929 -0.24917455
+v -0.10546834 -0.30020999 -0.37367511
+v -0.10810736 -0.02634298 -0.44621567
+v 0.00757576 -0.02288929 -0.40068971
+v -0.09848485 -0.28046505 -0.24917455
+v -0.09719399 -0.23133878 -0.40601884
+v 0.00744581 -0.23384170 -0.41286487
+v -0.09697970 -0.27622482 -0.38930626
+v -0.00677171 -0.27323316 -0.39742534
+v -0.09589243 -0.25801031 -0.39623475
+f 1 3 4
+f 5 2 1
+f 6 5 4
+f 7 3 1
+f 7 6 4
+f 7 4 3
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 6
+f 10 7 1
+f 10 1 2
+f 10 6 7
+f 10 9 6
+f 11 5 9
+f 12 2 5
+f 12 5 11
+f 12 10 2
+f 12 9 10
+f 13 12 11
+f 13 11 9
+f 13 9 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36050fd7d811149e91903f0456c33a017e6c7cdd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.25779176 -0.42022945 -0.05395817
+v 0.43505244 -0.22749681 -0.14128788
+v 0.35468846 -0.29429805 0.09269240
+v 0.26384028 -0.23370702 0.21795028
+v 0.28245933 -0.25229890 -0.30178005
+v 0.40357449 -0.22770735 0.06480905
+v 0.25905358 -0.32909983 0.16757756
+v 0.38641283 -0.31086108 -0.05488029
+v 0.29970428 -0.38428832 -0.16287547
+v 0.25763705 -0.31841391 -0.26979450
+v 0.34749350 -0.22702907 -0.27056676
+v 0.34419704 -0.22885661 0.16791920
+v 0.29416917 -0.35499059 0.09275174
+v 0.41279394 -0.25337415 0.00055808
+v 0.31076381 -0.38672709 -0.05486085
+v 0.38523353 -0.30968520 -0.12497871
+v 0.25867869 -0.25887896 0.20782519
+v 0.25900221 -0.40702027 -0.16747090
+v 0.34263672 -0.28221743 -0.23188507
+v 0.43488908 -0.22740760 -0.02370720
+v 0.36809680 -0.24120418 0.11830590
+v 0.32524839 -0.25847007 0.17387280
+v 0.28798985 -0.22966312 0.20768857
+v 0.25818219 -0.38867554 0.06382865
+v 0.36979813 -0.30940783 0.01695385
+v 0.36735689 -0.28501411 0.07806397
+v 0.26889999 -0.41377386 -0.11002676
+v 0.41366443 -0.26902177 -0.11002629
+v 0.30958409 -0.38555027 -0.12499814
+v 0.25590810 -0.36214685 -0.23726056
+v 0.38527252 -0.29872106 -0.16298396
+v 0.38299597 -0.30043760 0.00246274
+v 0.37271513 -0.22793072 0.12138910
+v 0.35192438 -0.25585506 0.13282546
+v 0.26921336 -0.31488733 0.17407348
+v 0.31686462 -0.22917875 0.19055162
+v 0.25847891 -0.35827469 0.12141712
+v 0.29954640 -0.38395600 0.00251200
+v 0.26874147 -0.41352076 -0.05495916
+v 0.27077107 -0.40162477 -0.16420002
+v 0.25794695 -0.42047723 -0.11105185
+v 0.42832979 -0.23840976 -0.14025778
+v 0.41343712 -0.26887849 -0.05493044
+v 0.25749586 -0.40456184 0.01947613
+v 0.25667008 -0.37591206 -0.22347791
+v 0.40645697 -0.22743806 -0.21231360
+v 0.42816637 -0.23832821 -0.02471187
+v 0.32523987 -0.28000430 0.14740344
+v 0.26586168 -0.32668936 0.16354443
+v 0.25854146 -0.31934908 0.17725290
+v 0.27124917 -0.35359989 0.11849215
+v 0.26873199 -0.38313660 0.06284575
+v 0.30927805 -0.37009461 0.01699087
+v 0.26813673 -0.37130085 -0.21889645
+v 0.36869071 -0.28250870 -0.20751980
+v 0.42042366 -0.22782297 -0.18314570
+v 0.26691740 -0.35801185 -0.23192158
+v 0.37231385 -0.26869495 -0.21721631
+v 0.29486404 -0.36974827 -0.19186582
+v 0.41309534 -0.25350338 -0.16450655
+v 0.39969563 -0.25303529 -0.19328282
+v 0.35485628 -0.30960114 -0.19186652
+f 10 4 5
+f 11 5 4
+f 16 8 15
+f 17 4 10
+f 19 5 11
+f 20 11 6
+f 20 2 11
+f 20 6 14
+f 23 11 4
+f 25 3 13
+f 26 14 6
+f 26 21 3
+f 26 6 21
+f 28 8 16
+f 28 2 20
+f 29 16 15
+f 29 15 27
+f 30 17 10
+f 30 10 5
+f 31 29 9
+f 31 16 29
+f 32 20 14
+f 32 14 26
+f 32 26 3
+f 32 3 25
+f 32 15 8
+f 33 21 6
+f 33 12 21
+f 33 6 11
+f 33 11 23
+f 34 21 12
+f 34 12 22
+f 34 22 3
+f 34 3 21
+f 35 22 23
+f 36 23 22
+f 36 22 12
+f 36 33 23
+f 36 12 33
+f 38 15 32
+f 39 27 15
+f 39 1 27
+f 39 38 1
+f 39 15 38
+f 41 27 1
+f 41 18 40
+f 41 40 9
+f 41 29 27
+f 41 9 29
+f 41 1 30
+f 42 28 16
+f 42 2 28
+f 42 31 2
+f 42 16 31
+f 43 28 20
+f 43 8 28
+f 44 17 30
+f 44 24 37
+f 44 30 1
+f 44 1 38
+f 45 41 30
+f 45 18 41
+f 45 40 18
+f 45 9 40
+f 46 11 2
+f 47 32 8
+f 47 20 32
+f 47 43 20
+f 47 8 43
+f 48 35 3
+f 48 3 22
+f 48 22 35
+f 49 35 7
+f 49 7 13
+f 49 13 3
+f 49 3 35
+f 50 7 35
+f 50 37 7
+f 50 44 37
+f 50 17 44
+f 50 4 17
+f 50 35 23
+f 50 23 4
+f 51 37 24
+f 51 24 13
+f 51 13 7
+f 51 7 37
+f 52 38 13
+f 52 13 24
+f 52 44 38
+f 52 24 44
+f 53 25 13
+f 53 13 38
+f 53 38 32
+f 53 32 25
+f 54 45 30
+f 54 9 45
+f 55 46 31
+f 56 46 2
+f 57 54 30
+f 57 19 54
+f 57 30 5
+f 57 5 19
+f 58 19 11
+f 58 11 46
+f 58 46 55
+f 58 55 54
+f 58 54 19
+f 59 31 9
+f 59 9 54
+f 59 54 55
+f 60 56 2
+f 60 2 31
+f 61 31 46
+f 61 46 56
+f 61 60 31
+f 61 56 60
+f 62 59 55
+f 62 55 31
+f 62 31 59
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..909e8ada4a0f53ad55d847bf23fe192690ababee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_29.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.02288929 0.00840120
+v -0.23347593 -0.02273262 -0.41234486
+v -0.22714852 0.22700085 -0.35878318
+v -0.39777095 0.26086338 0.02559713
+v -0.35606061 -0.02288929 0.00840120
+v -0.34563070 0.07888740 -0.35243364
+v -0.23484848 0.23468646 0.00840120
+v -0.24421618 0.12349376 -0.39695369
+v -0.34365302 0.22197436 -0.27774415
+v -0.34693767 -0.02184823 -0.35565519
+v -0.29951998 0.16288279 -0.35358072
+v -0.23028152 0.12457350 -0.40092743
+v -0.29957710 0.05160896 -0.38288169
+v -0.27000114 0.13591404 -0.38328075
+v -0.28287700 0.22279492 -0.32426081
+v -0.34151553 0.16446653 -0.32261052
+v -0.22973617 0.18413387 -0.38494416
+v -0.25785930 0.09575604 -0.39632885
+v -0.30052266 -0.02173794 -0.38440845
+v -0.28268864 0.10900257 -0.38225450
+v -0.23870855 0.18061327 -0.38160851
+v -0.27310729 0.00659210 -0.39751069
+v -0.27310236 -0.00691558 -0.39749812
+v -0.25973981 -0.02227137 -0.40205536
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 9 6 4
+f 9 4 3
+f 10 5 4
+f 10 4 6
+f 10 2 5
+f 12 3 2
+f 13 10 6
+f 14 6 11
+f 15 9 3
+f 15 3 11
+f 16 11 6
+f 16 6 9
+f 16 15 11
+f 16 9 15
+f 17 12 8
+f 17 3 12
+f 17 8 14
+f 18 12 2
+f 18 8 12
+f 18 14 8
+f 19 2 10
+f 19 10 13
+f 20 13 6
+f 20 6 14
+f 20 18 13
+f 20 14 18
+f 21 17 14
+f 21 14 11
+f 21 11 3
+f 21 3 17
+f 22 18 2
+f 22 13 18
+f 22 19 13
+f 23 22 2
+f 23 19 22
+f 24 23 2
+f 24 2 19
+f 24 19 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeb454747f4324debcd8a2d7176a6fd19d953b78
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.02288929 -0.21887152
+v 0.26515152 -0.02288929 -0.32493213
+v 0.22643790 0.41983550 -0.18277780
+v 0.12783643 0.45925223 -0.18743632
+v 0.14393939 -0.02288929 -0.32493213
+v 0.12854800 0.23430351 -0.39954933
+v 0.12878788 0.23468646 -0.18856849
+v 0.26515152 0.23468646 -0.21887152
+v 0.12292985 0.37369094 -0.31074431
+v 0.14378181 0.09822349 -0.43031134
+v 0.23484848 0.23468646 -0.18856849
+v 0.16896628 0.44694812 -0.18229017
+v 0.14393939 -0.02288929 -0.21887152
+v 0.25565771 0.15168236 -0.38464631
+v 0.12440566 0.44949143 -0.21365693
+v 0.12523696 0.27143704 -0.38647693
+v 0.25571630 0.22525904 -0.34100061
+v 0.26275351 0.09747875 -0.39427316
+v 0.18274352 0.15229703 -0.41050995
+v 0.12237347 0.40155509 -0.28336462
+v 0.20660606 0.41325753 -0.22500993
+v 0.17964833 0.23651645 -0.38298727
+v 0.21299777 0.09596478 -0.41306715
+v 0.13902108 0.18347699 -0.41440009
+v 0.16714312 0.44210798 -0.19522971
+v 0.15252310 0.42874093 -0.23394331
+v 0.19195124 0.37294265 -0.27851991
+v 0.22371695 0.40143276 -0.22429568
+v 0.23870855 0.18061327 -0.38160851
+v 0.24453686 0.09639986 -0.40122305
+v 0.24421618 0.12349376 -0.39695369
+v 0.15244897 0.18259596 -0.41053265
+v 0.13802876 0.44543176 -0.21180280
+v 0.19313283 0.40104114 -0.24928862
+v 0.12439311 0.43471852 -0.23898274
+v 0.13675540 0.37085915 -0.30753290
+v 0.16442959 0.34144107 -0.32260643
+v 0.22209536 0.34316442 -0.27819842
+v 0.22262967 0.28309187 -0.32434135
+v 0.25391031 0.20830303 -0.35342750
+v 0.21345286 0.10793382 -0.41060209
+v 0.13861935 0.31476072 -0.35382847
+v 0.16285246 0.30011277 -0.35083765
+v 0.13376136 0.27090903 -0.38322076
+v 0.12448918 0.31684079 -0.35700731
+f 5 2 1
+f 8 1 2
+f 10 2 5
+f 10 5 6
+f 11 7 1
+f 11 3 7
+f 11 8 3
+f 11 1 8
+f 12 7 3
+f 12 4 7
+f 13 5 1
+f 13 1 7
+f 15 7 4
+f 15 4 12
+f 16 13 7
+f 16 6 5
+f 16 5 13
+f 17 3 8
+f 18 8 2
+f 18 17 8
+f 18 14 17
+f 20 7 15
+f 20 16 7
+f 20 9 16
+f 21 12 3
+f 22 6 16
+f 23 2 10
+f 23 10 19
+f 24 19 10
+f 24 10 6
+f 24 6 22
+f 25 15 12
+f 25 12 21
+f 28 21 3
+f 28 3 17
+f 29 14 19
+f 29 19 22
+f 30 23 18
+f 30 18 2
+f 30 2 23
+f 31 19 14
+f 31 14 18
+f 31 18 23
+f 32 24 22
+f 32 22 19
+f 32 19 24
+f 33 25 21
+f 33 15 25
+f 33 26 15
+f 33 21 26
+f 34 26 21
+f 34 20 26
+f 34 27 20
+f 34 28 27
+f 34 21 28
+f 35 26 20
+f 35 20 15
+f 35 15 26
+f 36 9 20
+f 36 20 27
+f 37 36 27
+f 37 9 36
+f 38 28 17
+f 38 27 28
+f 39 29 22
+f 39 22 37
+f 39 38 17
+f 39 37 27
+f 39 27 38
+f 40 17 14
+f 40 14 29
+f 40 39 17
+f 40 29 39
+f 41 31 23
+f 41 23 19
+f 41 19 31
+f 42 9 37
+f 43 42 37
+f 43 37 22
+f 43 22 42
+f 44 42 22
+f 44 22 16
+f 44 16 42
+f 45 42 16
+f 45 16 9
+f 45 9 42
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cd2689e760c19a7815f508f5b2e3f96ddf02cbe
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.02288929 0.00840120
+v 0.26515152 -0.02288929 -0.21887152
+v 0.26515152 0.23468646 0.00840120
+v -0.23484848 0.23468646 0.00840120
+v -0.23484848 -0.02288929 -0.21887152
+v -0.23484848 0.23468646 -0.21887152
+v -0.23484848 -0.02288929 0.00840120
+v 0.26515152 0.23468646 -0.21887152
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd9e2ddcce35859f838fec8ab55b8d878f5fd58
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 -0.02288929 -0.21887152
+v 0.14393939 -0.02288929 -0.34008365
+v 0.16276933 0.26042559 -0.37428733
+v -0.23484848 0.23468646 -0.21887152
+v -0.23484848 -0.02288929 -0.34008365
+v 0.14393939 0.23468646 -0.21887152
+v -0.23484848 -0.02288929 -0.21887152
+v -0.23785043 0.23768593 -0.34461257
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6587e778c4ae36ea6b7f30b8bf995216f1ebda6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.35403068 -0.02265742 0.20338992
+v -0.35369534 -0.02261938 -0.35141579
+v -0.34759584 0.22680038 -0.27067320
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+v -0.49019687 -0.02090639 -0.14084630
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+v -0.34755565 0.09448000 -0.34562630
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+v -0.45904924 0.03563687 -0.22678460
+v -0.43081256 0.22449472 -0.16572760
+v -0.47337682 -0.02071602 0.03168132
+v -0.44186171 0.13702598 0.06117232
+v -0.49061633 0.06608486 -0.06951568
+v -0.42879619 0.02049119 0.11821192
+v -0.34789169 0.18578184 0.18104675
+v -0.41433258 0.09456675 -0.28204513
+v -0.44413313 -0.02083639 -0.25166392
+v -0.44458659 0.22363107 -0.09497259
+v -0.40163247 0.22353059 -0.22433659
+v -0.47482977 0.10837414 -0.16615522
+v -0.48999652 -0.02088353 -0.02413990
+v -0.42671336 0.18248158 0.06117354
+v -0.47449875 0.10829860 0.00153432
+v -0.39902499 0.10991410 0.14616418
+v -0.42876990 -0.02081223 0.11819542
+v -0.44567422 0.10816613 0.07336188
+v -0.35659914 0.09172019 -0.33872548
+v -0.47298426 -0.02067122 -0.19599939
+v -0.36131980 -0.02176043 -0.34483974
+v -0.44415764 0.02051514 -0.25168118
+v -0.34834061 0.16775332 -0.31512073
+v -0.44378461 0.19799669 -0.16560108
+v -0.49023276 0.02058645 -0.14085099
+v -0.47269973 0.13690676 -0.12525441
+v -0.44415603 0.10702580 -0.23583998
+v -0.49095607 0.06612362 -0.09549068
+v -0.38350188 0.21019100 0.11875899
+v -0.44381519 0.21315885 -0.02435346
+v -0.49003244 0.02056359 -0.02413533
+v -0.36147309 -0.02177684 0.19586670
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+v -0.35794836 0.20659437 -0.27881856
+v -0.35625973 0.16715148 -0.30826609
+v -0.45793124 0.16734365 -0.15561067
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+f 28 14 25
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+f 29 7 2
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+f 31 2 19
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+f 64 34 49
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64394785938f935f21f104ce609ce1abf31a5efd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.13898405 -0.46333639 0.00292691
+v 0.26029583 -0.37970123 -0.21552838
+v 0.26156177 -0.37982880 0.08149139
+v 0.14393939 -0.28046505 -0.00675031
+v 0.13864952 -0.40449998 -0.27018799
+v 0.26515152 -0.28046505 -0.18856849
+v 0.15365444 -0.41597549 0.10061470
+v 0.22365921 -0.44441819 -0.09492743
+v 0.13958533 -0.43393296 0.07678361
+v 0.26515152 -0.28046505 -0.00675031
+v 0.14393939 -0.28046505 -0.18856849
+v 0.19705910 -0.37715729 -0.27016966
+v 0.25360671 -0.41356571 -0.16225370
+v 0.21314999 -0.44365972 -0.02439803
+v 0.13907267 -0.46358852 -0.16762581
+v 0.19906749 -0.41537449 0.07487987
+v 0.20647402 -0.41339600 -0.22491903
+v 0.14607144 -0.39149466 -0.28322169
+v 0.25328667 -0.41296887 0.00208324
+v 0.18271238 -0.45842843 -0.05475237
+v 0.21321738 -0.44385143 -0.14058194
+v 0.15357655 -0.43041569 0.07481823
+v 0.19789366 -0.44335834 0.00105279
+v 0.19318198 -0.40114321 -0.24914635
+v 0.13886327 -0.41801662 -0.25255403
+v 0.22347594 -0.44412558 -0.07006564
+v 0.16732527 -0.45775487 -0.00938968
+v 0.18281100 -0.45870893 -0.11023852
+v 0.23823813 -0.42835774 -0.14023858
+v 0.19801385 -0.44370027 -0.16564467
+v 0.19766622 -0.42673550 0.04634989
+v 0.23928229 -0.41198577 0.03074035
+v 0.19244788 -0.38653838 -0.26443645
+v 0.16705473 -0.44218473 -0.19512395
+v 0.15292829 -0.41502785 -0.25003434
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+v 0.16737743 -0.45790326 -0.15558078
+v 0.20938406 -0.42789246 0.03104114
+v 0.25378702 -0.39770526 0.04707323
+v 0.15278262 -0.45948715 -0.16591042
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+f 39 32 19
+f 39 19 3
+f 39 38 32
+f 39 3 38
+f 40 37 15
+f 40 15 30
+f 40 30 37
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5835d46005a1274bafda9768fdbe86531567082c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00996932 -0.00506198 0.44180712
+v 0.05308035 0.02258996 0.29657017
+v 0.05445406 0.12363479 0.39157384
+v 0.03832525 0.13849980 0.40408391
+v -0.15942673 0.05176234 0.37354521
+v 0.03795684 0.08332775 0.28530612
+v 0.01069616 0.00887705 0.46623360
+v -0.08350555 -0.02292611 0.28522556
+v 0.05310474 0.06818003 0.28518981
+v 0.04804845 0.12581636 0.38124261
+v -0.01902882 0.07472270 0.29354629
+v 0.04880420 0.13580299 0.40549453
+v -0.13587093 0.02439687 0.37313679
+v -0.01235000 0.01412698 0.46322386
+v 0.01961000 -0.02192347 0.32577266
+v -0.08350534 0.00745553 0.28516903
+v 0.02908906 0.13012808 0.37918451
+v 0.05433784 0.11857763 0.38065898
+v 0.05289610 0.12904273 0.39866365
+v -0.01087613 0.00924851 0.46656163
+v -0.15768596 0.05365430 0.37603481
+v -0.03786750 -0.02293426 0.29678252
+v -0.00996932 -0.00506198 0.44180712
+v -0.15447693 0.05949220 0.36980392
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+v -0.15645855 0.05796008 0.37183049
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+f 26 21 4
+f 26 4 24
+f 26 25 21
+f 26 5 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f6f2d7fa3a3f36160b1fb4b585d5c8b910295bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.23151553 -0.24681930 -0.34276250
+v 0.26633606 -0.23619407 -0.32671923
+v -0.10063599 -0.24112925 -0.40190670
+v -0.09848485 0.09832283 -0.34008365
+v 0.21299777 0.09596478 -0.41306715
+v 0.00757576 -0.15925293 -0.34008365
+v 0.25784553 -0.09607524 -0.39629200
+v 0.14393939 0.09832283 -0.32493213
+v -0.09753416 0.09737483 -0.44014755
+v -0.09848485 -0.02288929 -0.34008365
+v 0.29758709 0.10968471 -0.37177225
+v 0.23865272 -0.18089452 -0.38151406
+v 0.02148832 -0.04958350 -0.45887165
+v 0.14393939 -0.15925293 -0.32493213
+v 0.25785930 0.09575604 -0.39632885
+v 0.25560197 -0.15196370 -0.38455202
+v 0.08045789 0.09545551 -0.44315815
+v 0.22345916 -0.19333956 -0.38352666
+v -0.09560064 -0.08061931 -0.44310290
+v 0.16958439 -0.06672147 -0.42810141
+v 0.22760491 0.06549728 -0.41157989
+v 0.25383454 -0.20855136 -0.35331303
+v 0.15491896 0.09569291 -0.42810462
+v -0.02149280 0.04927250 -0.45893520
+v 0.06562224 -0.22773001 -0.41151686
+v -0.06654309 -0.16974323 -0.42807079
+v 0.18271526 -0.15259289 -0.41042324
+v 0.22759132 -0.06581658 -0.41154347
+v 0.16959139 0.06639987 -0.42812853
+v 0.04955077 0.02114132 -0.45889132
+v -0.08045789 0.09545551 -0.44315815
+v -0.04955077 0.02114132 -0.45889132
+v -0.02148832 -0.04958350 -0.45887165
+v -0.09585839 -0.15505996 -0.42804602
+v -0.06562231 -0.22773020 -0.41151691
+v 0.06654309 -0.16974323 -0.42807079
+v 0.24419314 -0.12379717 -0.39687825
+v 0.19798123 -0.18299786 -0.39562090
+v 0.09560064 -0.08061931 -0.44310290
+v 0.21342983 -0.10823722 -0.41052667
+v 0.02149280 0.04927250 -0.45893520
+v 0.10996978 0.05159123 -0.44395389
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+v -0.05177009 -0.11010295 -0.44390973
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+v 0.09560838 0.08030298 -0.44315168
+v -0.08045015 -0.09577184 -0.44310937
+v 0.05177009 -0.11010295 -0.44390973
+v 0.10996498 -0.05191360 -0.44393117
+v 0.08045015 -0.09577184 -0.44310937
+f 1 2 3
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+f 49 17 23
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+f 50 44 34
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+f 51 36 26
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+f 51 47 36
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+f 52 42 20
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+f 52 30 42
+f 53 51 13
+f 53 13 39
+f 53 39 47
+f 53 47 51
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0c65252e15c30e9f85e6790d83ab55350200da4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.29931301 -0.22760483 0.20170361
+v 0.47699672 -0.12357605 -0.03911961
+v 0.42879619 0.02049119 0.11821192
+v 0.26247231 0.21687683 0.22715839
+v 0.26515152 -0.23501051 -0.00675031
+v 0.40138066 0.27054769 0.00209924
+v 0.33033309 -0.03683230 0.21774354
+v 0.37245528 -0.18358037 0.15999909
+v 0.43329271 -0.22640294 -0.00879426
+v 0.25874764 -0.22864448 0.22311197
+v 0.47861948 0.06644470 0.00331129
+v 0.37259800 0.18335396 0.15995713
+v 0.26515152 0.21953495 0.00840120
+v 0.44560609 -0.10846819 0.07331716
+v 0.31430853 -0.16689647 0.21659516
+v 0.39892742 -0.11019426 0.14621683
+v 0.47051197 -0.14174645 -0.03795884
+v 0.36712140 -0.22502913 0.13316998
+v 0.26091147 -0.08203565 0.25210160
+v 0.49144059 -0.02277707 -0.03717857
+v 0.38556731 0.24201729 0.08943834
+v 0.44567422 0.10816613 0.07336188
+v 0.34037655 0.11067846 0.20499854
+v 0.39591785 0.27662821 0.00609360
+v 0.25922256 0.18602177 0.23576202
+v 0.26515152 -0.02288929 -0.00675031
+v 0.47337691 -0.02071613 0.03168135
+v 0.47343427 -0.12233525 -0.00929356
+v 0.42662803 -0.18277721 0.06114008
+v 0.32667409 -0.21384702 0.18938700
+v 0.28412320 -0.21242820 0.21679130
+v 0.42876990 -0.02081223 0.11819542
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0275600fca56f61da9cd5d0d2e8675f38cec0b85
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/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.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..529c3a4d5999da9f0133e0c9f339bb20f355f639
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/tomato/tomato_8/visual/model_normalized_0.obj
@@ -0,0 +1,20186 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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