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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/Assets/robocasa/data/objects/objaverse/baguette/baguette_4/visual/material_0.png b/Assets/robocasa/data/objects/objaverse/baguette/baguette_4/visual/material_0.png
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diff --git a/Assets/robocasa/data/objects/objaverse/baguette/baguette_5/visual/image0.png b/Assets/robocasa/data/objects/objaverse/baguette/baguette_5/visual/image0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:18628ef034fedf913f81273c5a925fc792291884c2bace511fc14c4fe66f776f
+size 1140765
diff --git a/Assets/robocasa/data/objects/objaverse/baguette/baguette_5/visual/material_0.png b/Assets/robocasa/data/objects/objaverse/baguette/baguette_5/visual/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 1140765
diff --git a/Assets/robocasa/data/objects/objaverse/baguette/baguette_6/visual/image0.png b/Assets/robocasa/data/objects/objaverse/baguette/baguette_6/visual/image0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/Assets/robocasa/data/objects/objaverse/baguette/baguette_6/visual/material_0.png b/Assets/robocasa/data/objects/objaverse/baguette/baguette_6/visual/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/Assets/robocasa/data/objects/objaverse/baguette/baguette_6/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/baguette/baguette_6/visual/model_normalized_0.obj
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:aab7fbf3f268a2b93a6c9aa41ad5feb3aa52f9fa5efaee95950c106e9f14f2cd
+size 35246437
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_0/model.xml b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a14986a486ca25d5a157df195962607995e93bb2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_0/model.xml
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diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_1/model.xml b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..663d6eb46bcf74944471a3c95f295780e48daa11
--- /dev/null
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diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_2/model.xml b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7ce3757d4cf3ce71fab546ce5ccf7ec007bf8e87
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_2/model.xml
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diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a278eebddd1dd592615d59d4a4df0fa5955ea6e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.14315711 -0.02902893 0.35377562
+v -0.13925247 0.00342025 0.35377562
+v -0.14282174 -0.02952121 0.35377562
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+v -0.13709652 0.00701659 0.35377562
+v -0.22661585 -0.06337884 0.42020351
+v -0.11261466 -0.06124565 0.35377562
+v -0.26683605 -0.01746045 0.44490823
+v -0.24000660 0.01937819 0.44728422
+v -0.09287586 0.04937966 0.35377562
+v -0.13527596 0.01001127 0.35377562
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+v -0.24254581 -0.06641454 0.46653557
+v -0.10360764 -0.06253104 0.35377562
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+v -0.06460913 -0.05559815 0.35377562
+v -0.16011715 -0.04572529 0.49288630
+v -0.06626201 -0.02597956 0.43974113
+v -0.08192849 0.02078664 0.42514160
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+v -0.05392526 -0.05697926 0.39977849
+v -0.02309535 -0.01493070 0.35377562
+v -0.02273604 -0.01419229 0.35532144
+v -0.03962421 0.00601837 0.39305124
+v -0.05215260 0.03552757 0.37441534
+v -0.03962421 0.04002642 0.35377562
+v -0.02211320 -0.01328978 0.35377562
+v -0.02223298 -0.01256504 0.35377562
+f 1 2 6
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+
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec3abdc8f410ac75eec88a64dfd4fe771e09dfc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.14313939 -0.02903319 0.35377556
+v -0.10263795 -0.00105762 0.26874331
+v -0.14277971 -0.02951168 0.35377556
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+v -0.10757944 0.05025220 0.26874331
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+v -0.08332550 -0.01614593 0.26874331
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+v -0.13524239 0.01001139 0.35377556
+v -0.10293507 0.06355415 0.26874331
+v -0.07092486 -0.02536479 0.26874331
+v -0.10357621 -0.06254327 0.35377556
+v -0.09284881 0.04935902 0.35377556
+v -0.08809496 0.06876966 0.30788395
+v -0.08404483 0.08530938 0.26874331
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+v -0.06513894 -0.02619417 0.26874331
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+
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a3b65d37b88e00ba796260d6bbfcd8b811df4ec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.08096536 -0.05532805 0.24598461
+v 0.08096536 -0.03017820 0.24418712
+v -0.05844708 -0.03017820 0.23814747
+v -0.07858182 -0.05532805 0.19709238
+v 0.08096536 -0.05532805 -0.46475029
+v 0.08096536 -0.03017820 -0.46101147
+v -0.07850373 -0.03017820 0.21492368
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+v -0.07858182 -0.05532805 -0.48854929
+v -0.05466693 -0.05532805 -0.48516998
+v -0.07858182 -0.03501812 -0.48811790
+v 0.08096536 -0.04855807 -0.46388748
+v -0.07858182 -0.03017820 -0.48739889
+v -0.07858182 -0.03017820 0.20672703
+f 1 2 3
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+
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56bba396bf5487b72bd25d1f2a9c779b4d7c1281
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_11.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.07161497 0.16460754 0.22939894
+v -0.02535559 0.13174745 0.23813081
+v 0.07161497 0.13174745 0.22639287
+v 0.07161497 0.18182056 0.22653601
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+v -0.12667392 0.13174745 0.20076981
+v 0.07161497 0.13174745 -0.45812935
+v 0.07161497 0.19466667 0.22403097
+v 0.07161497 0.19677374 0.22360152
+v -0.12667392 0.19677374 -0.44775128
+v -0.12667392 0.13174745 -0.49291372
+v -0.12261730 0.13174745 -0.49255586
+v 0.07161497 0.14379148 -0.45827249
+v 0.07161497 0.19677374 -0.44216862
+v -0.07038596 0.19677374 -0.45462227
+v -0.12667392 0.15736966 -0.48303667
+v -0.12667392 0.13352987 -0.49269900
+v 0.03640588 0.19677374 -0.45226038
+v 0.06684020 0.14932971 -0.45841563
+v 0.07161497 0.14581580 -0.45798621
+v 0.07161497 0.16056527 -0.45354867
+v 0.00647622 0.19677374 -0.45447913
+v -0.12667392 0.15046281 -0.48704475
+v 0.07161497 0.15531988 -0.45519486
+v 0.02642933 0.19677374 -0.45319083
+f 1 2 3
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+
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02acc90298151fd98f80dadff2fd2d4a0fd55686
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.08096536 -0.06889948 0.24694675
+v 0.08096536 -0.08628559 0.24334559
+v 0.08096536 -0.05532806 0.24593842
+v -0.07858182 -0.15819216 0.21828133
+v -0.04334211 -0.20235431 0.22469145
+v 0.08096536 -0.12920065 0.23333430
+v -0.07858182 -0.05532806 0.19710636
+v -0.07858182 -0.11758057 0.21424800
+v -0.07858182 -0.13354351 0.21640873
+v 0.08096536 -0.05532806 -0.46479130
+v -0.07858182 -0.19471030 0.21727300
+v -0.04417000 -0.20521532 0.22303489
+v -0.04143642 -0.20521532 0.22317895
+v -0.03307949 -0.20521532 0.22317895
+v 0.03585352 -0.20521532 0.21684086
+v 0.08096536 -0.15038675 0.22217062
+v -0.07858182 -0.05532806 -0.48848709
+v 0.08096536 -0.07666087 -0.46767226
+v -0.05466693 -0.05532806 -0.48517400
+v -0.07858182 -0.20521532 0.21208730
+v 0.07776316 -0.20521532 0.19364923
+v 0.08096536 -0.20383617 0.19220877
+v 0.05689425 -0.14903694 -0.48049247
+v -0.07858182 -0.05595895 -0.48855913
+v 0.08096536 -0.12020683 -0.47148949
+v -0.07858182 -0.20521532 -0.43187648
+v 0.08015309 -0.20521532 0.19156054
+v 0.08096536 -0.20412961 0.19192067
+v -0.07858182 -0.13439447 -0.48200497
+v -0.07858182 -0.11153578 -0.48632637
+v -0.07858182 -0.07129099 -0.48884720
+v 0.08096536 -0.13960296 -0.46983296
+v 0.08096536 -0.15967400 -0.46126214
+v 0.08096536 -0.18152034 -0.44995442
+v 0.02966782 -0.19676435 -0.47120142
+v 0.00875205 -0.20521532 -0.45996571
+v 0.08096536 -0.20521532 0.19084030
+v 0.08096536 -0.18552575 -0.44700146
+v 0.03538490 -0.20521532 -0.46133417
+v 0.02810578 -0.20521532 -0.46327880
+v 0.08096536 -0.20521532 -0.43238065
+f 1 2 6
+f 1 6 16
+f 1 16 22
+f 1 22 28
+f 1 28 37
+f 1 37 41
+f 1 41 38
+f 1 38 34
+f 1 34 33
+f 1 33 32
+f 1 32 25
+f 1 25 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 10 19
+f 3 19 17
+f 3 17 7
+f 4 9 8
+f 4 8 7
+f 4 7 17
+f 4 17 24
+f 4 24 31
+f 4 31 30
+f 4 30 29
+f 4 29 26
+f 4 26 20
+f 4 20 11
+f 4 11 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 11 12
+f 6 14 15
+f 6 15 16
+f 10 18 19
+f 11 20 12
+f 12 20 26
+f 12 26 36
+f 12 36 40
+f 12 40 39
+f 12 39 41
+f 12 41 37
+f 12 37 27
+f 12 27 21
+f 12 21 15
+f 12 15 14
+f 12 14 13
+f 15 21 16
+f 16 21 22
+f 17 19 23
+f 17 23 24
+f 18 25 23
+f 18 23 19
+f 21 27 28
+f 21 28 22
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 23 25 32
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 29
+f 26 29 36
+f 27 37 28
+f 29 35 36
+f 34 38 35
+f 35 39 40
+f 35 40 36
+f 35 38 39
+f 38 41 39
+
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bce16cd4bdfbe74d3b60362b567e55bb081b644
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.11447914 -0.04032804 0.26873499
+v 0.12987518 -0.02720115 0.27875614
+v 0.11594722 -0.02555449 0.26873499
+v 0.13554049 -0.08924079 0.26873499
+v 0.13956830 -0.08947271 0.27060947
+v 0.19433908 -0.03671003 0.30446354
+v 0.17382357 0.03377164 0.29979637
+v 0.12326881 0.00647420 0.26873499
+v 0.13663213 -0.09146725 0.26873499
+v 0.14848973 -0.09643042 0.26873499
+v 0.18709278 -0.10951093 0.26873499
+v 0.22614755 -0.08817394 0.28503975
+v 0.25722197 -0.02729392 0.30002025
+v 0.21208782 0.03115090 0.30749530
+v 0.19866805 -0.11336087 0.26873499
+v 0.20642254 0.11726424 0.27680579
+v 0.16149543 0.09428059 0.26873499
+v 0.14184570 0.07020688 0.26873499
+v 0.27359673 -0.07010706 0.26873499
+v 0.22112219 -0.10733084 0.26873499
+v 0.25119907 -0.09334584 0.26873499
+v 0.29177839 -0.04322709 0.26873499
+v 0.30623335 0.00505946 0.26873499
+v 0.30429474 0.01183164 0.27188820
+v 0.26207793 0.05042377 0.29187354
+v 0.23841922 0.10550569 0.26873499
+v 0.21216312 0.12071991 0.26873499
+v 0.20049374 0.12357257 0.26873499
+v 0.18899375 0.11976901 0.26873499
+v 0.30672270 0.01143737 0.26873499
+v 0.30606395 0.01489304 0.26873499
+v 0.30156559 0.02635008 0.26873499
+v 0.28007138 0.07345381 0.26873499
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 17
+f 1 17 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 23
+f 1 23 22
+f 1 22 19
+f 1 19 21
+f 1 21 20
+f 1 20 15
+f 1 15 11
+f 1 11 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 11 15
+f 6 15 12
+f 7 14 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 12 19 13
+f 12 15 20
+f 12 20 21
+f 12 21 19
+f 13 19 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 25 33 26
+f 25 32 33
+
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a60275318ca1bb0d40b9bbaf9d926b060d0ac8a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.07161497 -0.02057298 0.23770310
+v 0.01445358 0.05901088 0.26873499
+v 0.01660805 0.03111453 0.26873499
+v 0.07161497 -0.03017820 0.23747770
+v 0.07161497 0.13174745 0.22643246
+v -0.00023952 0.08231068 0.26873499
+v -0.00175347 0.00090404 0.26873499
+v -0.02770416 -0.02158739 0.26873499
+v -0.02834468 -0.02214215 0.26873499
+v -0.06514536 -0.02619980 0.26873499
+v -0.05844903 -0.03017820 0.23815392
+v 0.07161497 -0.03017820 -0.46182925
+v -0.02535559 0.13174745 0.23815392
+v -0.03863179 0.10039575 0.26873499
+v -0.02601552 0.09711476 0.26873499
+v 0.07161497 0.13174745 -0.45807236
+v -0.07092943 -0.02537559 0.26873499
+v -0.12667392 -0.03017820 0.19712873
+v -0.08428326 -0.03017820 -0.48880368
+v -0.11704674 0.08001240 -0.49857157
+v -0.12667392 0.13174745 0.20081048
+v -0.08405035 0.08532222 0.26873499
+v -0.09635606 0.12017681 -0.49143350
+v -0.12261730 0.13174745 -0.49256057
+v -0.08333220 -0.01615077 0.26873499
+v -0.10264479 -0.00106138 0.26873499
+v -0.11027278 0.02393438 0.26873499
+v -0.12667392 0.02689837 0.21072866
+v -0.12667392 -0.03017820 -0.49473953
+v -0.12667392 0.08093171 -0.49887216
+v -0.12667392 0.09976175 -0.49699366
+v -0.12667392 0.08928476 0.21441041
+v -0.10759424 0.05027742 0.26873499
+v -0.10429460 0.05969244 0.26873499
+v -0.10293593 0.06355989 0.26873499
+v -0.08773819 0.08120116 0.26873499
+v -0.12667392 0.13174745 -0.49293625
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 16
+f 1 16 5
+f 1 5 2
+f 2 6 15
+f 2 15 14
+f 2 14 22
+f 2 22 36
+f 2 36 35
+f 2 35 34
+f 2 34 33
+f 2 33 27
+f 2 27 26
+f 2 26 25
+f 2 25 17
+f 2 17 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 3
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 18
+f 4 18 29
+f 4 29 19
+f 4 19 12
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 16 24
+f 5 24 37
+f 5 37 21
+f 5 21 13
+f 10 17 18
+f 10 18 11
+f 12 19 20
+f 12 20 16
+f 13 21 14
+f 14 21 22
+f 16 20 23
+f 16 23 24
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 32
+f 18 32 21
+f 18 21 37
+f 18 37 31
+f 18 31 30
+f 18 30 29
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 20 31 24
+f 20 24 23
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 24 31 37
+f 27 33 32
+f 27 32 28
+
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ea58e57779d7dbc588660893ba9bec4d000e72f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.18271095 -0.20521533 -0.22952744
+v 0.09474741 -0.28184208 -0.22596553
+v 0.18135169 -0.20521533 -0.25036129
+v 0.17179802 -0.20521533 -0.11285783
+v 0.09498042 -0.28042376 -0.00573147
+v 0.09766011 -0.28402108 -0.14162199
+v 0.12352488 -0.23993783 -0.31608877
+v 0.02224059 -0.33086360 -0.11897358
+v 0.06138728 -0.28373742 -0.32065877
+v 0.17335147 -0.20521533 -0.28335944
+v 0.15451601 -0.20521533 0.01355665
+v 0.14437982 -0.20521533 0.08022500
+v 0.08103830 -0.28395662 0.06261703
+v 0.04146441 -0.32155439 -0.02696857
+v 0.16302109 -0.20521533 -0.31071228
+v 0.09633968 -0.23681757 -0.38060653
+v 0.14251569 -0.20521533 -0.35412738
+v -0.04141162 -0.33078623 -0.14551994
+v -0.00207075 -0.32552564 -0.18550751
+v -0.01989647 -0.33692360 -0.05922744
+v 0.00651201 -0.27985644 -0.37738064
+v 0.06301839 -0.24603650 -0.41353747
+v 0.02635721 -0.30186585 -0.27307692
+v 0.11358287 -0.20521533 0.15899041
+v 0.07633914 -0.25756341 0.14393628
+v 0.02791065 -0.30898312 0.09232207
+v -0.04211067 -0.33372599 0.03082859
+v 0.10336900 -0.20521533 -0.40876585
+v 0.12604922 -0.20521533 -0.37852314
+v -0.07923789 -0.30783561 -0.18812855
+v -0.02665394 -0.30760351 -0.25002527
+v -0.08626720 -0.32226354 -0.05082670
+v -0.10968531 -0.30654624 -0.11137930
+v -0.01379922 -0.29068708 -0.32220450
+v -0.04234368 -0.26742700 -0.37697741
+v 0.01909487 -0.25397897 -0.41750261
+v 0.02810483 -0.20521533 -0.46333712
+v 0.03536716 -0.20521533 -0.46132094
+v 0.08950455 -0.20521533 -0.42697868
+v 0.08115481 -0.20521533 0.19064444
+v 0.08014507 -0.20521533 0.19158533
+v 0.02604652 -0.27678779 0.16987780
+v -0.03873193 -0.31601015 0.11154299
+v -0.09232561 -0.31049168 0.09595121
+v -0.18355137 -0.20521533 -0.30930096
+v -0.14273474 -0.23239507 -0.30782244
+v -0.05931501 -0.27848974 -0.31857538
+v -0.14479306 -0.28774735 0.01402710
+v -0.13768607 -0.20521533 -0.38336197
+v -0.04486802 -0.22688949 -0.43114543
+v 0.00872566 -0.20521533 -0.45997682
+v 0.07773723 -0.20521533 0.19360152
+v 0.03412441 -0.22389817 0.21329287
+v -0.00412906 -0.26078680 0.19339991
+v -0.05741205 -0.25115526 0.19608814
+v -0.12751102 -0.23060286 0.17814413
+v -0.13857929 -0.27426064 0.10253739
+v -0.20137712 -0.20521533 -0.13926978
+v -0.15442437 -0.20521533 -0.35728604
+v -0.21403766 -0.20521533 0.05925673
+v -0.21085310 -0.20521533 -0.04067859
+v -0.07908254 -0.20521533 -0.43154868
+v -0.07873301 -0.20521533 -0.43181750
+v -0.07857767 -0.20521533 -0.43188471
+v 0.03583319 -0.20521533 0.21685478
+v -0.03306188 -0.20521533 0.22323936
+v -0.04141162 -0.20521533 0.22317216
+v -0.04416897 -0.20521533 0.22303775
+v -0.12067590 -0.20521533 0.19622254
+v -0.09892774 -0.20521533 0.20556417
+v -0.14580280 -0.20521533 0.18331900
+v -0.16393921 -0.20521533 0.16833207
+v -0.19058070 -0.20521533 0.13486347
+v -0.21306676 -0.20521533 0.06362512
+f 1 2 3
+f 1 3 10
+f 1 10 15
+f 1 15 17
+f 1 17 29
+f 1 29 28
+f 1 28 39
+f 1 39 38
+f 1 38 37
+f 1 37 51
+f 1 51 64
+f 1 64 63
+f 1 63 62
+f 1 62 49
+f 1 49 59
+f 1 59 45
+f 1 45 58
+f 1 58 61
+f 1 61 60
+f 1 60 74
+f 1 74 73
+f 1 73 72
+f 1 72 71
+f 1 71 69
+f 1 69 70
+f 1 70 68
+f 1 68 67
+f 1 67 66
+f 1 66 65
+f 1 65 52
+f 1 52 41
+f 1 41 40
+f 1 40 24
+f 1 24 12
+f 1 12 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 7 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 8
+f 7 15 10
+f 7 9 16
+f 7 16 17
+f 7 17 15
+f 8 18 19
+f 8 19 9
+f 8 14 20
+f 8 20 18
+f 9 21 22
+f 9 22 16
+f 9 19 23
+f 9 23 21
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 14 27 20
+f 16 22 28
+f 16 28 29
+f 16 29 17
+f 18 30 31
+f 18 31 19
+f 18 20 27
+f 18 27 32
+f 18 32 33
+f 18 33 30
+f 19 31 21
+f 19 21 23
+f 21 31 34
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 28
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 26
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 32
+f 30 45 46
+f 30 46 47
+f 30 47 31
+f 30 33 45
+f 31 47 35
+f 31 35 34
+f 32 44 48
+f 32 48 33
+f 33 48 45
+f 35 49 50
+f 35 50 36
+f 35 47 46
+f 35 46 49
+f 36 50 37
+f 37 50 51
+f 41 52 53
+f 41 53 42
+f 42 53 54
+f 42 54 43
+f 43 54 55
+f 43 55 44
+f 44 55 56
+f 44 56 57
+f 44 57 48
+f 45 48 58
+f 45 59 46
+f 46 59 49
+f 48 60 61
+f 48 61 58
+f 48 57 60
+f 49 62 50
+f 50 62 63
+f 50 63 64
+f 50 64 51
+f 52 65 53
+f 53 65 66
+f 53 66 54
+f 54 66 67
+f 54 67 68
+f 54 68 55
+f 55 69 56
+f 55 68 70
+f 55 70 69
+f 56 71 72
+f 56 72 57
+f 56 69 71
+f 57 72 73
+f 57 73 74
+f 57 74 60
+
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704fcdb3442cde71f432e8b965883f6da065bd64
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.13454399 -0.03014372 -0.49581638
+v -0.16962200 0.08509229 -0.49999997
+v -0.12669890 0.08095208 -0.49886546
+v -0.12669890 -0.03014372 -0.49475276
+v -0.19185808 -0.03014372 -0.47823107
+v -0.17262013 0.12663247 -0.49262550
+v -0.14758581 0.14274481 -0.49361822
+v -0.24205165 -0.03014372 -0.43107694
+v -0.21384431 0.09185465 -0.45632035
+v -0.12669890 0.09979007 -0.49702182
+v -0.12669890 -0.03014372 0.19710132
+v -0.23710474 0.18649310 -0.38945365
+v -0.18188933 0.19325544 -0.43497691
+v -0.13956583 0.23165596 -0.41490981
+v -0.12669890 0.23093140 -0.41710797
+v -0.12669890 0.15733907 -0.48305285
+v -0.12669890 0.15043871 -0.48709464
+v -0.12669890 0.13353282 -0.49269640
+v -0.26064000 -0.03014372 -0.39704087
+v -0.31308216 0.15306084 -0.28677815
+v -0.12669890 0.02692226 0.21071577
+v -0.22286366 -0.03014372 0.19121593
+v -0.30193913 0.19649862 -0.27642554
+v -0.24000293 0.24787179 -0.31975061
+v -0.19248269 0.26350111 -0.34279588
+v -0.12669890 0.23483011 -0.41228619
+v -0.27548072 -0.03014372 -0.36392659
+v -0.37281975 0.14636749 -0.14559938
+v -0.35667986 0.19560157 -0.15765382
+v -0.12669890 0.08930151 0.21440300
+v -0.22606166 0.17179532 0.22440109
+v -0.25027150 -0.03014372 0.17093611
+v -0.28440014 0.11193470 0.20270312
+v -0.29177052 0.24431811 -0.23614952
+v -0.21944080 0.29734737 -0.22281872
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diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f7b572fa0c4c5848c4c1758335d6df92e71036d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64f0fcac0a0c14aace9cbc8d163524435ff52e7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b68618b7daaeed7229e407fe8d81abd72ea13607
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.07859745 -0.03021247 0.21487510
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diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed75bbd7367f7a58606291f3795c895e60ae216f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41d6c669ff1c17160592065e0a447014c0bcb1cb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
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+v 0.20141927 -0.00397262 -0.21969697
+v 0.14300802 0.27503950 -0.22395057
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71d830c04336b5fab9a1d671a36a9467bba2a907
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
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+v -0.05436093 -0.01170158 0.41890318
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+f 26 7 14
+f 27 15 3
+f 28 16 9
+f 28 9 8
+f 29 17 9
+f 29 5 6
+f 29 6 17
+f 29 24 5
+f 30 10 20
+f 31 18 11
+f 31 11 4
+f 31 4 25
+f 32 4 11
+f 32 11 19
+f 32 25 4
+f 33 21 1
+f 33 1 16
+f 33 28 21
+f 33 16 28
+f 34 22 13
+f 34 13 24
+f 35 12 22
+f 35 34 23
+f 35 22 34
+f 36 21 12
+f 37 9 16
+f 37 34 24
+f 37 16 23
+f 37 23 34
+f 37 29 9
+f 37 24 29
+f 38 14 7
+f 38 7 25
+f 39 26 13
+f 39 13 7
+f 39 7 26
+f 40 26 14
+f 40 14 5
+f 41 24 13
+f 41 5 24
+f 42 27 12
+f 42 12 21
+f 43 12 27
+f 43 18 31
+f 43 30 18
+f 44 30 20
+f 44 20 11
+f 44 11 18
+f 44 18 30
+f 45 27 3
+f 45 3 10
+f 45 10 30
+f 45 43 27
+f 45 30 43
+f 46 31 25
+f 46 25 7
+f 46 43 31
+f 46 22 12
+f 46 12 43
+f 47 32 19
+f 47 19 14
+f 47 14 32
+f 48 32 14
+f 48 25 32
+f 49 36 12
+f 49 23 21
+f 49 21 36
+f 49 35 23
+f 49 12 35
+f 50 40 5
+f 50 5 41
+f 50 26 40
+f 50 41 13
+f 50 13 26
+f 51 8 15
+f 51 15 27
+f 51 27 42
+f 51 28 8
+f 51 42 21
+f 51 21 28
+f 52 46 7
+f 52 22 46
+f 52 7 13
+f 52 13 22
+f 53 38 25
+f 53 25 48
+f 53 48 14
+f 53 14 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..477af75382194fc9731d82fadc58a7191dbc06e7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.00013253 -0.31909108 0.06577161
+v 0.09859638 -0.27746731 -0.23196223
+v 0.12654642 -0.19858720 0.13363463
+v -0.26598507 -0.15320218 0.00754508
+v -0.08858010 -0.28807835 -0.22860031
+v 0.11051018 -0.18579080 -0.23484849
+v -0.17127018 -0.21306682 0.14807778
+v 0.09255113 -0.27815884 0.01976665
+v 0.01193976 -0.31773355 -0.20174461
+v -0.16221708 -0.15548777 0.00757575
+v -0.27387590 -0.14770238 -0.23295789
+v 0.00017223 -0.30328855 0.12085676
+v -0.13351322 -0.28903139 0.04933487
+v 0.02872019 -0.30674345 -0.23264315
+v 0.03992073 -0.31966242 -0.01057009
+v -0.27707719 -0.14731696 -0.14523583
+v 0.03940167 -0.28960877 0.12131944
+v -0.09365197 -0.30586274 0.10120849
+v -0.13606712 -0.27584070 0.10278289
+v -0.10319082 -0.30378211 -0.13886604
+v -0.05082595 -0.30535841 -0.23025622
+v 0.03910337 -0.31950668 -0.14310313
+v -0.19390214 -0.20330566 -0.23815847
+v 0.07329394 -0.28934176 -0.23232114
+v 0.08275161 -0.28972433 -0.00925765
+v -0.17661437 -0.24855427 0.00820439
+v 0.07826412 -0.26330683 0.12345357
+v 0.06746460 -0.28809931 0.07646254
+v 0.02759763 -0.30344215 0.10570053
+v -0.06585738 -0.30436411 0.11634615
+v -0.13603917 -0.26421256 0.11996469
+v -0.11933496 -0.29032200 0.09505480
+v -0.26815470 -0.15489849 -0.23223423
+v -0.09069311 -0.31952516 -0.05264043
+v -0.02160633 -0.31822544 -0.20086590
+v -0.06352448 -0.31738948 -0.17042821
+v 0.08450183 -0.28911122 -0.20370485
+v 0.09285021 -0.26286383 0.07782258
+v -0.03945443 -0.31974747 0.09456578
+v 0.03017784 -0.31800372 0.02017319
+v 0.03980461 -0.30430568 0.08030417
+v 0.05197287 -0.28759460 0.10658212
+v -0.10412586 -0.28860740 0.11631776
+v -0.13095840 -0.29267377 -0.05067039
+v -0.09265970 -0.31809761 -0.04002262
+v 0.07936836 -0.27445829 0.09191641
+v -0.02906317 -0.31805167 0.09439425
+v -0.06811783 -0.31842054 0.07905392
+f 6 3 2
+f 7 3 4
+f 8 2 3
+f 10 4 3
+f 10 3 6
+f 11 10 6
+f 16 4 10
+f 16 10 11
+f 17 3 7
+f 17 7 12
+f 19 7 4
+f 19 4 13
+f 22 9 14
+f 23 11 6
+f 23 6 14
+f 23 14 21
+f 23 21 5
+f 24 14 6
+f 24 6 2
+f 24 22 14
+f 25 2 8
+f 26 13 4
+f 26 4 16
+f 27 3 17
+f 28 25 8
+f 28 15 25
+f 29 17 12
+f 30 12 7
+f 31 7 19
+f 32 19 13
+f 32 13 18
+f 32 18 19
+f 33 5 20
+f 33 23 5
+f 33 11 23
+f 33 26 16
+f 33 16 11
+f 35 21 14
+f 35 14 9
+f 35 9 22
+f 35 22 34
+f 36 20 5
+f 36 5 21
+f 36 21 35
+f 36 35 34
+f 36 34 20
+f 37 15 22
+f 37 25 15
+f 37 2 25
+f 37 24 2
+f 37 22 24
+f 38 8 3
+f 39 12 30
+f 39 30 18
+f 39 15 1
+f 39 34 22
+f 39 22 15
+f 40 1 15
+f 41 15 28
+f 41 28 29
+f 41 40 15
+f 41 29 1
+f 41 1 40
+f 42 29 28
+f 42 27 17
+f 42 17 29
+f 43 31 19
+f 43 19 18
+f 43 18 30
+f 43 30 7
+f 43 7 31
+f 44 33 20
+f 44 13 26
+f 44 26 33
+f 44 20 34
+f 45 18 13
+f 45 44 34
+f 45 13 44
+f 46 38 3
+f 46 3 27
+f 46 28 8
+f 46 8 38
+f 46 42 28
+f 46 27 42
+f 47 29 12
+f 47 12 39
+f 47 39 1
+f 47 1 29
+f 48 39 18
+f 48 18 45
+f 48 45 34
+f 48 34 39
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd9343d4aebdbdbe7897db08a1401ecca6700cf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00060158 -0.00653334 0.25463678
+v 0.00444958 -0.01912414 0.00757575
+v 0.00444958 0.22330010 0.00757575
+v -0.30398780 0.25788125 0.00968113
+v -0.31938131 -0.03368153 0.01374657
+v 0.00472134 0.22168230 0.22126496
+v -0.09474123 -0.01033258 0.27244946
+v -0.25831764 0.21594618 0.20706955
+v -0.00174645 0.10644531 0.25099947
+v -0.28138817 0.05837039 0.17123694
+v -0.23281939 0.21745623 0.21811663
+v -0.26009838 -0.01974624 0.16315790
+v -0.26702145 0.10702923 0.20262902
+v -0.08478706 0.08704288 0.26053154
+v -0.22600855 -0.02003426 0.18832910
+v -0.24942137 0.20415424 0.21764731
+v -0.24807782 0.14934236 0.21624585
+v -0.10292829 0.06519512 0.26323497
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 9 7 1
+f 9 1 6
+f 10 8 4
+f 10 4 5
+f 11 6 4
+f 11 4 8
+f 12 10 5
+f 13 8 10
+f 13 10 12
+f 14 9 6
+f 14 6 11
+f 14 7 9
+f 15 12 5
+f 15 5 7
+f 15 13 12
+f 15 7 13
+f 16 11 8
+f 16 8 13
+f 17 16 13
+f 17 13 7
+f 17 7 16
+f 18 14 11
+f 18 11 16
+f 18 16 7
+f 18 7 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a92f171cf70cea43762e8a3f22da433a8327adb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.19250812 -0.15546536 -0.41665030
+v -0.14237804 -0.11929376 -0.48194668
+v -0.14706557 -0.12518474 -0.35606061
+v -0.18822864 0.26046173 -0.34924534
+v -0.23893334 -0.00608240 -0.43073078
+v -0.15638112 0.24179532 -0.39201282
+v -0.20731967 -0.08529238 -0.46208519
+v -0.26717191 -0.11967664 -0.35166611
+v -0.14706557 -0.00397262 -0.35606061
+v -0.20504572 0.14666930 -0.44482102
+v -0.19627266 -0.14183491 -0.43256141
+v -0.21469529 0.24307705 -0.34645121
+v -0.25028619 -0.07319443 -0.42256328
+v -0.14266162 -0.00358175 -0.49398859
+v -0.16156298 0.26146100 -0.35235806
+v -0.19242867 -0.02017442 -0.47701311
+v -0.18511912 -0.08795151 -0.47625929
+v -0.18600248 -0.14330390 -0.43807429
+v -0.21804449 -0.14655470 -0.41014466
+v -0.27323206 0.14524061 -0.34925791
+v -0.19545076 0.20857153 -0.40403268
+v -0.14253387 -0.01872193 -0.49359445
+v -0.15690759 0.22819146 -0.40823468
+v -0.19531440 -0.04988022 -0.47618334
+v -0.15716417 -0.00294684 -0.48954350
+v -0.19325158 -0.12811588 -0.44465250
+v -0.26456143 -0.11846456 -0.36284270
+v -0.23735904 -0.08512930 -0.43152388
+v -0.21184928 -0.14399157 -0.41819454
+v -0.23709761 0.18652040 -0.38945461
+v -0.25022516 0.12831582 -0.38947199
+v -0.25009848 -0.05194272 -0.42189872
+v -0.25501740 0.19924033 -0.34766331
+v -0.19397579 0.23709693 -0.37220482
+v -0.15444914 -0.11741607 -0.47685951
+v -0.24990410 -0.11584801 -0.38984441
+v -0.26344879 -0.10277494 -0.37608562
+v -0.22300990 -0.13108013 -0.41715839
+v -0.22537229 0.18284385 -0.40289266
+v -0.23615877 0.14371229 -0.40534742
+v -0.26578923 0.07019658 -0.37546074
+v -0.25012282 0.17374726 -0.37425221
+v -0.16997105 0.22415646 -0.40491865
+v -0.24874583 -0.10010790 -0.40426020
+f 1 2 3
+f 8 1 3
+f 9 3 2
+f 12 8 3
+f 12 3 4
+f 14 6 9
+f 15 9 6
+f 15 6 4
+f 15 4 3
+f 15 3 9
+f 16 5 10
+f 18 2 1
+f 18 1 11
+f 19 1 8
+f 22 14 9
+f 22 9 2
+f 22 2 17
+f 23 14 10
+f 23 6 14
+f 24 5 16
+f 24 7 13
+f 24 17 7
+f 24 22 17
+f 25 16 10
+f 25 10 14
+f 25 24 16
+f 25 14 22
+f 25 22 24
+f 26 7 17
+f 26 18 11
+f 27 19 8
+f 28 13 7
+f 29 11 1
+f 29 1 19
+f 29 26 11
+f 29 7 26
+f 30 12 21
+f 31 20 30
+f 32 24 13
+f 32 5 24
+f 32 31 5
+f 33 20 8
+f 33 8 12
+f 33 12 30
+f 34 21 12
+f 34 12 4
+f 35 26 17
+f 35 17 2
+f 35 2 18
+f 35 18 26
+f 36 19 27
+f 37 13 27
+f 37 27 8
+f 37 8 20
+f 38 28 7
+f 38 7 29
+f 38 29 19
+f 38 19 36
+f 38 13 28
+f 39 30 21
+f 39 21 10
+f 39 10 30
+f 40 10 5
+f 40 5 31
+f 40 31 30
+f 40 30 10
+f 41 32 13
+f 41 20 31
+f 41 31 32
+f 41 37 20
+f 41 13 37
+f 42 33 30
+f 42 30 20
+f 42 20 33
+f 43 21 34
+f 43 23 10
+f 43 10 21
+f 43 34 4
+f 43 4 6
+f 43 6 23
+f 44 36 27
+f 44 27 13
+f 44 38 36
+f 44 13 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac0c04b2bdfd87d6681d5631ad5823a945f343f4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.20390878 -0.16064767 0.19532684
+v 0.20414818 -0.12021071 0.26111009
+v -0.00943661 -0.11211407 0.21914576
+v 0.00614900 0.16198937 0.21658577
+v 0.20343109 0.17263516 0.17910457
+v 0.00069646 0.06942069 0.27705330
+v -0.01047085 -0.09526173 0.21682923
+v 0.11022375 -0.11071735 0.25118042
+v 0.19921164 0.13844491 0.24452670
+v -0.01062884 -0.11015343 0.21878987
+v 0.00056780 0.15546303 0.21994456
+v 0.18210036 0.14552026 0.23966794
+v -0.00035543 0.07970748 0.27078422
+v 0.19818074 0.14934813 0.22681934
+v 0.09773595 0.15361757 0.23151486
+f 1 2 3
+f 5 2 1
+f 7 5 1
+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 10 7 1
+f 10 1 3
+f 10 3 6
+f 11 4 7
+f 13 10 6
+f 13 7 10
+f 13 11 7
+f 13 4 11
+f 14 12 9
+f 14 9 5
+f 14 5 12
+f 15 12 5
+f 15 5 4
+f 15 4 13
+f 15 13 6
+f 15 6 9
+f 15 9 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d741847aabcc3e27c3e99a50e2d7e6a384a4133
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.22792774 -0.13217019 0.24158091
+v 0.28548489 -0.10177424 0.24424902
+v 0.16773722 0.03804896 0.29446214
+v 0.15372098 0.14183778 0.24172460
+v 0.07959776 -0.13736120 0.22921615
+v 0.28529879 0.08996431 0.25493630
+v 0.24179394 -0.05754966 0.29257912
+v 0.27196089 0.10824371 0.24242029
+v 0.06494850 -0.00392024 0.23558722
+v 0.22257224 0.10534316 0.27649391
+v 0.22455107 -0.09460041 0.27954358
+v 0.28012024 -0.04116375 0.27775780
+v 0.28973946 0.09634813 0.24487379
+v 0.10547577 -0.04800070 0.26288788
+v 0.11184126 0.11609943 0.24446008
+v 0.25894468 0.05000107 0.29257187
+v 0.21373522 0.13585721 0.24296990
+v 0.22244594 0.11639240 0.26682285
+v 0.28318811 -0.09996098 0.24791580
+v 0.19859937 -0.12981940 0.25367092
+v 0.27857857 0.05036240 0.27851655
+v 0.06534615 -0.12498653 0.23203663
+v 0.17430817 -0.05600832 0.29208732
+v 0.19421221 0.10867748 0.27562832
+v 0.26393999 -0.03031631 0.29396399
+v 0.28349193 0.07782612 0.26435998
+v 0.25208895 0.10049498 0.26529153
+v 0.21217842 0.12944165 0.25426170
+v 0.20453783 -0.10064951 0.27570356
+v 0.11115181 -0.13756410 0.23203106
+v 0.22474251 -0.12531543 0.24966529
+v 0.16360727 -0.03218719 0.29221368
+v 0.15914800 -0.08548098 0.27565579
+v 0.12687867 0.13134868 0.24493498
+v 0.22858359 0.06502759 0.29223200
+v 0.26717211 0.00985830 0.29202320
+v 0.13367440 -0.04572839 0.27672987
+v 0.07832767 -0.13116059 0.23262880
+v 0.15106842 0.13509364 0.24709296
+v 0.18961753 0.06528276 0.29174533
+v 0.10101463 -0.11565208 0.24608592
+f 5 2 1
+f 8 5 4
+f 8 2 5
+f 9 4 5
+f 13 2 8
+f 13 12 2
+f 14 3 9
+f 15 9 3
+f 15 4 9
+f 17 8 4
+f 18 13 8
+f 19 1 2
+f 19 7 11
+f 19 2 12
+f 22 14 9
+f 22 9 5
+f 23 11 7
+f 24 10 18
+f 25 16 3
+f 25 19 12
+f 25 7 19
+f 25 23 7
+f 25 3 23
+f 26 10 16
+f 26 16 21
+f 26 13 6
+f 26 21 12
+f 26 12 13
+f 27 18 10
+f 27 6 13
+f 27 13 18
+f 27 26 6
+f 27 10 26
+f 28 18 8
+f 28 8 17
+f 28 17 4
+f 28 24 18
+f 28 4 24
+f 29 20 11
+f 29 5 20
+f 29 11 23
+f 30 20 5
+f 30 5 1
+f 30 1 20
+f 31 20 1
+f 31 11 20
+f 31 19 11
+f 31 1 19
+f 32 23 3
+f 32 3 14
+f 32 22 23
+f 33 23 22
+f 33 29 23
+f 34 4 15
+f 34 15 3
+f 35 16 10
+f 35 10 24
+f 35 3 16
+f 36 21 16
+f 36 16 25
+f 36 25 12
+f 36 12 21
+f 37 32 14
+f 37 14 22
+f 37 22 32
+f 38 22 5
+f 38 5 29
+f 38 29 33
+f 39 34 24
+f 39 24 4
+f 39 4 34
+f 40 34 3
+f 40 24 34
+f 40 35 24
+f 40 3 35
+f 41 38 33
+f 41 33 22
+f 41 22 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd05367701be6dfdf458480f5d3dc2abe9fbd020
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.25087866 -0.16835226 0.00774837
+v -0.22282314 -0.07973020 -0.28030303
+v -0.23797466 -0.00397262 0.00757575
+v -0.33202114 0.00435825 0.00633261
+v -0.29674414 -0.10181969 -0.26229633
+v -0.22282314 -0.00397262 -0.28030303
+v -0.27353828 -0.14562714 0.00744343
+v -0.22282314 -0.07973020 -0.23484849
+v -0.24663089 -0.16872208 -0.23579481
+v -0.22282314 -0.00397262 -0.23484849
+v -0.30178906 -0.00291393 -0.27785037
+v -0.30976883 -0.10291869 -0.11823428
+v -0.26339966 -0.14812925 -0.28255713
+v -0.29531308 -0.13004254 -0.17119003
+v -0.33073714 0.00257140 -0.09637774
+v -0.30028371 -0.10317465 0.00621786
+v -0.29539355 -0.07810458 -0.27653698
+v -0.28189240 -0.14188776 -0.21639436
+v -0.29606273 -0.12912965 -0.10181115
+v -0.31227828 -0.09077075 -0.18815964
+v -0.31058978 -0.07451898 -0.00978478
+v -0.28512150 -0.11731370 -0.27751513
+v -0.28546233 -0.13872682 -0.12957305
+v -0.27387590 -0.14770238 -0.23295789
+v -0.29453751 -0.11501451 -0.23183370
+v -0.31022866 -0.10375503 -0.15767129
+v -0.28353152 -0.13092713 0.00690257
+v -0.31131621 -0.04886377 -0.21685601
+v -0.28098962 -0.13004886 -0.26150774
+v -0.31273538 -0.00345474 -0.21708551
+v -0.27503795 -0.13397104 -0.27846192
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 8 2 6
+f 9 8 1
+f 9 2 8
+f 10 6 4
+f 10 4 3
+f 10 8 6
+f 10 3 8
+f 13 2 9
+f 13 11 6
+f 13 6 2
+f 15 4 6
+f 15 6 11
+f 16 7 4
+f 17 5 11
+f 17 11 13
+f 18 9 1
+f 19 1 7
+f 19 16 12
+f 21 16 4
+f 21 4 12
+f 21 12 16
+f 22 17 13
+f 22 5 17
+f 23 18 1
+f 23 14 18
+f 23 19 14
+f 23 1 19
+f 24 18 13
+f 24 13 9
+f 24 9 18
+f 25 18 14
+f 26 19 12
+f 26 14 19
+f 26 12 4
+f 26 4 15
+f 26 15 20
+f 26 25 14
+f 26 20 5
+f 26 5 25
+f 27 19 7
+f 27 7 16
+f 27 16 19
+f 28 20 15
+f 28 11 5
+f 28 5 20
+f 29 5 22
+f 29 25 5
+f 29 18 25
+f 30 28 15
+f 30 15 11
+f 30 11 28
+f 31 29 22
+f 31 22 13
+f 31 13 18
+f 31 18 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1feef45ce4aa98153ea4773fa622b97029b8798
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.02591606 0.17787151 0.21813699
+v 0.10969649 0.22245337 0.18876223
+v 0.05902826 0.22836753 0.21818183
+v -0.23147976 0.27716740 0.18254593
+v -0.27050435 0.22494413 0.19221690
+v 0.04712955 0.27422499 0.18229437
+v 0.10106548 0.21337251 0.21205201
+v -0.07300566 0.17607912 0.20671483
+v -0.26213965 0.24723463 0.18292219
+v -0.19661181 0.24580558 0.21920996
+v 0.06395499 0.22038000 0.21968393
+v 0.06868443 0.25676413 0.19560002
+v -0.22086145 0.22144545 0.21917590
+v -0.23316329 0.25396121 0.20378522
+v 0.10382553 0.23149558 0.18420444
+v 0.04516376 0.26736591 0.19241586
+v -0.25831764 0.21594618 0.20706955
+v -0.25712889 0.24203574 0.19279055
+v -0.23183365 0.26977263 0.18948710
+v -0.21751000 0.23242878 0.21760422
+v 0.07306441 0.26132192 0.18384881
+v 0.04688568 0.25506221 0.20348588
+v -0.25476900 0.22847759 0.20257057
+v -0.20239680 0.24662600 0.21730216
+f 7 1 2
+f 8 2 1
+f 9 8 5
+f 9 4 6
+f 11 7 3
+f 11 1 7
+f 11 3 10
+f 12 3 7
+f 13 11 10
+f 13 1 11
+f 14 4 9
+f 15 2 8
+f 15 8 9
+f 15 9 6
+f 15 12 7
+f 15 7 2
+f 16 6 4
+f 16 4 10
+f 16 12 6
+f 17 8 1
+f 17 1 13
+f 17 5 8
+f 18 14 9
+f 18 9 5
+f 19 4 14
+f 20 13 10
+f 20 17 13
+f 20 14 17
+f 21 15 6
+f 21 6 12
+f 21 12 15
+f 22 16 10
+f 22 10 3
+f 22 3 12
+f 22 12 16
+f 23 17 14
+f 23 14 18
+f 23 18 5
+f 23 5 17
+f 24 19 14
+f 24 10 4
+f 24 4 19
+f 24 20 10
+f 24 14 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b225423d9e32192b0fecf8a7f85b1cb428f958ae
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.20191116 -0.18589294 -0.23339107
+v 0.18004443 -0.16506814 -0.35185738
+v 0.18626776 -0.00397262 -0.23484849
+v -0.29700980 -0.00201908 -0.29474282
+v -0.17640468 -0.21491677 -0.23791340
+v 0.18626776 -0.00397262 -0.35606061
+v -0.16349746 -0.19589156 -0.36603606
+v -0.22282314 -0.00397262 -0.23484849
+v -0.26861295 -0.15295708 -0.23791332
+v -0.27352452 -0.00292454 -0.36520857
+v -0.25209182 -0.13926931 -0.35562351
+v -0.30213137 -0.08402571 -0.24769031
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 9 5 8
+f 10 4 6
+f 10 6 7
+f 11 7 5
+f 11 5 9
+f 11 10 7
+f 12 9 8
+f 12 8 4
+f 12 11 9
+f 12 4 10
+f 12 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a518f6035126a181bfdee86b6f553b90c6f1e69
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.11051018 -0.00397262 -0.34090909
+v 0.20264632 0.16007078 -0.35102270
+v 0.17317699 0.21328674 -0.33282567
+v 0.00547605 0.29286715 -0.33747898
+v 0.11236169 0.00121437 -0.45710869
+v 0.00444958 -0.00397262 -0.34090909
+v 0.10558964 0.18888899 -0.43477206
+v 0.00444958 -0.00397262 -0.40151515
+v 0.17885680 0.14187375 -0.41209047
+v 0.09159306 0.27988502 -0.34596424
+v 0.00555873 0.22448917 -0.43252401
+v 0.14949866 0.14230780 -0.43208028
+v 0.08763677 0.28508454 -0.33662513
+v 0.11358956 0.26872823 -0.34319477
+v 0.11008488 0.14714332 -0.44560820
+v 0.00530230 0.25279271 -0.40337588
+v 0.03175443 0.25297323 -0.40133965
+v 0.14773573 0.15603210 -0.42802078
+v 0.04628011 0.28060597 -0.36149540
+v 0.09881542 0.23943464 -0.38855653
+v 0.16841908 0.20964733 -0.34503923
+v 0.11731005 0.26879347 -0.33627576
+v 0.11587569 0.18376080 -0.43210805
+v 0.07358317 0.26688220 -0.37011716
+v 0.00838639 0.28023159 -0.36027395
+v 0.09796713 0.26870994 -0.35731353
+v 0.17523026 0.15153633 -0.40599397
+v 0.07371373 0.25206624 -0.38558891
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 8 5 1
+f 8 1 6
+f 9 2 5
+f 11 5 8
+f 12 9 5
+f 13 4 3
+f 14 10 13
+f 15 11 7
+f 15 5 11
+f 15 12 5
+f 15 7 12
+f 16 11 8
+f 16 8 6
+f 16 6 4
+f 17 7 11
+f 17 11 16
+f 18 12 7
+f 18 9 12
+f 19 13 10
+f 19 4 13
+f 19 17 16
+f 20 7 17
+f 21 14 3
+f 21 3 2
+f 22 14 13
+f 22 13 3
+f 22 3 14
+f 23 9 18
+f 23 20 14
+f 23 18 7
+f 23 7 20
+f 24 19 10
+f 24 17 19
+f 25 19 16
+f 25 16 4
+f 25 4 19
+f 26 10 14
+f 26 14 20
+f 26 24 10
+f 26 20 24
+f 27 14 21
+f 27 23 14
+f 27 9 23
+f 27 21 2
+f 27 2 9
+f 28 24 20
+f 28 20 17
+f 28 17 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21e82e91496191b182fa78b3fc372bb85cfbada1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.33485135 -0.00413675 -0.21885913
+v 0.32285652 -0.00459822 -0.25904215
+v 0.17317699 0.21328674 -0.33282567
+v -0.00329096 0.27531213 -0.36548380
+v 0.00444958 -0.00397262 -0.21969697
+v 0.18626776 -0.00397262 -0.34090909
+v 0.00444958 0.22330010 -0.21969697
+v 0.31978483 0.05015892 -0.26093984
+v 0.29167553 0.06178073 -0.32022534
+v 0.00444958 -0.00397262 -0.34090909
+v 0.19122525 0.21615419 -0.21874678
+v 0.27603296 0.12019659 -0.25927628
+v 0.29529760 -0.00356406 -0.32003909
+v 0.30729494 0.09239491 -0.21495920
+v 0.27423208 0.08958045 -0.31877372
+v 0.18497674 0.21080851 -0.29164224
+v 0.32250786 0.06625056 -0.21674098
+v 0.25959551 0.11810847 -0.30337676
+v 0.32095583 0.06317609 -0.23051725
+f 5 2 1
+f 7 4 5
+f 8 1 2
+f 9 6 4
+f 9 4 3
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 3 4
+f 11 4 7
+f 12 8 9
+f 13 9 8
+f 13 8 2
+f 13 2 6
+f 13 6 9
+f 14 11 7
+f 14 7 5
+f 14 5 1
+f 14 12 11
+f 14 8 12
+f 15 12 9
+f 15 9 3
+f 16 12 3
+f 16 3 11
+f 16 11 12
+f 17 14 1
+f 17 1 8
+f 18 15 3
+f 18 3 12
+f 18 12 15
+f 19 17 8
+f 19 8 14
+f 19 14 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d19267c63855a92ae84b71c01167c45bd94ad16
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.25261696 -0.15446469 0.19378503
+v 0.33642096 -0.09431415 0.17367617
+v 0.20262496 -0.10640531 0.27266694
+v 0.00084989 -0.10411351 0.21891445
+v 0.16996046 -0.17101668 0.17051276
+v 0.29806052 -0.08733992 0.24322541
+v 0.27051743 -0.15395254 0.17059673
+v 0.20141927 -0.09488171 0.17424241
+v 0.00879456 -0.19523626 0.22137830
+v 0.15812555 -0.10365197 0.26686355
+v 0.22307165 -0.13800065 0.23719364
+v 0.29557019 -0.14286199 0.17247982
+v 0.31124095 -0.08576174 0.22665626
+v 0.19789042 -0.10550001 0.27234949
+v 0.00346709 -0.18365500 0.22419013
+v 0.28213241 -0.10765616 0.23833882
+v 0.23082255 -0.15234642 0.21207670
+v 0.19843490 -0.11405450 0.26815284
+v 0.26895417 -0.15173451 0.18360445
+v 0.32672236 -0.11345915 0.17260549
+v 0.32758986 -0.08968481 0.19955740
+v 0.29371736 -0.14052456 0.17880307
+v 0.29243985 -0.09799114 0.23918292
+v 0.29274619 -0.10952500 0.22372303
+v 0.32453813 -0.11110749 0.17939276
+v 0.32384960 -0.09887726 0.19452436
+f 8 5 4
+f 8 7 5
+f 9 4 5
+f 9 7 1
+f 9 5 7
+f 10 6 4
+f 13 8 4
+f 13 4 6
+f 14 3 6
+f 14 6 10
+f 14 9 3
+f 15 10 4
+f 15 4 9
+f 15 14 10
+f 15 9 14
+f 16 6 3
+f 17 11 9
+f 17 9 1
+f 17 16 11
+f 17 1 16
+f 18 3 9
+f 18 9 11
+f 18 16 3
+f 18 11 16
+f 19 1 7
+f 19 7 12
+f 19 16 1
+f 20 12 7
+f 20 8 2
+f 20 7 8
+f 21 2 8
+f 21 8 13
+f 21 20 2
+f 22 19 12
+f 22 16 19
+f 22 12 20
+f 23 6 16
+f 24 23 16
+f 24 16 22
+f 25 20 21
+f 25 23 24
+f 25 24 22
+f 25 22 20
+f 26 25 21
+f 26 23 25
+f 26 6 23
+f 26 21 13
+f 26 13 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc7ca2881030ab3b422d0f23baf2b987b51203fc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.14403752 -0.24323326 -0.23432817
+v -0.13998978 -0.15741201 -0.45246402
+v -0.14706557 -0.14033626 -0.23484849
+v -0.28112515 -0.13845859 -0.23439252
+v -0.23561229 -0.13988732 -0.39311267
+v -0.27387590 -0.14770238 -0.23295789
+v -0.13924029 -0.23800696 -0.29402275
+v -0.17212894 -0.11994459 -0.46677395
+v -0.15204566 -0.23577012 -0.23310071
+v -0.25351786 -0.14026294 -0.34982345
+v -0.13864371 -0.21777673 -0.35065898
+v -0.24144849 -0.16793708 -0.29417792
+v -0.14687681 -0.12463414 -0.47656815
+v -0.18069603 -0.13967826 -0.44692828
+v -0.25569585 -0.11879114 -0.37837176
+v -0.24342663 -0.17096140 -0.23378811
+v -0.25096539 -0.15750697 -0.30680760
+v -0.21321323 -0.15169253 -0.40595495
+v -0.14706557 -0.12518474 -0.35606061
+v -0.15761116 -0.14205273 -0.46008045
+v -0.26477572 -0.12399825 -0.35511399
+v -0.23815349 -0.15519489 -0.34973350
+v -0.16564015 -0.21322124 -0.31863748
+v -0.16757646 -0.16748566 -0.41845366
+v -0.14310601 -0.14393813 -0.46249311
+v -0.16799843 -0.13181535 -0.46291044
+v -0.27299035 -0.13241783 -0.29316418
+v -0.25106238 -0.13158811 -0.37542862
+v -0.21139351 -0.18337744 -0.31881889
+v -0.14006799 -0.18714600 -0.40886680
+v -0.15274765 -0.18227252 -0.40611153
+f 6 3 4
+f 7 3 1
+f 9 1 3
+f 9 3 6
+f 11 2 3
+f 11 3 7
+f 12 7 1
+f 14 5 8
+f 15 4 3
+f 15 8 5
+f 16 9 6
+f 16 1 9
+f 16 12 1
+f 16 6 12
+f 17 6 4
+f 17 12 6
+f 18 5 14
+f 19 13 8
+f 19 3 2
+f 19 2 13
+f 19 15 3
+f 19 8 15
+f 20 2 14
+f 21 4 15
+f 21 10 17
+f 22 17 10
+f 22 10 5
+f 22 5 18
+f 23 18 11
+f 23 11 7
+f 23 22 18
+f 24 18 14
+f 24 14 2
+f 25 20 13
+f 25 13 2
+f 25 2 20
+f 26 20 14
+f 26 14 8
+f 26 8 13
+f 26 13 20
+f 27 21 17
+f 27 17 4
+f 27 4 21
+f 28 21 15
+f 28 15 5
+f 28 5 10
+f 28 10 21
+f 29 7 12
+f 29 12 17
+f 29 17 22
+f 29 23 7
+f 29 22 23
+f 30 24 2
+f 30 2 11
+f 30 18 24
+f 31 30 11
+f 31 11 18
+f 31 18 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b867c0e8815bf54d233637408a9375d5722a679c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.10301588 -0.27083502 -0.00877048
+v 0.20179043 -0.18615271 -0.23481391
+v 0.20095553 -0.18288106 0.09826205
+v 0.15390391 -0.17775003 0.15644837
+v 0.11051018 -0.18579080 -0.23484849
+v 0.18586437 -0.18063436 0.12748615
+v 0.18753435 -0.20074478 -0.23451814
+v 0.10555733 -0.22729313 0.12729092
+v 0.10586601 -0.27109276 -0.23372338
+v 0.10119847 -0.23910142 0.11073066
+v 0.13384128 -0.18838650 0.15566735
+v 0.11499636 -0.26382313 -0.23226468
+v 0.10227086 -0.25525428 0.06673834
+v 0.13992604 -0.18419308 0.15865525
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 7 3 1
+f 8 6 4
+f 9 5 2
+f 9 2 7
+f 10 8 5
+f 10 3 6
+f 10 6 8
+f 10 9 1
+f 10 5 9
+f 11 5 8
+f 12 9 7
+f 12 7 1
+f 12 1 9
+f 13 10 1
+f 13 1 3
+f 13 3 10
+f 14 11 8
+f 14 8 4
+f 14 4 5
+f 14 5 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e23de7794fb6cd27bc929d1335fc8398f02970
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.13784422 -0.19510883 -0.37452200
+v 0.10131183 -0.16421255 -0.44701104
+v 0.11051018 -0.00397262 -0.35606061
+v -0.14706557 -0.00397262 -0.35606061
+v -0.16349746 -0.19589156 -0.36603606
+v -0.14266162 -0.00358175 -0.49398859
+v 0.11186198 -0.00018556 -0.45725594
+v 0.05514997 -0.16161621 -0.47498682
+v 0.10042395 -0.13328917 -0.46070403
+v -0.14257874 -0.12724862 -0.47567652
+v 0.07518780 -0.12683678 -0.47365555
+v 0.10855778 -0.04887549 -0.46009107
+v 0.06888543 -0.14757747 -0.47382600
+v -0.11221033 -0.15736091 -0.46028093
+v -0.14145109 -0.09202761 -0.48850571
+v -0.10174118 -0.09164058 -0.49023541
+v -0.10587357 -0.00654609 -0.49072099
+v 0.08453884 -0.16124694 -0.45848298
+v -0.03508698 -0.15921140 -0.47373107
+v -0.13998978 -0.15741201 -0.45246402
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 3 1
+f 7 6 4
+f 7 4 3
+f 8 2 1
+f 8 1 5
+f 9 1 2
+f 12 7 1
+f 12 1 9
+f 12 11 7
+f 12 9 11
+f 13 9 2
+f 13 11 9
+f 13 8 11
+f 15 10 5
+f 15 5 6
+f 16 11 8
+f 16 15 6
+f 17 6 7
+f 17 7 11
+f 17 16 6
+f 17 11 16
+f 18 13 2
+f 18 2 8
+f 18 8 13
+f 19 14 10
+f 19 8 5
+f 19 5 14
+f 19 10 15
+f 19 16 8
+f 19 15 16
+f 20 14 5
+f 20 5 10
+f 20 10 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d02c611e31a53a49c8da52242cc77f8d62917c2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.11113882 0.16029390 0.22996036
+v 0.14278190 0.27017135 0.01435334
+v 0.12177463 0.25058307 0.13344146
+v 0.00472134 0.22168230 0.22126496
+v 0.00444958 0.16269404 0.00757575
+v 0.00444958 0.23845161 0.12878786
+v 0.10106548 0.21337251 0.21205201
+v 0.11051018 0.16269404 0.00757575
+v 0.00056780 0.15546303 0.21994456
+v 0.00444958 0.23845161 0.00757575
+v 0.10494097 0.19883103 0.21944873
+v 0.08889845 0.21249186 0.21698497
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 2 1
+f 9 1 4
+f 9 4 6
+f 9 8 1
+f 9 5 8
+f 10 6 2
+f 10 9 6
+f 10 5 9
+f 10 8 5
+f 10 2 8
+f 11 1 3
+f 11 3 7
+f 12 11 7
+f 12 7 4
+f 12 4 1
+f 12 1 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce8fd229011468d6365389ae9a37c1eeb1dd330
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00346709 -0.18365500 0.22419013
+v 0.00444958 -0.18579080 0.00757575
+v 0.00444958 -0.01912414 0.00757575
+v -0.12163219 -0.01596332 0.20255279
+v -0.14706557 -0.18579080 0.00757575
+v 0.00569731 -0.02639142 0.22536300
+v -0.06803960 -0.18537533 0.21984896
+v -0.14706557 -0.01912414 0.00757575
+v 0.00561884 -0.11195608 0.22033799
+v -0.13877090 -0.17648346 0.20347184
+v -0.14618639 -0.08323792 0.20234637
+v -0.06982150 -0.14164231 0.21779826
+v -0.14676977 -0.02026553 0.19269560
+f 5 3 2
+f 6 3 4
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 8 4 3
+f 8 3 5
+f 9 6 1
+f 9 1 2
+f 9 2 6
+f 10 5 7
+f 11 6 4
+f 11 10 7
+f 11 5 10
+f 12 11 7
+f 12 7 6
+f 12 6 11
+f 13 11 4
+f 13 4 8
+f 13 8 5
+f 13 5 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8667d581e31dfdd70387d8fd7dc43631cb8e5fd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.14060579 -0.28328520 0.05126885
+v -0.14329161 -0.28849404 0.00812868
+v -0.14706557 -0.01912414 0.00757575
+v -0.28090096 -0.01926162 0.13294579
+v -0.28007664 -0.13089941 0.06631347
+v -0.14676977 -0.02026553 0.19269560
+v -0.26650200 -0.14290621 0.10366964
+v -0.32467605 -0.01792553 0.00706766
+v -0.13772628 -0.25102400 0.13649642
+v -0.15008541 -0.28105891 0.00935320
+v -0.14706196 -0.27734734 0.04975032
+v -0.31285905 -0.06001389 0.00564075
+v -0.31548784 -0.01728367 0.06318382
+v -0.14725105 -0.26275980 0.10795045
+v -0.19779906 -0.12925837 0.20038532
+v -0.17670175 -0.24640955 0.04960677
+v -0.28353152 -0.13092713 0.00690257
+v -0.22600855 -0.02003426 0.18832910
+v -0.26754399 -0.10197254 0.15262123
+v -0.29466929 -0.09226264 0.09137249
+v -0.20892983 -0.17233636 0.15747615
+v -0.14016204 -0.26892035 0.10813457
+v -0.14238774 -0.16558712 0.20787338
+v -0.30028371 -0.10317465 0.00621786
+v -0.29871448 -0.01924092 0.10429804
+v -0.22364935 -0.11418028 0.19063513
+v -0.27965526 -0.11558133 0.10592847
+v -0.31094792 -0.04519148 0.06507512
+v -0.19290425 -0.18504068 0.16056085
+v -0.24993360 -0.14185308 0.13313841
+v -0.14084742 -0.19396501 0.19238218
+v -0.20699084 -0.09810259 0.20230724
+v -0.29667073 -0.10133208 0.05130761
+v -0.28115586 -0.06471419 0.13310429
+v -0.29498723 -0.04683474 0.10590141
+v -0.25360580 -0.11391404 0.15999557
+v -0.28072143 -0.10097083 0.12151421
+v -0.15350910 -0.19117120 0.18751186
+v -0.14618639 -0.08323792 0.20234637
+f 1 2 3
+f 9 1 3
+f 9 3 6
+f 10 7 5
+f 10 2 7
+f 11 2 1
+f 12 8 3
+f 12 3 2
+f 13 6 3
+f 13 3 8
+f 14 11 1
+f 14 7 11
+f 16 11 7
+f 16 7 2
+f 16 2 11
+f 17 2 10
+f 17 10 5
+f 18 13 4
+f 18 6 13
+f 19 18 4
+f 20 5 7
+f 21 7 14
+f 22 14 1
+f 22 1 9
+f 22 9 14
+f 24 12 2
+f 24 2 17
+f 24 17 5
+f 25 4 13
+f 26 18 19
+f 26 21 15
+f 27 20 7
+f 27 7 19
+f 28 20 13
+f 28 13 8
+f 29 21 14
+f 29 14 9
+f 29 15 21
+f 30 19 7
+f 30 7 21
+f 31 9 6
+f 31 6 23
+f 32 15 23
+f 32 26 15
+f 32 18 26
+f 32 6 18
+f 33 12 24
+f 33 20 28
+f 33 28 8
+f 33 8 12
+f 33 24 5
+f 33 5 20
+f 34 19 4
+f 34 4 25
+f 34 20 19
+f 35 25 13
+f 35 13 20
+f 35 34 25
+f 35 20 34
+f 36 26 19
+f 36 21 26
+f 36 30 21
+f 36 19 30
+f 37 27 19
+f 37 19 20
+f 37 20 27
+f 38 29 9
+f 38 9 31
+f 38 15 29
+f 38 31 23
+f 38 23 15
+f 39 32 23
+f 39 23 6
+f 39 6 32
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a54f2c73b0a58d6be358f0407c75f4e284bee22
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.02872019 -0.30674345 -0.23264315
+v 0.20191116 -0.18589294 -0.23339107
+v -0.17640468 -0.21491677 -0.23791340
+v -0.14324260 -0.16349274 -0.44175203
+v 0.03912208 -0.20349201 -0.46028449
+v -0.05979020 -0.27265150 -0.33391696
+v -0.10578394 -0.27590738 -0.22958437
+v 0.06782163 -0.24470627 -0.40883969
+v 0.13065914 -0.16159949 -0.42420002
+v -0.02084139 -0.24282729 -0.41815244
+v 0.09859638 -0.27746731 -0.23196223
+v -0.05082595 -0.30535841 -0.23025622
+v -0.13498706 -0.22708037 -0.33316216
+v 0.07263897 -0.16374542 -0.46395008
+v 0.17551151 -0.16101025 -0.36394736
+v 0.09940494 -0.17567503 -0.44257212
+v -0.04589447 -0.24515956 -0.40488088
+v 0.00915096 -0.20505476 -0.46023869
+v 0.03039218 -0.25798379 -0.40594878
+v 0.15547158 -0.21434403 -0.30470821
+v 0.06830079 -0.27398018 -0.33385601
+v -0.07361474 -0.28834869 -0.25899260
+v -0.13485372 -0.24505686 -0.27668658
+v -0.05436413 -0.16259357 -0.46591911
+v 0.10868568 -0.21613223 -0.38877878
+v 0.06055987 -0.24507191 -0.41515946
+v 0.10131183 -0.16421255 -0.44701104
+v 0.06983865 -0.17634613 -0.45902056
+v -0.06186640 -0.21604972 -0.43145284
+v -0.10497361 -0.22754347 -0.37880243
+v -0.02093706 -0.27287155 -0.37720354
+v -0.02306072 -0.23158132 -0.43064814
+v 0.17921672 -0.20797921 -0.23439357
+v 0.17115014 -0.19976188 -0.30490689
+v 0.05805087 -0.28798477 -0.29337156
+v 0.09700602 -0.25824978 -0.31918264
+v -0.12018081 -0.24198933 -0.31863465
+v -0.13657437 -0.25058755 -0.23304576
+v -0.12912814 -0.16251303 -0.45172237
+v 0.08377784 -0.18740689 -0.44387440
+v 0.02797925 -0.27210300 -0.37845700
+v -0.13731273 -0.18171376 -0.42094715
+v -0.00568403 -0.25795697 -0.40298499
+v -0.03473577 -0.30240075 -0.25975058
+v 0.16950337 -0.17078326 -0.35988947
+v 0.12559837 -0.23018401 -0.33372210
+v 0.07329394 -0.28934176 -0.23232114
+v 0.09812932 -0.27472411 -0.24598656
+v 0.08198258 -0.25842477 -0.34954803
+v -0.12404656 -0.16944071 -0.44767008
+v 0.02727397 -0.30304879 -0.26241746
+v -0.04970748 -0.30183420 -0.24444417
+v 0.09433430 -0.23184265 -0.38920688
+v 0.07300914 -0.28746010 -0.24785955
+f 3 2 4
+f 11 2 7
+f 12 11 7
+f 13 3 4
+f 15 4 2
+f 16 9 8
+f 19 18 5
+f 22 12 7
+f 23 3 13
+f 23 22 7
+f 24 9 14
+f 24 14 5
+f 24 5 18
+f 25 9 15
+f 26 16 8
+f 26 19 5
+f 26 8 21
+f 27 16 14
+f 27 14 9
+f 27 9 16
+f 28 16 5
+f 28 5 14
+f 28 14 16
+f 29 17 4
+f 31 17 10
+f 31 30 17
+f 31 6 30
+f 32 18 19
+f 32 29 18
+f 32 10 17
+f 32 17 29
+f 33 2 11
+f 33 11 20
+f 34 15 2
+f 34 33 20
+f 34 2 33
+f 35 21 11
+f 37 6 22
+f 37 30 6
+f 37 13 30
+f 37 23 13
+f 37 22 23
+f 38 23 7
+f 38 3 23
+f 38 7 2
+f 38 2 3
+f 39 15 9
+f 39 9 24
+f 39 4 15
+f 39 24 18
+f 39 18 29
+f 40 26 5
+f 40 5 16
+f 40 16 26
+f 41 26 21
+f 41 19 26
+f 41 21 35
+f 41 31 19
+f 42 30 13
+f 42 13 4
+f 42 4 17
+f 42 17 30
+f 43 31 10
+f 43 19 31
+f 43 32 19
+f 43 10 32
+f 44 6 31
+f 44 1 12
+f 45 15 34
+f 46 34 20
+f 46 20 36
+f 47 1 35
+f 47 12 1
+f 47 11 12
+f 48 36 20
+f 48 20 11
+f 48 11 21
+f 48 21 36
+f 49 36 21
+f 49 21 8
+f 49 46 36
+f 50 39 29
+f 50 29 4
+f 50 4 39
+f 51 41 35
+f 51 35 1
+f 51 1 44
+f 51 44 31
+f 51 31 41
+f 52 44 12
+f 52 6 44
+f 52 22 6
+f 52 12 22
+f 53 25 15
+f 53 15 45
+f 53 45 34
+f 53 34 46
+f 53 8 9
+f 53 9 25
+f 53 49 8
+f 53 46 49
+f 54 47 35
+f 54 35 11
+f 54 11 47
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eada4150c164102e34125813bba9c5543b374c6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.02781633 -0.29551506 0.12385539
+v 0.14324425 -0.19016889 0.12998162
+v 0.01796206 -0.21253077 0.21706764
+v -0.12610921 -0.17927726 0.20834216
+v -0.17127018 -0.21306682 0.14807778
+v 0.10370647 -0.17827414 0.19784016
+v -0.07812012 -0.24508800 0.19082504
+v -0.14188289 -0.25570805 0.12465752
+v -0.14364122 -0.18194839 0.19784711
+v 0.13935197 -0.18116506 0.17059738
+v 0.04136771 -0.18205715 0.21944426
+v 0.03696713 -0.26235339 0.17430927
+v -0.06518798 -0.20661133 0.21568387
+v 0.12532127 -0.20373176 0.12410560
+v -0.12105752 -0.24527897 0.16307673
+v -0.08304298 -0.29585165 0.12098919
+v -0.12390505 -0.22017208 0.18594415
+v 0.06838754 -0.26060732 0.14810328
+v 0.03987771 -0.19655697 0.21675551
+v 0.03648541 -0.23151617 0.20405061
+v -0.02335364 -0.25927210 0.19172938
+v -0.06522539 -0.23697233 0.20064952
+v -0.06803960 -0.18537533 0.21984896
+v 0.05677689 -0.27834937 0.12310901
+v -0.13356968 -0.24633994 0.14833531
+v -0.10951475 -0.28130063 0.12163562
+v -0.08000854 -0.28954024 0.13134319
+v -0.10886309 -0.20517203 0.20135010
+v -0.13805361 -0.20598163 0.18691725
+v 0.02685544 -0.29049419 0.13690038
+v 0.05209684 -0.21687467 0.20458687
+v 0.01402876 -0.26149666 0.18704174
+v -0.10773013 -0.27553595 0.13194796
+v -0.06556982 -0.27312250 0.16114429
+v -0.12331541 -0.19129388 0.20287723
+v -0.05043512 -0.28832889 0.14603116
+v 0.01513491 -0.28730414 0.15080964
+f 9 2 5
+f 10 4 6
+f 10 9 4
+f 10 2 9
+f 11 6 4
+f 14 8 5
+f 14 5 2
+f 17 15 7
+f 17 5 15
+f 18 2 10
+f 18 10 12
+f 19 11 3
+f 19 6 11
+f 20 19 3
+f 20 12 10
+f 21 20 3
+f 22 13 4
+f 22 7 21
+f 22 21 3
+f 22 3 13
+f 23 11 4
+f 23 4 13
+f 23 13 3
+f 23 3 11
+f 24 14 2
+f 24 16 14
+f 24 1 16
+f 24 18 1
+f 24 2 18
+f 25 15 5
+f 25 5 8
+f 26 8 14
+f 26 14 16
+f 26 25 8
+f 26 15 25
+f 28 17 7
+f 28 22 4
+f 28 7 22
+f 29 9 5
+f 29 5 17
+f 29 4 9
+f 30 18 12
+f 30 1 18
+f 31 6 19
+f 31 19 20
+f 31 20 10
+f 31 10 6
+f 32 12 20
+f 32 20 21
+f 33 26 16
+f 33 15 26
+f 33 16 27
+f 33 27 7
+f 33 7 15
+f 34 21 7
+f 34 7 27
+f 35 28 4
+f 35 17 28
+f 35 29 17
+f 35 4 29
+f 36 21 34
+f 36 34 27
+f 36 27 16
+f 37 30 12
+f 37 12 32
+f 37 32 21
+f 37 21 36
+f 37 1 30
+f 37 36 16
+f 37 16 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c9b645691b19e07da5e4aa5c3b5c5dca2e1444
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.16337714 0.21496533 0.12559067
+v 0.17696140 0.21622995 -0.30844833
+v 0.05979485 0.32819585 -0.17178779
+v -0.18995289 0.31318533 0.09786409
+v -0.27050435 0.22494413 0.19221690
+v -0.28945921 0.23831925 -0.24732614
+v 0.04204553 0.29922422 0.14995478
+v 0.12497778 0.29845620 -0.04058816
+v 0.17739901 0.21374874 0.09482096
+v -0.00329096 0.27531213 -0.36548380
+v -0.18746577 0.31007892 -0.18705838
+v -0.24472719 0.29458630 0.10921869
+v 0.02213894 0.32735808 0.02103450
+v 0.10969649 0.22245337 0.18876223
+v -0.23050400 0.28558405 0.17518899
+v 0.12704421 0.28106970 -0.26170518
+v 0.09585739 0.28269357 0.10834381
+v 0.18495075 0.23888611 -0.10022649
+v 0.16573070 0.21918061 -0.33758358
+v -0.00660592 0.32805829 -0.17097016
+v -0.21619143 0.29666708 -0.22730262
+v -0.25470646 0.28260699 0.12344962
+v -0.21969236 0.31153047 0.02177338
+v 0.05519780 0.32476413 0.01899502
+v -0.20326027 0.29488097 0.16724732
+v 0.03006568 0.28270386 0.17740106
+v -0.22945880 0.29431325 0.13946025
+v 0.12729645 0.29750645 -0.11288990
+v 0.07494076 0.29771223 -0.31832177
+v 0.11464738 0.29468771 0.01807358
+v 0.12507161 0.25180143 0.12228466
+v 0.19270938 0.21473918 0.03604956
+v 0.15642373 0.26736451 -0.18747086
+v 0.14060282 0.25700405 -0.33142327
+v -0.00816441 0.32736030 -0.02441983
+v -0.25781406 0.28023320 -0.18717536
+v -0.25720882 0.25727019 0.17772331
+v -0.20491243 0.31197575 0.06751465
+v -0.21405530 0.31074090 -0.11181771
+v 0.10268018 0.31114705 -0.03958885
+v 0.05486058 0.31040265 0.09365490
+v 0.00236179 0.29620240 0.16385657
+v 0.07105427 0.26645320 0.17875311
+v 0.11468907 0.29529210 -0.23056247
+v 0.14009022 0.28326581 -0.04059484
+v 0.04814785 0.31213342 -0.27749172
+v 0.14081982 0.26699246 0.03240849
+v 0.17052121 0.22086601 0.09279724
+v 0.19122525 0.21615419 -0.21874678
+v 0.15346438 0.24012114 -0.33150825
+v 0.16903562 0.24093087 -0.26169608
+v 0.15423447 0.25592935 -0.27638889
+v 0.08455850 0.29558942 -0.30638741
+v 0.09948171 0.27910114 -0.33479070
+v -0.24283620 0.29569713 -0.12660613
+v -0.25820748 0.26894252 -0.22997091
+v -0.25306085 0.26828594 0.16628789
+v -0.15884551 0.31214535 -0.21554638
+v 0.10313211 0.31089697 -0.11327545
+v 0.07093346 0.29419641 0.12276713
+v 0.09683523 0.26777838 0.14607700
+v 0.07286149 0.30993160 -0.26229113
+v 0.14130559 0.28255360 -0.17232372
+v 0.00547605 0.29286715 -0.33747898
+f 6 2 5
+f 9 5 2
+f 9 1 5
+f 13 4 7
+f 14 5 1
+f 19 2 6
+f 19 6 10
+f 20 13 3
+f 21 10 6
+f 22 6 5
+f 22 15 12
+f 24 3 13
+f 26 25 15
+f 26 15 5
+f 26 5 14
+f 27 4 12
+f 27 12 15
+f 27 25 4
+f 27 15 25
+f 31 1 9
+f 33 28 18
+f 34 19 10
+f 35 4 13
+f 35 13 20
+f 35 23 4
+f 35 20 23
+f 36 22 12
+f 36 6 22
+f 37 22 5
+f 37 5 15
+f 38 23 12
+f 38 12 4
+f 38 4 23
+f 39 11 21
+f 39 23 20
+f 40 3 24
+f 40 8 28
+f 40 30 8
+f 40 24 30
+f 41 24 13
+f 41 13 7
+f 41 30 24
+f 42 7 4
+f 42 4 25
+f 42 26 7
+f 42 25 26
+f 43 26 14
+f 43 7 26
+f 45 28 8
+f 45 18 28
+f 45 32 18
+f 45 8 32
+f 46 20 3
+f 47 30 17
+f 47 9 32
+f 47 32 8
+f 47 8 30
+f 48 31 9
+f 48 17 31
+f 48 47 17
+f 48 9 47
+f 49 32 9
+f 49 9 2
+f 49 18 32
+f 49 33 18
+f 50 2 19
+f 50 19 34
+f 51 2 50
+f 51 49 2
+f 51 33 49
+f 52 34 16
+f 52 33 51
+f 52 51 50
+f 52 50 34
+f 53 34 29
+f 53 16 34
+f 53 44 16
+f 54 34 10
+f 54 10 29
+f 54 29 34
+f 55 36 12
+f 55 12 23
+f 55 23 39
+f 55 39 21
+f 55 21 36
+f 56 36 21
+f 56 21 6
+f 56 6 36
+f 57 37 15
+f 57 15 22
+f 57 22 37
+f 58 39 20
+f 58 11 39
+f 58 20 46
+f 58 21 11
+f 59 40 28
+f 59 3 40
+f 59 44 3
+f 59 28 44
+f 60 41 7
+f 60 17 30
+f 60 30 41
+f 61 43 14
+f 61 14 1
+f 61 1 31
+f 61 31 17
+f 61 17 60
+f 61 60 7
+f 61 7 43
+f 62 3 44
+f 62 46 3
+f 62 29 46
+f 62 53 29
+f 62 44 53
+f 63 16 44
+f 63 52 16
+f 63 33 52
+f 63 44 28
+f 63 28 33
+f 64 46 29
+f 64 29 10
+f 64 58 46
+f 64 10 21
+f 64 21 58
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc1ce0a092eb23291eaf64194fb9f2776d085143
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20009015 -0.16880085 0.16995339
+v 0.20206653 -0.18990198 0.00790972
+v 0.22123413 0.19647772 0.01190632
+v 0.00614900 0.16198937 0.21658577
+v 0.00879456 -0.19523626 0.22137830
+v 0.00444958 0.16269404 0.00757575
+v 0.20343109 0.17263516 0.17910457
+v 0.00444958 -0.18579080 0.00757575
+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 7 5 1
+f 7 4 5
+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/bell_pepper/bell_pepper_3/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca20842b3f58623444613cea4f800dc38e50da0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.26339966 -0.14812925 -0.28255713
+v -0.25209182 -0.13926931 -0.35562351
+v -0.23797466 -0.00397262 -0.23484849
+v -0.23658019 0.28180920 -0.23407406
+v -0.33259550 0.17210633 -0.22909612
+v -0.23094390 0.22934634 -0.34774828
+v -0.34357619 0.05680086 -0.15898252
+v -0.23051970 0.27067608 -0.27513223
+v -0.26848092 0.05657457 -0.37198079
+v -0.28129434 -0.06469185 -0.35098223
+v -0.31923894 -0.00340385 -0.15831259
+v -0.30174370 0.23227052 -0.22876533
+v -0.23052456 0.24395478 -0.33210099
+v -0.26942052 0.00037871 -0.37321901
+v -0.26478884 0.18549069 -0.34469990
+v -0.32494722 0.06061290 -0.24293923
+v -0.28058914 -0.11466314 -0.30687933
+v -0.26827769 0.05663343 -0.15909092
+v -0.25820748 0.26894252 -0.22997091
+v -0.26717191 -0.11967664 -0.35166611
+v -0.31229938 0.15619616 -0.28610164
+v -0.23962585 0.24018656 -0.32853060
+v -0.28165920 -0.08914857 -0.33633504
+v -0.28512150 -0.11731370 -0.27751513
+v -0.32904288 0.01855667 -0.15671534
+v -0.25905730 -0.13320737 -0.35393730
+v -0.28057045 0.11561778 -0.34492884
+v -0.29665260 0.19667449 -0.28463858
+v -0.31035780 0.08761332 -0.28766991
+v -0.23896058 0.22606510 -0.34456185
+v -0.28211434 0.24192734 -0.25545148
+v -0.27503795 -0.13397104 -0.27846192
+v -0.31863947 -0.00694258 -0.16315506
+v -0.26593398 -0.12898136 -0.33720582
+v -0.29679223 0.14371847 -0.31445661
+v -0.29586566 0.21063147 -0.26977817
+v -0.24952231 0.21070024 -0.34418345
+v -0.25534829 0.24931177 -0.28827404
+v -0.28006053 0.17038757 -0.32962162
+v -0.29446524 0.23167734 -0.24682288
+v -0.26550350 0.24089258 -0.28489485
+v -0.27096977 0.25001849 -0.25823201
+f 1 2 3
+f 6 3 2
+f 8 4 3
+f 12 5 7
+f 13 8 3
+f 13 3 6
+f 14 9 6
+f 14 6 2
+f 15 6 9
+f 16 7 5
+f 18 11 1
+f 18 1 3
+f 18 3 4
+f 18 4 7
+f 19 12 7
+f 19 7 4
+f 20 10 14
+f 21 14 10
+f 21 9 14
+f 22 13 6
+f 22 8 13
+f 23 16 10
+f 23 7 16
+f 23 20 17
+f 23 10 20
+f 24 23 17
+f 24 7 23
+f 25 18 7
+f 25 11 18
+f 25 7 24
+f 26 20 14
+f 26 14 2
+f 26 2 1
+f 27 15 9
+f 28 21 5
+f 28 15 21
+f 29 16 5
+f 29 5 21
+f 29 21 10
+f 29 10 16
+f 30 22 6
+f 30 6 15
+f 31 12 19
+f 32 1 11
+f 33 25 24
+f 33 11 25
+f 33 32 11
+f 33 24 32
+f 34 17 20
+f 34 20 26
+f 34 26 1
+f 34 1 32
+f 34 32 24
+f 34 24 17
+f 35 27 9
+f 35 9 21
+f 36 28 5
+f 36 5 12
+f 36 22 28
+f 37 30 15
+f 37 15 28
+f 37 28 22
+f 37 22 30
+f 38 8 22
+f 38 4 8
+f 39 35 21
+f 39 21 15
+f 39 15 27
+f 39 27 35
+f 40 36 12
+f 40 12 31
+f 41 22 36
+f 41 38 22
+f 41 31 38
+f 41 40 31
+f 41 36 40
+f 42 38 31
+f 42 31 19
+f 42 19 4
+f 42 4 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd75106076cb8698f8f057bd67dd2f4fe515f4d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00444958 -0.00397262 -0.23484849
+v 0.01128965 0.00317707 -0.46341147
+v 0.00699294 0.31914388 -0.23281662
+v -0.20432087 0.29862929 -0.23110853
+v -0.26942052 0.00037871 -0.37321901
+v -0.14525468 0.23510210 -0.40716338
+v -0.02160528 0.31229554 -0.23145466
+v 0.00846651 0.31366438 -0.26146414
+v -0.16221708 -0.00397262 -0.41666667
+v -0.23797466 -0.00397262 -0.23484849
+v -0.22612862 0.23826176 -0.34205527
+v -0.23019757 0.28736270 -0.23052939
+v 0.00530230 0.25279271 -0.40337588
+v 0.00501897 0.29873766 -0.32114601
+v -0.17006255 0.29488332 -0.27198987
+v -0.15690759 0.22819146 -0.40823468
+v -0.22575256 0.25256932 -0.32670093
+v -0.03812839 0.26457719 -0.37723106
+v -0.18888630 0.26755913 -0.33453113
+v -0.00931253 0.25180947 -0.40310708
+v -0.20081514 0.29607249 -0.24219837
+v -0.22680261 0.27962203 -0.25760208
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 10 9 1
+f 10 5 9
+f 12 7 4
+f 12 1 7
+f 12 10 1
+f 12 5 10
+f 13 8 2
+f 13 2 6
+f 14 8 13
+f 15 4 3
+f 15 3 8
+f 15 8 14
+f 16 6 2
+f 16 2 9
+f 16 9 5
+f 16 5 11
+f 17 11 5
+f 17 5 12
+f 17 16 11
+f 18 14 13
+f 19 15 14
+f 19 6 16
+f 19 16 17
+f 19 18 6
+f 19 14 18
+f 20 18 13
+f 20 13 6
+f 20 6 18
+f 21 4 15
+f 21 15 19
+f 22 19 17
+f 22 17 12
+f 22 12 4
+f 22 21 19
+f 22 4 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aee60e010a0c85034ebde5fc103ed0da2a5676f9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.13784422 -0.19510883 -0.37452200
+v 0.29529760 -0.00356406 -0.32003909
+v 0.19301740 -0.16311789 -0.33523447
+v 0.18186527 0.20480396 -0.32473683
+v 0.19743493 0.05414625 -0.44464855
+v 0.18626776 -0.00397262 -0.32575758
+v 0.20437873 -0.07300437 -0.41518188
+v 0.10608589 0.14338969 -0.44795802
+v 0.24442618 0.09062067 -0.39414263
+v 0.18772662 0.19774611 -0.32258285
+v 0.11051018 -0.00397262 -0.34090909
+v 0.28316600 -0.04352730 -0.33461180
+v 0.20018551 -0.12574905 -0.37407048
+v 0.10384038 -0.15082769 -0.45116469
+v 0.16247256 0.14054487 -0.42706588
+v 0.26195722 0.10672021 -0.31988391
+v 0.18457735 -0.16912603 -0.33976740
+v 0.11051018 0.14754252 -0.34090909
+v 0.23554169 -0.11588067 -0.33362952
+v 0.25958559 0.00213908 -0.38774797
+v 0.22922396 -0.06883519 -0.38953362
+v 0.19109492 -0.01458343 -0.44287184
+v 0.10725681 -0.16836621 -0.44162536
+v 0.17907085 0.20264355 -0.33646508
+v 0.21810463 0.07516994 -0.43245906
+v 0.20064582 0.18089868 -0.32206527
+v 0.28819363 0.05957667 -0.33415803
+v 0.26570324 -0.07234206 -0.33302328
+v 0.27651245 -0.01382951 -0.35903041
+v 0.20000265 -0.11410075 -0.38557415
+v 0.23087748 -0.11205118 -0.34578482
+v 0.24406442 -0.04318704 -0.38745867
+v 0.12943392 -0.13238573 -0.44342840
+v 0.21777257 0.00181152 -0.43034136
+v 0.13937814 -0.15587285 -0.41937398
+v 0.11998821 0.14221714 -0.44395903
+v 0.18403115 0.16454508 -0.37562665
+v 0.18636284 0.19663818 -0.33209517
+v 0.18099534 0.07921726 -0.44436902
+v 0.26060434 0.05134982 -0.39055168
+v 0.29167553 0.06178073 -0.32022534
+v 0.27552788 0.06367572 -0.36180940
+v 0.27764744 -0.03997376 -0.34597041
+v 0.21789263 -0.04501427 -0.41502938
+v 0.17118745 -0.15718983 -0.37541333
+v 0.12492544 -0.16001046 -0.43168330
+v 0.23012872 0.07923634 -0.41761122
+v 0.27348049 0.07390947 -0.34878670
+v 0.28947489 -0.00336878 -0.33245736
+f 6 3 2
+f 11 3 6
+f 11 6 10
+f 14 8 5
+f 16 6 2
+f 16 4 10
+f 17 11 1
+f 17 3 11
+f 18 14 11
+f 18 8 14
+f 18 11 10
+f 18 10 4
+f 19 2 3
+f 19 3 13
+f 22 14 5
+f 23 1 11
+f 23 11 14
+f 24 18 4
+f 24 8 18
+f 26 16 10
+f 26 10 6
+f 26 6 16
+f 28 12 2
+f 28 2 19
+f 28 21 12
+f 29 2 12
+f 30 7 21
+f 31 19 13
+f 31 30 21
+f 31 13 30
+f 31 28 19
+f 31 21 28
+f 32 21 7
+f 32 20 29
+f 33 22 7
+f 33 14 22
+f 33 23 14
+f 33 7 23
+f 34 7 22
+f 34 22 5
+f 34 5 25
+f 35 30 13
+f 35 7 30
+f 36 24 15
+f 36 8 24
+f 36 15 25
+f 37 24 9
+f 37 9 15
+f 37 15 24
+f 38 16 9
+f 38 9 24
+f 38 24 4
+f 38 4 16
+f 39 25 5
+f 39 5 8
+f 39 36 25
+f 39 8 36
+f 40 34 25
+f 40 20 34
+f 40 29 20
+f 41 27 16
+f 41 16 2
+f 41 2 27
+f 42 40 9
+f 42 29 40
+f 42 27 2
+f 43 32 29
+f 43 29 12
+f 43 12 21
+f 43 21 32
+f 44 32 7
+f 44 7 34
+f 44 34 20
+f 44 20 32
+f 45 35 13
+f 45 1 35
+f 45 13 3
+f 45 17 1
+f 45 3 17
+f 46 35 1
+f 46 1 23
+f 46 23 7
+f 46 7 35
+f 47 40 25
+f 47 9 40
+f 47 25 15
+f 47 15 9
+f 48 16 27
+f 48 27 42
+f 48 42 9
+f 48 9 16
+f 49 42 2
+f 49 2 29
+f 49 29 42
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3ee5c6c99cac56b2176bb509161f7f32a644cbe
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.19991664 0.15526901 0.21606540
+v 0.22005335 0.17447635 -0.22202159
+v 0.18604921 0.20674703 0.09213512
+v 0.10778894 0.26571558 0.12780496
+v 0.11051018 0.16269404 -0.21969697
+v 0.15047445 0.26829411 -0.22492784
+v 0.19028655 0.18937071 0.15300027
+v 0.11113882 0.16029390 0.22996036
+v 0.19122525 0.21615419 -0.21874678
+v 0.10225578 0.25901969 0.15123552
+v 0.16851634 0.15655544 0.22756725
+v 0.10106548 0.21337251 0.21205201
+v 0.11281114 0.25359913 0.14686154
+v 0.10494097 0.19883103 0.21944873
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 4 6
+f 11 8 5
+f 11 5 1
+f 12 10 5
+f 12 5 8
+f 12 11 1
+f 12 1 10
+f 13 10 1
+f 13 1 4
+f 13 4 10
+f 14 12 8
+f 14 8 11
+f 14 11 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2cd69daec4da74660d0e9fdfacdd1d96bf25fc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21515499 -0.16769293 0.16967370
+v 0.35169370 -0.02743620 -0.15584116
+v 0.33852187 0.07642723 0.20747441
+v 0.19270938 0.21473918 0.03604956
+v 0.19425063 -0.19395227 -0.23551636
+v 0.32369645 0.12990002 -0.07866798
+v 0.19921164 0.13844491 0.24452670
+v 0.33472070 -0.10128568 0.17077791
+v 0.36481330 0.07683338 -0.03375321
+v 0.30007826 0.15952441 0.11297161
+v 0.19849831 0.20596917 -0.21933455
+v 0.19789042 -0.10550001 0.27234949
+v 0.32118535 -0.10951205 -0.09547146
+v 0.26988576 -0.16752126 0.10964486
+v 0.31871687 0.07488619 -0.21380705
+v 0.36508416 -0.04360647 0.12763685
+v 0.33700700 0.13337003 0.05123757
+v 0.30696461 0.12096558 0.20638728
+v 0.22481952 0.17281580 0.16936548
+v 0.19369900 0.21753977 -0.18843602
+v 0.20009015 -0.16880085 0.16995339
+v 0.29557019 -0.14286199 0.17247982
+v 0.30833692 -0.01484845 0.26233128
+v 0.19818074 0.14934813 0.22681934
+v 0.30616749 -0.09634135 -0.21380421
+v 0.28113130 -0.15149960 -0.08066127
+v 0.36450797 0.05230237 -0.07997084
+v 0.34815314 0.07532037 -0.10680875
+v 0.28946708 0.12100642 -0.21413242
+v 0.33085960 -0.00436023 -0.23286980
+v 0.36509541 -0.04695888 -0.03586722
+v 0.36698468 0.05081264 0.15351884
+v 0.33739241 0.13206484 0.02507430
+v 0.33706155 0.11606367 0.15243945
+v 0.25530292 0.17304622 0.12434424
+v 0.28078821 0.14293577 0.19687751
+v 0.29855738 0.15962642 0.06857311
+v 0.19897254 -0.18559018 0.06700637
+v 0.27051743 -0.15395254 0.17059673
+v 0.33732391 -0.11029526 0.03919024
+v 0.28542671 0.05348571 0.27180106
+v 0.34809774 -0.01370516 0.21125813
+v 0.29471216 -0.08623952 0.24664359
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diff --git a/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/model.xml b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e33707b3f8b17f5f37e9ae397d2ceddaf8a0fd80
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bell_pepper/bell_pepper_3/model.xml
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f767de9e5ea107e9d3259366766d2e1e760d92b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e27ae4a4ff8ca99a8a6c945cb7f5d050abd7b9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f6df1d27e9bc69aadd03e726cd5225ee63826c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3154e8dd760090dee37e74c3efdee8fd46097de5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..379d282d9f09037b8281c210ea0f2813531e6ada
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf804695009e79a273c57cbed4dd1446b04e034
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_5.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c834dd503c69aa44cab0ad962a80b8af251aa5d
--- /dev/null
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4c633edbc15e5b532e0464cf90da626f2711ca4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/collision_mesh_collision_7.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0b44de12ba5ce1fca518b0a9a16b042e2579e80
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_0.obj
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+f 39 32 12
+f 39 33 27
+f 39 27 32
+f 40 34 28
+f 40 21 16
+f 40 16 34
+f 40 39 21
+f 40 28 38
+f 40 38 39
+f 41 36 24
+f 41 24 30
+f 41 30 36
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14af70030b677b27408efb514ff165ae72175be8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.03303034 -0.14108239 0.23095769
+v 0.08919151 -0.09279120 -0.49774919
+v 0.09532345 -0.09533914 0.26371993
+v -0.07548426 -0.10890094 0.27047554
+v -0.03485000 -0.14033592 -0.45486535
+v -0.06142880 -0.10288717 -0.49294795
+v 0.05864159 -0.12347158 0.25790522
+v 0.04843017 -0.14089392 -0.37067199
+v -0.03304356 -0.14107894 0.23095712
+v -0.05791720 -0.12671085 -0.46964359
+v 0.07384405 -0.12789936 -0.44551405
+v -0.00601917 -0.14108953 0.24419950
+v -0.04830726 -0.14118218 -0.38586795
+v -0.01956456 -0.12714384 -0.49198674
+v 0.03633957 -0.13978107 -0.42520070
+v 0.08781188 -0.10985425 -0.46896922
+v 0.07273762 -0.12599219 0.23048540
+v -0.05865350 -0.12346679 0.25790338
+v 0.00600505 -0.14109062 0.24419985
+v -0.05835310 -0.11477941 -0.49596125
+v 0.07336516 -0.11110621 -0.48466943
+v -0.01163265 -0.13919002 -0.45493323
+v 0.08845422 -0.10361298 0.26060221
+v 0.04788511 -0.14082853 -0.22036959
+v 0.08662077 -0.11189245 0.24337602
+v -0.04811529 -0.14088363 -0.23545918
+v 0.08316918 -0.09911918 -0.49942711
+v -0.04614166 -0.12676845 -0.48523371
+v 0.06527763 -0.12565098 -0.45554512
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 10 4 6
+f 13 5 8
+f 13 12 9
+f 13 8 1
+f 13 10 5
+f 13 4 10
+f 15 11 8
+f 15 8 5
+f 16 2 3
+f 17 7 1
+f 18 12 4
+f 18 9 12
+f 19 1 7
+f 19 7 4
+f 19 4 12
+f 19 13 1
+f 19 12 13
+f 20 10 6
+f 21 16 11
+f 22 14 11
+f 22 11 15
+f 22 15 5
+f 22 5 14
+f 23 3 7
+f 23 7 17
+f 24 17 1
+f 24 1 8
+f 24 8 11
+f 24 11 17
+f 25 16 3
+f 25 23 17
+f 25 3 23
+f 25 17 11
+f 25 11 16
+f 26 13 9
+f 26 9 18
+f 26 18 4
+f 26 4 13
+f 27 20 6
+f 27 6 2
+f 27 14 20
+f 27 21 14
+f 27 2 16
+f 27 16 21
+f 28 20 14
+f 28 14 5
+f 28 5 10
+f 28 10 20
+f 29 21 11
+f 29 11 14
+f 29 14 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d97cfa005ffdd4c3844835c2e8e6b900271ac2c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.06201235 -0.13068301 0.23179720
+v -0.06049294 -0.13103426 -0.45640516
+v -0.08154304 -0.10238952 0.27489713
+v -0.11832121 -0.07602316 0.24590162
+v -0.09869270 -0.11347812 -0.26591122
+v -0.11938934 -0.07376108 -0.44235192
+v -0.08663074 -0.11188642 0.24337389
+v -0.06390932 -0.11960671 0.26189860
+v -0.07273788 -0.12599236 0.23048405
+v -0.10878662 -0.07995012 0.26325094
+v -0.11349571 -0.09823562 -0.25080802
+v -0.09822752 -0.11383111 -0.32513983
+v -0.07347826 -0.11473657 0.25964182
+v -0.08903427 -0.09782766 -0.45571162
+v -0.10362212 -0.08846370 0.26060335
+v -0.11186952 -0.08666395 0.24337707
+v -0.07217653 -0.12521331 -0.45382942
+v -0.11330180 -0.09843849 -0.32510723
+v -0.06631389 -0.12565324 -0.46072857
+v -0.07378623 -0.12106482 -0.45775802
+f 8 1 2
+f 9 2 1
+f 9 7 5
+f 9 1 8
+f 10 6 4
+f 11 4 6
+f 12 9 5
+f 12 2 9
+f 13 8 3
+f 13 3 7
+f 13 9 8
+f 13 7 9
+f 14 3 8
+f 14 10 3
+f 14 6 10
+f 14 8 2
+f 15 7 3
+f 15 3 10
+f 16 4 11
+f 16 7 15
+f 16 15 10
+f 16 10 4
+f 16 11 5
+f 16 5 7
+f 17 2 12
+f 18 11 6
+f 18 17 12
+f 18 6 17
+f 18 12 5
+f 18 5 11
+f 19 14 2
+f 19 2 17
+f 20 19 17
+f 20 17 6
+f 20 6 14
+f 20 14 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de665bcdbc15c570db1226224f55aab1c355be18
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.11625351 -0.06133984 0.27336476
+v -0.12359683 -0.06476763 -0.09550535
+v -0.12006962 0.06309503 -0.04157252
+v -0.11626166 0.06131848 0.27336862
+v -0.14109616 0.00597577 0.24420525
+v -0.14105855 -0.03307042 0.23095816
+v -0.12838002 -0.04672643 0.25974718
+v -0.13966539 -0.00721093 -0.09894704
+v -0.14106463 0.03304686 0.23095934
+v -0.12837926 0.04672615 0.25974969
+v -0.14109417 -0.00600080 0.24420461
+v -0.13969329 -0.03270660 -0.00264989
+v -0.13969921 0.03268300 -0.00265142
+v -0.13193472 -0.04802846 -0.09988845
+v -0.12872159 0.04685992 -0.03532326
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 6 1
+f 8 3 2
+f 9 4 3
+f 9 8 6
+f 9 6 5
+f 10 7 4
+f 10 5 7
+f 10 9 5
+f 10 4 9
+f 11 7 5
+f 11 5 6
+f 11 6 7
+f 12 6 8
+f 13 9 3
+f 13 8 9
+f 14 12 8
+f 14 8 2
+f 14 2 6
+f 14 6 12
+f 15 13 3
+f 15 3 8
+f 15 8 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79e395afc528bfad632881077104f7bd0c33e02a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_12.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.09156800 -0.10673063 0.24686393
+v 0.13969156 -0.03270994 -0.00265307
+v 0.14105711 -0.03307380 0.23096077
+v 0.10890845 0.07546218 0.27048393
+v 0.11152143 0.07728715 -0.04034732
+v 0.12346801 -0.05863490 0.25790850
+v 0.12651043 -0.07305702 0.00924383
+v 0.09080465 -0.10596767 -0.02006433
+v 0.14106307 0.03305023 0.23096219
+v 0.09532345 -0.09533914 0.26371993
+v 0.12596922 -0.07273224 0.23048454
+v 0.09985890 -0.09986150 0.24375014
+v 0.12872142 -0.04685996 -0.03532399
+v 0.13969752 0.03268633 -0.00265457
+v 0.12617573 0.05987653 -0.01792093
+v 0.14109474 0.00597692 0.24420936
+v 0.10361449 -0.08846997 0.26060626
+v 0.09881786 -0.09882182 -0.01758697
+v 0.09626234 -0.09627967 -0.03739251
+v 0.12872125 0.04685977 -0.03532533
+v 0.12347688 0.05861388 0.25791141
+v 0.14109273 -0.00600186 0.24420871
+v 0.11186398 -0.08666995 0.24338018
+v 0.11498737 -0.07370392 -0.03526840
+v 0.10402402 -0.08888191 -0.03577053
+v 0.12040456 0.06425732 -0.03644491
+v 0.11061608 -0.08579980 -0.01729164
+f 7 2 3
+f 8 1 4
+f 8 4 5
+f 10 6 4
+f 10 4 1
+f 11 7 3
+f 11 3 6
+f 12 1 8
+f 12 7 11
+f 13 2 7
+f 14 2 13
+f 14 9 3
+f 14 3 2
+f 15 5 4
+f 15 9 14
+f 16 3 9
+f 17 11 6
+f 17 6 10
+f 17 10 1
+f 17 1 12
+f 18 12 8
+f 18 7 12
+f 19 8 5
+f 19 5 13
+f 19 18 8
+f 20 14 13
+f 20 13 5
+f 20 15 14
+f 21 15 4
+f 21 9 15
+f 21 16 9
+f 21 4 16
+f 22 6 3
+f 22 3 16
+f 22 16 4
+f 22 4 6
+f 23 17 12
+f 23 12 11
+f 23 11 17
+f 24 19 13
+f 24 13 7
+f 25 18 19
+f 25 24 7
+f 25 19 24
+f 26 20 5
+f 26 5 15
+f 26 15 20
+f 27 25 7
+f 27 7 18
+f 27 18 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ecc54da462eea4c5cf4421a4607363d18dc5f97
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.08154304 -0.10238952 0.27489713
+v -0.06818891 -0.00758835 0.00757577
+v -0.10197827 0.07664255 0.28242559
+v -0.11626166 0.06131848 0.27336862
+v -0.14277673 -0.01149239 -0.00332691
+v -0.10220046 -0.08705903 0.26683464
+v -0.09119079 -0.11614197 0.08333298
+v -0.11430784 0.08525600 -0.00622492
+v -0.11182784 -0.09669675 0.08333272
+v -0.12775409 0.06668375 -0.00034489
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 7 6
+f 9 6 5
+f 9 5 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/bottled_water/bottled_water_10/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd5c74a50e885d22b1a3120688562b00539a3158
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_14.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.04742165 0.04740877 0.39846424
+v 0.10846675 0.07059552 0.27800392
+v 0.04672207 0.12836719 0.25974979
+v -0.04672226 0.12836759 0.25974841
+v -0.12487486 0.05118651 0.26376406
+v 0.01895353 0.06929898 0.41175103
+v 0.07235101 0.04534371 0.36314554
+v 0.07347899 0.11473266 0.25965013
+v 0.00594981 0.12527605 0.28761014
+v -0.04742968 0.04740264 0.39846087
+v 0.04474855 0.05636883 0.41175103
+v -0.11472114 0.07348060 0.25964435
+v 0.04533599 0.12455762 0.27154205
+v -0.01896672 0.06929543 0.41175103
+v -0.11561893 0.04686264 0.28936172
+v 0.07102654 0.09608349 0.30162979
+v -0.07348868 0.11472670 0.25964776
+v 0.03255132 0.10897002 0.31404572
+v 0.07116875 0.11143815 0.27143076
+v -0.00596381 0.12527500 0.28760970
+v -0.04475809 0.05636217 0.41175103
+v -0.11067646 0.05970552 0.28707618
+v -0.04533629 0.12455830 0.27154033
+v -0.10106814 0.04714326 0.31783111
+v -0.09607932 0.07103992 0.30162686
+v -0.11142510 0.07117607 0.27142308
+v -0.03256479 0.10896734 0.31404415
+v -0.07117896 0.11143253 0.27142778
+v -0.09806871 0.05727938 0.31490452
+v -0.07103668 0.09607778 0.30162697
+f 7 5 2
+f 8 2 5
+f 9 3 4
+f 10 7 1
+f 11 7 2
+f 11 1 7
+f 12 8 5
+f 13 3 9
+f 13 6 11
+f 14 6 9
+f 14 11 6
+f 15 5 7
+f 15 7 10
+f 16 11 2
+f 17 8 12
+f 17 4 3
+f 17 3 8
+f 18 13 9
+f 18 9 6
+f 18 6 13
+f 19 8 3
+f 19 3 13
+f 19 13 11
+f 19 11 16
+f 19 16 2
+f 19 2 8
+f 20 14 9
+f 20 9 4
+f 21 11 14
+f 21 10 1
+f 21 1 11
+f 22 5 15
+f 23 20 4
+f 23 21 14
+f 24 15 10
+f 24 10 21
+f 26 12 5
+f 26 5 22
+f 26 17 12
+f 27 23 14
+f 27 14 20
+f 27 20 23
+f 28 23 4
+f 28 4 17
+f 28 21 23
+f 28 26 25
+f 28 17 26
+f 29 22 15
+f 29 15 24
+f 29 24 21
+f 29 21 25
+f 29 26 22
+f 29 25 26
+f 30 28 25
+f 30 25 21
+f 30 21 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65afe1d410cd23f0e1c793aac29b9462432631d4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_15.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.01797197 -0.06567251 0.49680278
+v 0.07263678 -0.01988291 0.37969886
+v 0.06566153 0.01799401 0.49681192
+v -0.01799015 0.06566191 0.49681209
+v -0.06549134 -0.02955322 0.41175103
+v 0.02993121 0.06626132 0.41408726
+v 0.05325012 -0.04260746 0.49685506
+v -0.02957072 -0.06548152 0.41175103
+v -0.06566122 -0.01801532 0.49680309
+v 0.06627689 0.02990161 0.41408726
+v 0.04257206 0.05326460 0.49685964
+v -0.02958032 0.06547694 0.41175103
+v 0.05916979 -0.04674650 0.37974515
+v 0.06565670 -0.01801799 0.49680929
+v -0.04257399 -0.05327230 0.49684706
+v 0.07427938 -0.00679054 0.38089309
+v 0.01797676 0.06566483 0.49681324
+v 0.05325897 0.04258836 0.49686136
+v -0.02994282 0.06625595 0.41408726
+v 0.04256324 -0.05327710 0.49685087
+v 0.02992166 -0.06626590 0.41408726
+v -0.06550100 0.02953245 0.41175103
+v 0.06626724 -0.02992223 0.41408726
+v -0.05326602 0.04258348 0.49685628
+v -0.01798547 -0.06566993 0.49680109
+v -0.05325720 -0.04260245 0.49685015
+v 0.02956866 0.06548237 0.41175103
+v 0.05099983 -0.05101688 0.38526160
+v -0.06626979 -0.02991685 0.41408726
+v -0.06566582 0.01799136 0.49680604
+v -0.04258282 0.05325962 0.49685608
+v -0.06627943 0.02989616 0.41408726
+v -0.02993332 -0.06626046 0.41408726
+v 0.06549842 0.02953792 0.41175103
+v 0.02955904 -0.06548691 0.41175103
+f 13 8 5
+f 16 10 3
+f 16 14 2
+f 16 3 14
+f 17 11 6
+f 17 6 4
+f 17 4 11
+f 18 3 10
+f 18 10 6
+f 18 6 11
+f 18 14 3
+f 18 7 14
+f 19 4 6
+f 20 13 7
+f 20 15 1
+f 20 7 15
+f 21 20 1
+f 21 13 20
+f 22 2 13
+f 22 16 2
+f 22 12 16
+f 22 13 5
+f 23 13 2
+f 23 2 14
+f 23 14 7
+f 23 7 13
+f 25 1 15
+f 25 21 1
+f 26 15 7
+f 26 7 18
+f 26 18 24
+f 27 6 10
+f 27 16 12
+f 27 19 6
+f 27 12 19
+f 28 8 13
+f 28 13 21
+f 29 22 5
+f 29 26 9
+f 29 5 8
+f 30 26 24
+f 30 9 26
+f 31 4 19
+f 31 19 24
+f 31 11 4
+f 31 24 18
+f 31 18 11
+f 32 24 19
+f 32 30 24
+f 32 22 29
+f 32 29 9
+f 32 9 30
+f 32 19 12
+f 32 12 22
+f 33 25 15
+f 33 21 25
+f 33 29 8
+f 33 15 26
+f 33 26 29
+f 34 27 10
+f 34 10 16
+f 34 16 27
+f 35 28 21
+f 35 8 28
+f 35 33 8
+f 35 21 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39145b81d516534992bee69a5129da4e2177b0a8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_16.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.10241393 0.08151501 0.27490958
+v 0.10630885 0.08423477 -0.04222829
+v 0.07273726 0.12599122 0.23048980
+v -0.03304958 0.14107620 0.23096187
+v -0.09555409 0.09556360 -0.04388519
+v 0.03267403 0.13973418 -0.00266243
+v 0.05865029 0.12346522 0.25791170
+v -0.09121920 0.09122879 0.27880658
+v 0.07304987 0.12655473 0.00923994
+v 0.03303635 0.14107955 0.23096270
+v -0.03268733 0.13973083 -0.00266159
+v 0.04684606 0.12873443 -0.03532661
+v 0.07347899 0.11473266 0.25965013
+v -0.05866214 0.12346020 0.25791009
+v -0.04684613 0.12873454 -0.03532586
+v 0.07368293 0.11502603 -0.03527353
+v -0.05992515 0.12617687 -0.01792467
+v 0.00600703 0.14108795 0.24420713
+v -0.06429788 0.12041752 -0.03644855
+v -0.00602115 0.14108685 0.24420678
+f 1 2 3
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 9 3 2
+f 10 6 4
+f 10 9 6
+f 10 3 9
+f 10 7 3
+f 11 4 6
+f 12 2 5
+f 12 6 9
+f 13 7 1
+f 13 1 3
+f 13 3 7
+f 14 5 8
+f 14 8 7
+f 15 12 5
+f 15 11 6
+f 15 6 12
+f 16 12 9
+f 16 9 2
+f 16 2 12
+f 17 5 14
+f 17 11 15
+f 17 14 4
+f 17 4 11
+f 18 10 4
+f 18 14 7
+f 18 7 10
+f 19 17 15
+f 19 15 5
+f 19 5 17
+f 20 18 4
+f 20 4 14
+f 20 14 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4103d7ddec3af2a1858e2bba0514c39e23f15b9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.07992628 -0.10880046 0.26325214
+v 0.12837882 -0.04672611 0.25975110
+v 0.07594508 0.03441811 0.36630493
+v 0.07993701 0.10879058 0.26325806
+v 0.08846574 0.10359906 0.26060736
+v 0.07588490 0.09043725 0.30600575
+v 0.07593804 -0.03443997 0.36630024
+v 0.08845422 -0.10361298 0.26060221
+v 0.12837808 0.04672572 0.25975358
+v 0.07722754 0.10492675 0.27585234
+v 0.12528561 0.00591892 0.28761217
+v 0.07588670 -0.09043959 0.30599886
+v 0.11470491 -0.07350431 0.25964356
+v 0.09607328 0.07104567 0.30163091
+v 0.08549232 0.10062155 0.27260367
+v 0.10896472 -0.03259529 0.31404380
+v 0.10896945 0.03257135 0.31404653
+v 0.08548149 -0.10063622 0.27259733
+v 0.07721751 -0.10493764 0.27584496
+v 0.11471552 0.07348689 0.25964775
+v 0.07783922 0.04918114 0.35202776
+v 0.08430451 0.08428069 0.30220242
+v 0.12528372 -0.00594381 0.28761137
+v 0.11140902 -0.07119988 0.27142210
+v 0.09547923 0.00596262 0.34565518
+v 0.12456914 0.04533891 0.27154576
+v 0.11141901 0.07118169 0.27142732
+v 0.09515113 0.04438578 0.32926191
+v 0.12457035 -0.04533947 0.27154271
+v 0.09606321 -0.07106375 0.30162586
+v 0.08197041 0.03015481 0.36023759
+v 0.09547757 -0.00598766 0.34565424
+v 0.08429376 -0.08429511 0.30219617
+v 0.09514390 -0.04440757 0.32925737
+v 0.08196340 -0.03017667 0.36023290
+f 5 1 4
+f 7 3 6
+f 8 1 5
+f 11 2 9
+f 12 7 6
+f 13 8 5
+f 13 9 2
+f 15 10 6
+f 15 5 4
+f 15 4 10
+f 18 1 8
+f 19 18 12
+f 19 1 18
+f 19 10 4
+f 19 4 1
+f 19 12 6
+f 19 6 10
+f 20 13 5
+f 20 9 13
+f 21 6 3
+f 22 15 6
+f 22 14 15
+f 22 21 14
+f 22 6 21
+f 23 2 11
+f 24 13 2
+f 24 18 8
+f 24 8 13
+f 25 11 17
+f 26 17 11
+f 26 11 9
+f 26 14 17
+f 27 15 14
+f 27 14 26
+f 27 26 9
+f 27 9 20
+f 27 20 5
+f 27 5 15
+f 28 17 14
+f 28 14 21
+f 28 21 3
+f 29 23 16
+f 29 2 23
+f 29 24 2
+f 30 18 24
+f 30 29 16
+f 30 24 29
+f 31 3 7
+f 31 25 17
+f 31 28 3
+f 31 17 28
+f 32 16 23
+f 32 23 11
+f 32 11 25
+f 33 12 18
+f 33 18 30
+f 33 30 7
+f 33 7 12
+f 34 30 16
+f 34 7 30
+f 35 16 32
+f 35 34 16
+f 35 7 34
+f 35 31 7
+f 35 32 25
+f 35 25 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e01d4ad3fa11340d239d65080e574a19dc708e41
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.10220046 -0.08705903 0.26683464
+v -0.09307639 -0.08394502 -0.46903596
+v -0.09875243 -0.04894143 -0.48547552
+v -0.12838002 -0.04672643 0.25974718
+v -0.12634390 -0.06815058 -0.43881696
+v -0.11625351 -0.06133984 0.27336476
+v -0.12596972 -0.07273238 0.23048206
+v -0.12152962 -0.04677112 -0.48905926
+v -0.13427541 -0.04887028 -0.45812334
+v -0.12347174 -0.05863006 0.25790459
+v -0.11471034 -0.07349861 0.25964020
+v -0.11286270 -0.06711009 -0.46945064
+v -0.11610661 -0.05549578 -0.48450678
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 8 4 3
+f 9 7 4
+f 9 5 7
+f 9 4 8
+f 10 7 6
+f 10 6 4
+f 10 4 7
+f 11 7 1
+f 11 1 6
+f 11 6 7
+f 12 2 5
+f 13 2 12
+f 13 8 3
+f 13 3 2
+f 13 9 8
+f 13 12 5
+f 13 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ec0927b8c05bdcfd18eb3bca5d01f2f4856718d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06796931 0.13021023 -0.35701641
+v 0.06734787 0.12868198 -0.41756053
+v 0.03396342 0.14409511 -0.41624462
+v -0.04855599 0.14131119 -0.35553361
+v -0.08358521 0.12063861 -0.35679589
+v 0.04850691 0.14196706 -0.35558732
+v -0.08259869 0.11933696 -0.41734450
+v -0.06411717 0.13484440 -0.35577362
+v 0.05097244 0.13960190 -0.41653870
+v -0.03408309 0.14317362 -0.41581714
+v -0.06352090 0.13329929 -0.41635120
+v -0.04844950 0.14088901 -0.37067260
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 7 3 2
+f 7 2 5
+f 8 6 4
+f 8 5 6
+f 9 6 1
+f 9 1 2
+f 9 2 3
+f 9 3 6
+f 10 4 3
+f 10 3 7
+f 11 7 5
+f 11 5 8
+f 11 10 7
+f 11 8 4
+f 12 11 4
+f 12 4 10
+f 12 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130759dd27631ac292357e0618138225f51ec7be
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_2.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.12837926 0.04672615 0.25974969
+v -0.07105921 0.04172295 -0.48009984
+v -0.06391807 0.11960014 0.26190520
+v -0.06202160 0.13067765 0.23180152
+v -0.12644901 0.07588732 -0.42690502
+v -0.11188023 0.08664617 0.24338101
+v -0.10197827 0.07664255 0.28242559
+v -0.12847869 0.04890919 -0.44150230
+v -0.06610440 0.13027659 -0.44213733
+v -0.08664143 0.11187647 0.24337963
+v -0.12596925 0.07273209 0.23048462
+v -0.08316838 0.09911815 -0.49943057
+v -0.07273743 0.12599148 0.23048835
+v -0.07348868 0.11472670 0.25964776
+v -0.12348038 0.05860888 0.25790782
+v -0.10261835 0.07780261 -0.48923435
+v -0.11037877 0.09230873 -0.45525117
+v -0.07825880 0.10229169 -0.49849584
+v -0.07384416 0.12789925 -0.44551405
+v -0.09853425 0.11360746 -0.28099694
+v -0.11766418 0.05216267 -0.46965274
+v -0.08162869 0.06290855 -0.49107334
+v -0.09632104 0.08567090 -0.49514645
+v -0.08783246 0.10984047 -0.46897423
+v -0.09822325 0.11347027 -0.35547969
+v -0.11355466 0.09858395 -0.34032570
+v -0.08826047 0.05982435 -0.48679744
+v -0.09718477 0.10020556 -0.46916767
+v -0.11348153 0.09812314 -0.26587310
+f 3 2 4
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 9 4 2
+f 10 6 7
+f 11 5 1
+f 13 3 4
+f 14 10 7
+f 14 7 3
+f 14 13 10
+f 14 3 13
+f 15 11 1
+f 15 1 7
+f 15 7 6
+f 15 6 11
+f 17 16 5
+f 18 9 2
+f 19 13 4
+f 19 4 9
+f 19 9 18
+f 20 6 10
+f 20 10 13
+f 20 13 19
+f 21 8 5
+f 21 5 16
+f 21 2 8
+f 22 18 2
+f 22 12 18
+f 23 16 17
+f 23 22 16
+f 23 12 22
+f 24 17 19
+f 24 19 18
+f 24 18 12
+f 25 20 19
+f 25 19 17
+f 26 5 11
+f 26 20 25
+f 26 25 17
+f 26 17 5
+f 27 21 16
+f 27 16 22
+f 27 22 2
+f 27 2 21
+f 28 24 12
+f 28 17 24
+f 28 23 17
+f 28 12 23
+f 29 26 11
+f 29 20 26
+f 29 11 6
+f 29 6 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e659ca071284aa98187b4b32abd789973ee826
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13882022 -0.01114500 -0.09392334
+v 0.14421880 -0.01262611 -0.41791650
+v 0.11384089 0.08382516 -0.42420941
+v 0.00756866 0.06816923 -0.09848484
+v 0.00756866 -0.00758835 -0.09848484
+v 0.11467699 0.07949309 -0.09625914
+v 0.00069081 -0.00057969 -0.46031738
+v -0.00090965 0.05431874 -0.47318497
+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 2 5
+f 8 3 2
+f 8 2 7
+f 8 4 3
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f315f3d47f148f03aaf88089bd73690a703230a6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01169359 -0.14601447 -0.23359276
+v 0.10208331 -0.10143694 -0.44874527
+v 0.14599862 -0.01177835 -0.23358443
+v 0.00756866 -0.00758835 -0.23484848
+v 0.00540448 -0.00500926 -0.46177777
+v 0.10351243 -0.10353809 -0.23469327
+v 0.01760433 -0.10829385 -0.47189812
+v 0.10461240 -0.02145068 -0.47913574
+f 1 3 4
+f 5 1 4
+f 5 4 3
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 3 2
+f 8 7 5
+f 8 2 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..849019e268516667b87ed156c165bda44a51821a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00756866 0.06816923 -0.23484848
+v 0.08981539 0.07536416 -0.46797101
+v 0.11561594 0.09028361 -0.23369241
+v 0.01168994 0.14594721 -0.23376614
+v -0.00636224 0.10814519 -0.47648241
+v 0.08870836 0.10221132 -0.44922679
+v 0.00339004 0.06038069 -0.47551404
+v 0.09590365 0.11128576 -0.23437407
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..550a74b37145b9d58474901cebddbee5e0090ca1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09119079 -0.11614197 0.08333298
+v -0.04902178 -0.00417718 -0.47309005
+v -0.06818891 -0.00758835 0.08333334
+v -0.14695524 -0.01186089 0.08332959
+v -0.10830845 -0.09088068 -0.42090703
+v -0.09679224 -0.10302952 -0.42852155
+v -0.11182784 -0.09669675 0.08333272
+v -0.14467827 -0.01132977 -0.41790488
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 1 3
+f 7 3 4
+f 7 6 1
+f 7 5 6
+f 8 4 2
+f 8 6 5
+f 8 2 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66647fe0f3dfbe50deba9ff6af90b34f59bacb0f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.09227956 0.10760853 -0.11219501
+v 0.08870836 0.10221132 -0.44922679
+v 0.07384416 0.12789931 -0.44551405
+v 0.04855187 0.13341704 -0.11484845
+v 0.05062557 0.13887039 -0.44682008
+v 0.07270096 0.12594259 -0.14619313
+v 0.07454325 0.11589629 -0.45679752
+v 0.06541929 0.12509857 -0.11047964
+v 0.07674533 0.11911312 -0.11489429
+f 1 2 3
+f 2 1 4
+f 6 1 3
+f 6 5 4
+f 6 3 5
+f 7 5 3
+f 7 3 2
+f 7 2 4
+f 7 4 5
+f 8 6 4
+f 8 4 1
+f 9 8 1
+f 9 1 6
+f 9 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..084ad8d4ddfbd8e52e34e4b24429923457b04e3b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_25.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.06818891 -0.00758835 0.00757577
+v -0.06818891 -0.00758835 -0.03787878
+v -0.06429788 0.12041752 -0.03644855
+v -0.06814776 0.12868689 0.00758378
+v -0.14277673 -0.01149239 -0.00332691
+v -0.08904442 0.11530520 0.00892716
+v -0.13475560 -0.01078532 -0.04352481
+v -0.07369253 0.11501955 -0.03527230
+v -0.08888416 0.10400576 -0.03576995
+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 8 6 4
+f 8 4 3
+f 9 7 5
+f 9 5 6
+f 9 6 8
+f 9 8 3
+f 9 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b14aaf05d2b848047c59ba93d9c7dca24b87788
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01021316 -0.12896273 0.27796507
+v 0.09877064 -0.09879065 -0.09844095
+v 0.10890845 0.07546218 0.27048393
+v 0.00756866 0.06816923 0.26515153
+v 0.01107216 -0.13885196 -0.09392575
+v 0.11467699 0.07949309 -0.09625914
+v 0.09532345 -0.09533914 0.26371993
+v 0.00756866 0.06816923 -0.09848484
+f 1 3 4
+f 6 4 3
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 8 1 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/bottled_water/bottled_water_10/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1061d4da89e59b89daca762ccb9956780140afa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00756866 -0.00758835 0.26515153
+v 0.00756866 -0.00758835 -0.23484848
+v 0.00756866 0.06816923 0.26515153
+v -0.09121920 0.09122879 0.27880658
+v -0.06818891 -0.00758835 -0.23484848
+v -0.10349986 0.10352192 -0.23375996
+v -0.06818891 -0.00758835 0.26515153
+v 0.00756866 0.06816923 -0.23484848
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+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 5
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f47b5a447eee58c88564b7cbe8a1e71c7c54694a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01021316 -0.12896273 0.27796507
+v 0.01107216 -0.13885196 -0.09392575
+v 0.00756866 -0.00758835 -0.09848484
+v -0.06818891 -0.00758835 0.26515153
+v -0.07952929 -0.11466645 -0.09626139
+v 0.00756866 -0.00758835 0.26515153
+v -0.07548426 -0.10890094 0.27047554
+v -0.06818891 -0.00758835 -0.09848484
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 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/bottled_water/bottled_water_10/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e418841c36ac211483caf311b19399dbc5a852b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06769583 0.12999160 -0.23405775
+v 0.06796931 0.13021023 -0.35701641
+v 0.04849164 0.14230393 -0.28086529
+v 0.00649604 0.14880042 -0.23521351
+v 0.01106017 0.14608791 -0.35735946
+v 0.04810844 0.14088546 -0.23545829
+v 0.01168994 0.14594721 -0.23376614
+v 0.04850691 0.14196706 -0.35558732
+v 0.00694236 0.14922336 -0.35577566
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 9 8 5
+f 9 5 4
+f 9 4 3
+f 9 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3382c438d70e74924061c2be261600c90d6ccf38
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.10208331 -0.10143694 -0.44874527
+v 0.14298987 -0.01645923 -0.44092322
+v -0.08160225 -0.10923701 -0.45298336
+v 0.05059237 0.07103077 -0.48582662
+v 0.12918313 0.00000000 -0.49418366
+v 0.13323181 0.05870326 -0.44191578
+v 0.12847074 -0.04893604 -0.44150451
+v 0.08919151 -0.09279120 -0.49774919
+v -0.02465669 0.02420435 -0.46959653
+v 0.12139154 0.04418168 -0.49418366
+v 0.14209286 0.03140792 -0.45518300
+v -0.06142880 -0.10288717 -0.49294795
+v 0.13858890 -0.01474175 -0.45442130
+v -0.01989605 0.01933224 -0.46639030
+v 0.11611105 0.05548626 -0.48451492
+v 0.12511418 0.03025216 -0.49790811
+v 0.14341524 0.03355630 -0.44652705
+v 0.12481338 0.04542693 -0.48460635
+v -0.07148311 -0.00877036 -0.48432835
+v -0.05507423 -0.00595307 -0.47562730
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 7 1
+f 8 2 7
+f 9 6 4
+f 11 2 5
+f 12 8 1
+f 12 1 3
+f 13 8 5
+f 13 5 2
+f 13 2 8
+f 14 9 3
+f 14 3 6
+f 14 6 9
+f 15 10 4
+f 15 4 6
+f 16 5 8
+f 16 8 12
+f 16 4 10
+f 16 11 5
+f 16 10 11
+f 17 11 6
+f 17 6 2
+f 17 2 11
+f 18 11 10
+f 18 6 11
+f 18 15 6
+f 18 10 15
+f 19 12 3
+f 19 9 4
+f 19 16 12
+f 19 4 16
+f 20 19 3
+f 20 3 9
+f 20 9 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fd9ed65024f1d2388f1634380854aaaa6a3a889
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09877064 -0.09879065 -0.09844095
+v 0.14599862 -0.01177835 -0.23358443
+v 0.13882022 -0.01114500 -0.09392334
+v -0.06818891 -0.00758835 -0.09848484
+v -0.08351707 -0.12035431 -0.23414399
+v -0.06818891 -0.00758835 -0.23484848
+v -0.07952929 -0.11466645 -0.09626139
+v 0.10351243 -0.10353809 -0.23469327
+f 1 2 3
+f 6 3 2
+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 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75e8ed4284ec1e0def41f0310f2e1eee7216d9c1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.11960311 0.06388206 0.26190312
+v 0.13323181 0.05870326 -0.44191578
+v 0.11350112 0.09823023 -0.25080699
+v 0.07600901 0.11834058 0.24591207
+v 0.08312640 0.06738568 -0.47583538
+v 0.12596881 0.07273183 0.23048710
+v 0.11844046 0.05924299 -0.47248355
+v 0.07993701 0.10879058 0.26325806
+v 0.07379058 0.12105466 -0.45776650
+v 0.08663149 0.11188253 0.24338220
+v 0.13068745 0.06198235 0.23180258
+v 0.10241393 0.08151501 0.27490958
+v 0.09823319 0.11382521 -0.32514062
+v 0.07665964 0.10822610 -0.47422825
+v 0.11187470 0.08665222 0.24338461
+v 0.08846574 0.10359906 0.26060736
+v 0.11330745 0.09843273 -0.32510804
+v 0.09832299 0.11308853 -0.25077778
+v 0.11471552 0.07348689 0.25964775
+v 0.12634804 0.06814122 -0.43882545
+v 0.08068217 0.11452709 -0.45414290
+f 6 2 3
+f 7 1 5
+f 8 4 5
+f 9 5 4
+f 9 2 7
+f 10 4 8
+f 11 6 1
+f 11 2 6
+f 11 7 2
+f 11 1 7
+f 12 8 5
+f 12 5 1
+f 13 9 4
+f 14 9 7
+f 14 7 5
+f 14 5 9
+f 15 6 3
+f 15 3 10
+f 16 10 8
+f 16 8 12
+f 16 15 10
+f 16 12 15
+f 17 13 3
+f 17 3 2
+f 18 10 3
+f 18 3 13
+f 18 13 4
+f 18 4 10
+f 19 15 12
+f 19 12 1
+f 19 1 6
+f 19 6 15
+f 20 17 2
+f 20 2 9
+f 21 20 9
+f 21 17 20
+f 21 9 13
+f 21 13 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e7ad2bc266d988b3a153d9a3e1f166a66eb8ac
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_4.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.10630885 0.08423477 -0.04222829
+v 0.11561594 0.09028361 -0.23369241
+v 0.05121496 0.13998744 -0.23498883
+v -0.04684613 0.12873454 -0.03532586
+v -0.10625354 0.09116221 -0.09729920
+v 0.04684606 0.12873443 -0.03532661
+v 0.07674533 0.11911312 -0.11489429
+v -0.10367965 0.08851398 -0.03901743
+v -0.10349986 0.10352192 -0.23375996
+v -0.02143982 0.14224382 -0.13074843
+v 0.09590365 0.11128576 -0.23437407
+v 0.07368293 0.11502603 -0.03527353
+v 0.06070915 0.12789105 -0.11553750
+v -0.07369253 0.11501955 -0.03527230
+v 0.02122762 0.14188657 -0.13064227
+v -0.06362873 0.13453351 -0.23519440
+v -0.08888416 0.10400576 -0.03576995
+v 0.03294819 0.14108089 -0.14594370
+v 0.03393430 0.14473237 -0.23534004
+v -0.03301001 0.14159908 -0.14598359
+v -0.04804993 0.14133909 -0.23550138
+v -0.09129853 0.10642259 -0.09956276
+v -0.04790481 0.14082293 -0.22036887
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 10 4 6
+f 11 1 2
+f 11 3 7
+f 12 11 7
+f 12 1 11
+f 13 7 3
+f 13 3 6
+f 13 12 7
+f 13 6 12
+f 14 12 6
+f 14 6 4
+f 15 10 6
+f 16 14 4
+f 16 2 9
+f 17 8 1
+f 17 1 12
+f 17 12 14
+f 17 5 8
+f 18 15 6
+f 18 6 3
+f 19 10 15
+f 19 3 11
+f 19 18 3
+f 19 15 18
+f 20 4 10
+f 21 11 2
+f 21 2 16
+f 21 19 11
+f 21 20 10
+f 21 10 19
+f 22 9 5
+f 22 5 17
+f 22 16 9
+f 22 17 14
+f 22 14 16
+f 23 21 16
+f 23 16 4
+f 23 4 20
+f 23 20 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2ba53f022f3f93be617d61d1964b8219859fd65
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.06888964 -0.12997664 -0.44749015
+v -0.06119847 -0.11699079 -0.48718320
+v -0.06818891 -0.00758835 -0.35606060
+v -0.11806582 0.08690453 -0.35770024
+v -0.14208893 -0.03142622 -0.45517559
+v -0.06774694 0.05560529 -0.48811305
+v -0.12481599 -0.04542788 -0.48459906
+v -0.14192400 -0.04831890 -0.35557543
+v -0.10615337 0.05809230 -0.47738775
+v -0.06640145 -0.11500989 -0.48466364
+v -0.08436540 -0.11748991 -0.44063631
+v -0.12510917 -0.03027089 -0.49790310
+v -0.12958934 -0.06845388 -0.35706109
+v -0.14119539 0.04804358 -0.35550433
+v -0.12139155 -0.04418168 -0.49418366
+v -0.12918312 0.00000000 -0.49418366
+v -0.14112872 -0.04810015 -0.38585599
+v -0.12399886 0.04771927 -0.45507033
+v -0.13873428 0.02827844 -0.43921742
+v -0.13859973 0.01471526 -0.45442007
+v -0.14075873 0.04792226 -0.37064228
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 9 4 6
+f 10 2 1
+f 11 5 7
+f 11 10 1
+f 11 7 10
+f 12 6 2
+f 13 1 3
+f 13 3 8
+f 13 11 1
+f 14 8 3
+f 14 3 4
+f 14 5 8
+f 15 10 7
+f 15 7 5
+f 15 5 12
+f 15 12 2
+f 15 2 10
+f 16 9 6
+f 16 6 12
+f 16 12 5
+f 17 13 8
+f 17 8 5
+f 17 5 11
+f 17 11 13
+f 18 4 9
+f 18 9 16
+f 20 16 5
+f 20 5 19
+f 20 19 18
+f 20 18 16
+f 21 19 5
+f 21 5 14
+f 21 14 4
+f 21 4 18
+f 21 18 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a4bf31466da5d31b1d9cfb1cbe11eb6cb05590a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_6.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01169359 -0.14601447 -0.23359276
+v 0.01760433 -0.10829385 -0.47189812
+v 0.00649604 0.14880042 -0.23521351
+v -0.04804993 0.14133909 -0.23550138
+v -0.08160225 -0.10923701 -0.45298336
+v 0.01048605 0.14437584 -0.41799386
+v -0.06362873 0.13453351 -0.23519440
+v 0.00694236 0.14922336 -0.35577566
+v -0.05507423 -0.00595307 -0.47562730
+v -0.08351707 -0.12035431 -0.23414399
+v -0.08259869 0.11933696 -0.41734450
+v 0.00540448 -0.00500926 -0.46177777
+v -0.06411717 0.13484440 -0.35577362
+v -0.04855599 0.14131119 -0.35553361
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 4 3
+f 8 3 6
+f 9 2 5
+f 10 5 1
+f 10 1 7
+f 11 6 9
+f 11 9 5
+f 11 10 7
+f 11 5 10
+f 12 9 6
+f 12 6 2
+f 12 2 9
+f 13 11 7
+f 13 7 4
+f 14 13 4
+f 14 4 8
+f 14 8 6
+f 14 6 11
+f 14 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c981675d3d238430bf954288c34004663a1b62
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.12359683 -0.06476763 -0.09550535
+v -0.06818891 -0.00758835 -0.35606060
+v -0.06818891 -0.00758835 -0.03787878
+v -0.10804878 0.08088096 -0.04542220
+v -0.14119539 0.04804358 -0.35550433
+v -0.13616556 -0.00690241 -0.03666735
+v -0.12958934 -0.06845388 -0.35706109
+v -0.11806582 0.08690453 -0.35770024
+v -0.12872159 0.04685992 -0.03532326
+v -0.14192400 -0.04831890 -0.35557543
+v -0.14139973 0.03331764 -0.14599914
+v -0.14089941 0.04821622 -0.22039841
+v -0.14091548 -0.04828919 -0.23547198
+v -0.14209197 0.02121544 -0.13071073
+v -0.14096161 -0.03313347 -0.14595488
+v -0.13193472 -0.04802846 -0.09988845
+v -0.14180271 -0.02113673 -0.13062883
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 7 2 1
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 9 6 3
+f 9 3 4
+f 10 5 7
+f 12 9 4
+f 12 4 8
+f 12 11 9
+f 12 8 5
+f 13 10 7
+f 13 7 1
+f 14 6 9
+f 14 9 11
+f 14 5 10
+f 14 12 5
+f 14 11 12
+f 16 15 13
+f 16 13 1
+f 16 1 6
+f 16 6 15
+f 17 15 6
+f 17 6 14
+f 17 14 10
+f 17 10 13
+f 17 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d3776fa8d60379db0743b3342b9473a9314ddfb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.14421880 -0.01262611 -0.41791650
+v 0.10461240 -0.02145068 -0.47913574
+v 0.05835123 0.11478033 -0.49596178
+v -0.03408309 0.14317362 -0.41581714
+v -0.07148311 -0.00877036 -0.48432835
+v 0.05097244 0.13960190 -0.41653870
+v 0.10740373 0.07713438 -0.45129144
+v -0.06352090 0.13329929 -0.41635120
+v -0.07825880 0.10229169 -0.49849584
+v 0.03483964 0.14033411 -0.45487439
+v 0.03396342 0.14409511 -0.41624462
+v 0.11384089 0.08382516 -0.42420941
+v -0.04902178 -0.00417718 -0.47309005
+v -0.09863538 0.04814135 -0.47544519
+v -0.07984448 0.12371331 -0.44680524
+v 0.07384416 0.12789931 -0.44551405
+v 0.01955427 0.12711811 -0.49198162
+v -0.05923889 -0.00836168 -0.47887294
+v -0.08162869 0.06290855 -0.49107334
+v 0.04614032 0.12676499 -0.48524335
+v 0.06639962 0.11500677 -0.48467327
+v -0.06529499 0.12564559 -0.45555227
+v 0.01161458 0.13918388 -0.45494011
+v -0.07338576 0.11109246 -0.48467445
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 8 1 4
+f 9 3 2
+f 9 2 5
+f 11 4 1
+f 11 1 6
+f 11 10 4
+f 11 6 10
+f 12 6 1
+f 12 1 7
+f 13 1 8
+f 14 5 8
+f 15 8 4
+f 15 14 8
+f 15 9 14
+f 16 10 6
+f 16 6 12
+f 16 12 7
+f 17 3 9
+f 18 13 8
+f 18 8 5
+f 18 5 1
+f 18 1 13
+f 19 14 9
+f 19 9 5
+f 19 5 14
+f 20 10 16
+f 20 17 10
+f 20 3 17
+f 21 16 7
+f 21 7 3
+f 21 20 16
+f 21 3 20
+f 22 15 4
+f 23 4 10
+f 23 10 17
+f 23 22 4
+f 23 17 22
+f 24 22 17
+f 24 17 9
+f 24 9 15
+f 24 15 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34b3ae321ce78bfa82a63ad70f10fb91c7f4485
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/collision/model_normalized_collision_9.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.09626234 -0.09627967 -0.03739251
+v 0.13872179 -0.02830445 -0.43921804
+v 0.14208947 -0.02124162 -0.13070942
+v 0.11152143 0.07728715 -0.04034732
+v 0.08919151 -0.09279120 -0.49774919
+v 0.14113412 0.04808035 -0.38585655
+v 0.12872142 -0.04685996 -0.03532399
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_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.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5210c324f0ef77a7bcd363aa2e6b3ea0e73ae21b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/visual/model_normalized_0.obj
@@ -0,0 +1,1449 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef322040c08be767f31893a86a447e176ff413f7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_10/visual/model_normalized_1.obj
@@ -0,0 +1,22400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f9cdb0858fda09ed21e5a44455ace3fa5dd4219
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317be93934f0410ebb2e09df1c2b931f9661ab3b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.04079174 -0.04882473 -0.47740003
+v 0.03499881 -0.04882473 -0.47691995
+v -0.02786326 0.03956652 -0.46920404
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+v -0.02786326 -0.04882473 -0.12706438
+f 1 2 3
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+f 1 5 10
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+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 10
+f 3 10 8
+f 3 8 9
+f 3 9 4
+f 5 9 8
+f 5 8 10
+
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757ccf74c8ac2e9edab71e37e00976ef9ac4e2f8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_11.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+v -0.02786326 -0.04882473 -0.46945256
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+f 1 2 3
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+f 1 5 2
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+f 3 6 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 6
+f 6 9 10
+f 6 10 8
+f 6 8 11
+
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3a9bd3ae06139d9ec1b1835ca2579f5e99e7d66
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,1534 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcb56b7e3fab14af25afa1c846424b7c0436fb42
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_7.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5965342dbaa6042ec41423701ce29754fd0bc575
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/collision_mesh_collision_9.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4465b12d35d7560cb83a456b3161dfda90dcc09c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_13.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..308822176ea8c2b38d9f0b8869cee6364c0ddb06
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_14.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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+f 10 6 4
+f 11 8 4
+f 11 4 2
+f 12 9 1
+f 12 7 5
+f 12 5 8
+f 13 9 6
+f 13 6 10
+f 13 1 9
+f 14 10 4
+f 14 4 7
+f 14 13 10
+f 14 1 13
+f 14 7 12
+f 15 3 9
+f 16 12 8
+f 17 14 12
+f 17 12 1
+f 17 1 14
+f 18 2 3
+f 18 3 15
+f 18 15 16
+f 19 15 9
+f 19 9 12
+f 19 16 15
+f 19 12 16
+f 20 16 8
+f 20 8 11
+f 20 18 16
+f 20 11 2
+f 20 2 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce63a46b085c46146e19c7eac716d2e0c965759
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_15.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.08740716 -0.12188447 0.26868379
+v -0.06624024 -0.09020443 0.34296682
+v -0.14282721 -0.00903539 0.30449628
+v -0.09248486 0.10660125 0.30826348
+v -0.09244162 0.10643595 0.29451626
+v -0.05726696 0.05726696 0.39337998
+v -0.11584000 -0.08121479 0.30533529
+v -0.14830089 0.02347123 0.26717757
+v -0.12625880 0.05506919 0.31528118
+v -0.09764115 -0.07917875 0.33171469
+v -0.12893080 0.07710119 0.26711068
+v -0.13703886 -0.06507560 0.26639230
+v -0.09789077 0.09789077 0.31496183
+v -0.10772715 0.01540048 0.35712090
+v -0.14169294 0.01612929 0.30393597
+v -0.10961594 -0.04675202 0.34444884
+v -0.10201384 0.10201384 0.30521439
+v -0.13110606 0.05830763 0.30540210
+v -0.12817767 -0.06418324 0.30369322
+v -0.11838977 -0.09304175 0.26603561
+v -0.10720126 0.05245944 0.34261130
+v -0.08868907 0.10092009 0.31905902
+v -0.13632469 0.01506137 0.31359419
+v -0.12367579 -0.06117537 0.31331421
+v -0.10857654 -0.00824992 0.35781802
+v -0.05659596 -0.06061802 0.39038582
+v -0.11310301 0.08670564 0.30373853
+v -0.10859207 0.08369172 0.31336683
+v -0.06487018 0.05454659 0.38741209
+v -0.13732483 -0.00794080 0.31423938
+v -0.11100639 -0.07798528 0.31520352
+v -0.12172441 -0.03815452 0.32910123
+v -0.07791594 0.03798657 0.38536892
+v -0.06267821 -0.06091245 0.38528610
+v -0.07947048 -0.03291931 0.38725788
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 10 7 1
+f 10 1 2
+f 11 5 1
+f 12 3 8
+f 12 8 11
+f 15 8 3
+f 17 4 5
+f 17 5 11
+f 17 13 4
+f 18 11 8
+f 18 15 9
+f 18 8 15
+f 19 3 12
+f 20 1 7
+f 20 19 12
+f 20 7 19
+f 20 12 11
+f 20 11 1
+f 21 9 14
+f 22 13 6
+f 22 6 4
+f 22 4 13
+f 23 14 9
+f 23 9 15
+f 24 19 7
+f 26 2 6
+f 27 18 17
+f 27 17 11
+f 27 11 18
+f 28 18 9
+f 28 13 17
+f 28 17 18
+f 28 21 13
+f 28 9 21
+f 29 6 13
+f 29 13 21
+f 30 23 15
+f 30 15 3
+f 30 25 14
+f 30 14 23
+f 31 24 7
+f 31 7 10
+f 31 10 16
+f 31 16 24
+f 32 24 16
+f 32 3 19
+f 32 19 24
+f 32 30 3
+f 32 16 25
+f 32 25 30
+f 33 14 25
+f 33 6 29
+f 33 29 21
+f 33 21 14
+f 34 16 10
+f 34 10 2
+f 34 2 26
+f 35 26 6
+f 35 6 33
+f 35 33 25
+f 35 34 26
+f 35 25 16
+f 35 16 34
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ae380a22fe3eb7604054cc3e8d503c2fc0ed50
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_16.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.11144081 -0.10355033 0.26532695
+v -0.10280957 -0.09778296 -0.09637938
+v -0.10902724 -0.08678621 0.31007844
+v -0.11196617 0.06576632 0.31216987
+v -0.15408322 -0.02341275 -0.03368354
+v -0.13730776 -0.07531101 -0.03243488
+v -0.12740152 0.07608013 -0.04326046
+v -0.15253721 -0.03825667 0.26216226
+v -0.13172361 -0.05456258 -0.09626876
+v -0.12242339 -0.09064102 -0.04766779
+v -0.13621995 -0.07458439 0.27654608
+v -0.15201925 -0.00784987 0.28639596
+v -0.15291310 -0.03833154 -0.02080928
+v -0.11234936 -0.07385438 -0.09887649
+v -0.14625171 0.06058008 -0.03538525
+v -0.12647402 -0.09334877 0.26246428
+v -0.13578643 -0.05308864 0.30101367
+v -0.13788720 -0.06054596 -0.06291488
+v -0.12407732 -0.05641540 -0.09836650
+v -0.15276717 0.03047054 -0.03334479
+v -0.15117527 0.04530388 0.26193332
+v -0.13110606 0.05830763 0.30540210
+v -0.12251258 -0.07554971 0.30038725
+v -0.14117361 0.05847530 0.28795858
+v -0.15152899 0.04537571 -0.02065682
+v -0.13699930 0.04549860 0.30161385
+v -0.15088529 0.01494315 0.28583486
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 10 2 1
+f 10 9 2
+f 10 6 9
+f 11 8 6
+f 12 5 8
+f 13 8 5
+f 13 6 8
+f 14 7 2
+f 14 2 9
+f 15 7 9
+f 16 10 1
+f 16 6 10
+f 16 11 6
+f 16 1 3
+f 16 3 11
+f 17 12 8
+f 17 8 11
+f 18 9 6
+f 18 6 13
+f 18 13 5
+f 18 5 9
+f 19 14 9
+f 19 9 7
+f 19 7 14
+f 20 15 9
+f 20 9 5
+f 21 20 5
+f 21 5 12
+f 22 17 3
+f 22 3 4
+f 23 17 11
+f 23 11 3
+f 23 3 17
+f 24 7 15
+f 24 15 21
+f 24 22 4
+f 24 4 7
+f 25 21 15
+f 25 15 20
+f 25 20 21
+f 26 12 17
+f 26 17 22
+f 26 22 24
+f 27 24 21
+f 27 21 12
+f 27 26 24
+f 27 12 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fddced04196e68782dc074da0721c458fcf24b5a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.10874224 0.07862648 -0.10168658
+v 0.11157882 0.07722520 -0.45776405
+v 0.01637801 0.13428542 -0.15356016
+v -0.07529642 0.11107784 -0.10094414
+v -0.05873017 0.06960812 -0.47626361
+v 0.09129336 0.10062138 -0.09938650
+v 0.01033761 0.07230398 -0.47986243
+v -0.10140843 0.08908286 -0.10401784
+v -0.06077271 0.10997822 -0.48657703
+v 0.10503981 0.11366933 -0.35614618
+v -0.06913301 0.11700381 -0.15715648
+v -0.03311835 0.08569219 -0.48971499
+v 0.09219147 0.11711765 -0.23396787
+v 0.12528878 0.07955923 -0.36963900
+v 0.00761645 0.11202382 -0.49484996
+v -0.04669335 0.11272601 -0.49331570
+v 0.10136187 0.10877248 -0.44567299
+v 0.00744881 0.08903030 -0.49008667
+v -0.04223774 0.09973120 -0.49110326
+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 5 8
+f 11 4 3
+f 11 9 8
+f 11 8 4
+f 12 7 5
+f 13 6 1
+f 13 1 10
+f 13 10 3
+f 13 3 6
+f 14 10 1
+f 14 1 2
+f 16 11 3
+f 16 9 11
+f 16 3 15
+f 16 15 12
+f 16 5 9
+f 17 14 2
+f 17 10 14
+f 17 2 15
+f 17 15 3
+f 17 3 10
+f 18 15 2
+f 18 2 7
+f 18 7 12
+f 18 12 15
+f 19 16 12
+f 19 12 5
+f 19 5 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50086071120a393d4d5b656bac470807f7562fa0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_18.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.06225341 -0.14827565 -0.00104799
+v 0.10633033 -0.10828192 -0.03966881
+v 0.10617038 -0.10804288 0.00836852
+v -0.12011418 -0.09922188 -0.03642919
+v 0.01073237 -0.14403875 -0.08234784
+v -0.11711507 -0.09721796 -0.05066690
+v -0.07980451 -0.12565833 0.00836852
+v 0.09065205 -0.13027439 -0.00271624
+v 0.06115382 -0.14662885 -0.03288899
+v -0.05934937 -0.14328040 -0.04783723
+v 0.07205913 -0.12501854 -0.05991497
+v 0.00800732 -0.14549410 -0.07881134
+v 0.09582219 -0.12285811 -0.03487891
+v -0.01779020 -0.14272341 -0.08200783
+v -0.11353724 -0.10997887 -0.03442527
+v -0.06131073 -0.14814888 0.00020321
+v 0.03793135 -0.14358137 -0.06316464
+v 0.08999922 -0.12929484 -0.02031875
+v -0.11053813 -0.10797495 -0.04866298
+v -0.01506661 -0.14417848 -0.07847163
+v -0.08368480 -0.13156606 -0.03291609
+v -0.08168105 -0.12856719 -0.04715396
+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 9 8 1
+f 11 6 2
+f 11 5 6
+f 12 9 1
+f 13 2 8
+f 13 11 2
+f 13 9 11
+f 14 6 5
+f 14 5 12
+f 15 7 4
+f 16 1 7
+f 16 7 15
+f 16 12 1
+f 17 11 9
+f 17 5 11
+f 17 12 5
+f 17 9 12
+f 18 13 8
+f 18 8 9
+f 18 9 13
+f 19 14 10
+f 19 6 14
+f 19 15 4
+f 19 4 6
+f 20 14 12
+f 20 10 14
+f 20 16 10
+f 20 12 16
+f 21 16 15
+f 21 10 16
+f 21 15 19
+f 22 21 19
+f 22 19 10
+f 22 10 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2e4449cd49d879d83bd671cb78fd52f260143b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.05673135 -0.13657838 -0.17727637
+v -0.06135870 -0.14350477 -0.23531134
+v -0.06426583 -0.01149175 -0.23484849
+v -0.13989154 -0.01146551 -0.09846691
+v -0.11469530 -0.08044922 -0.09538442
+v -0.15413573 -0.01128511 -0.23494235
+v -0.07862647 -0.10874222 -0.10168665
+v -0.14221336 -0.06343747 -0.23622740
+v -0.13946958 -0.00836810 -0.14752305
+v -0.07186959 -0.13655989 -0.23605018
+v -0.06426583 -0.01149175 -0.09848486
+v -0.12658103 -0.06311547 -0.09438944
+v -0.14048824 -0.06228483 -0.21277207
+v -0.06742957 -0.12991305 -0.17906960
+f 1 2 3
+f 8 6 3
+f 9 6 4
+f 9 3 6
+f 10 7 5
+f 10 5 8
+f 10 8 3
+f 10 3 2
+f 11 7 1
+f 11 1 3
+f 11 5 7
+f 11 9 4
+f 11 3 9
+f 12 11 4
+f 12 5 11
+f 13 4 6
+f 13 6 8
+f 13 12 4
+f 13 8 5
+f 13 5 12
+f 14 10 2
+f 14 2 1
+f 14 1 7
+f 14 7 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..713492a18d1f2655a261f6415b98a78c7d8e09ec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_26.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.03792742 -0.05104569 0.41432828
+v 0.01161174 -0.01193575 -0.45327114
+v 0.01179952 0.06581416 0.40194031
+v -0.05726696 0.05726696 0.39337998
+v -0.06483154 -0.01152990 -0.47632393
+v -0.06581433 -0.01179955 0.40194017
+v 0.01131939 0.06546621 -0.47539681
+v -0.04249983 -0.01207107 -0.46300015
+v -0.06356982 0.06637435 -0.47353684
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 4
+f 9 5 6
+f 9 7 5
+f 9 4 3
+f 9 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ae841bdb1bac2297f522f58e7b797c559b5e9eb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00979864 -0.15449229 -0.23561754
+v 0.01071855 -0.15860717 -0.44602569
+v 0.01144267 -0.01145897 -0.44853138
+v -0.06426583 -0.01149175 -0.23484849
+v -0.05989979 -0.14460952 -0.23653233
+v -0.05378620 -0.01073535 -0.46382827
+v 0.01149175 -0.01149175 -0.23484849
+v -0.05681706 -0.14570038 -0.43770742
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 7 1 2
+f 7 2 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/bottled_water/bottled_water_14/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec4f7db4c0ca8c355621e7faf64f55911d0c22ed
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14765615 -0.02049278 0.00836852
+v 0.14708936 -0.02037930 -0.23033971
+v 0.12565833 0.07980451 0.00836852
+v 0.01149175 0.06426583 0.00757574
+v 0.01149175 -0.01149175 0.00757574
+v 0.01149175 0.06426583 -0.23484849
+v 0.12532384 0.07958078 -0.23211817
+v 0.01149175 -0.01149175 -0.23484849
+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 1 5
+f 8 5 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22b9133aee17522a54b9427afaf66062c73651fa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.09053477 0.05633673 0.35970763
+v 0.13569288 0.05620664 -0.07963458
+v 0.11397638 0.11236043 0.26143733
+v -0.04530505 0.15117385 0.26193317
+v -0.14625171 0.06058008 -0.03538525
+v 0.03833148 0.15291322 -0.02080929
+v 0.05308926 0.13578620 0.30101368
+v 0.14788753 0.06125590 0.26261071
+v -0.09952981 0.05745633 0.34830343
+v 0.11423696 0.11253283 -0.02033090
+v -0.06774618 0.13770864 -0.04770896
+v 0.09988873 0.09791866 0.31231250
+v 0.03825570 0.15253911 0.26216250
+v 0.13438148 0.05566198 0.30281852
+v -0.12116137 0.09711754 0.27656198
+v -0.03798787 0.07791546 0.38536896
+v 0.07531095 0.13730768 -0.03243536
+v 0.14830387 0.06134163 -0.02110781
+v -0.04537578 0.15152890 -0.02065681
+v -0.10140843 0.08908286 -0.10401784
+v 0.03291931 0.07947048 0.38725788
+v 0.09022159 0.12179534 0.28481709
+v 0.00784921 0.15201914 0.28639590
+v -0.05726696 0.05726696 0.39337998
+v 0.08629236 0.06865340 0.35559450
+v 0.11583496 0.09844926 0.28561086
+v -0.14117361 0.05847530 0.28795858
+v -0.09784153 0.12224525 -0.03246200
+v -0.06731515 0.13706156 0.28488411
+v 0.07458475 0.13622049 0.27654365
+v 0.09120591 0.10811831 -0.09338011
+v 0.12856700 0.08168092 -0.04715337
+v 0.14506530 0.06742783 0.23797559
+v -0.03037923 0.13716381 -0.09383418
+v 0.12730620 0.06065905 -0.09761943
+v 0.04675292 0.10961547 0.34444878
+v 0.06117522 0.12367556 0.31331506
+v 0.00824985 0.10857618 0.35781872
+v 0.06061869 0.05659530 0.39038582
+v -0.13706163 0.06731479 0.28488407
+v -0.12224518 0.09784148 -0.03246248
+v -0.08564560 0.11151794 -0.09441639
+v -0.05245826 0.10720160 0.34261122
+v -0.09711718 0.12116083 0.27656440
+v -0.01494313 0.15088517 0.28583604
+v 0.10597057 0.10753937 -0.06290068
+v 0.03793106 0.13575579 -0.09346917
+v 0.14458882 0.06710916 -0.02033376
+v 0.14432392 0.06693414 0.26144848
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c2cf4f355c3f5db299850cfc5495918e47d456
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
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+v -0.06624024 -0.09020443 0.34296682
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169a0a3071a2312c7da32fb3abe43c16a4d4c49f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/collision/model_normalized_collision_9.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.03511475 -0.05960312 0.49452474
+v 0.09893281 -0.06978042 0.33826917
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fa2f968331f21186edfba88382bc422aa6fa7924
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/material.mtl
@@ -0,0 +1,7 @@
+# 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 66.33249400
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09319d41dbfb863e952308dad32271b72f9be021
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/model_normalized_0.obj
@@ -0,0 +1,6674 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039f3628b6dd58c226114cbc59011c11422095f7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/model_normalized_1.obj
@@ -0,0 +1,2356 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/model_normalized_2.obj b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45feedb58e011201886b6eabb7779fb4bc60c034
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/bottled_water/bottled_water_14/visual/model_normalized_2.obj
@@ -0,0 +1,11623 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99f8cfd2d3930c214f74d0c6ba1730b9e019ce7c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4086abc33421a4fb1cabded890b2f30945524a4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.09982579 -0.28942015 0.37990368
+v 0.21593140 -0.21593111 -0.35606059
+v 0.20047539 -0.20047517 0.41528060
+v -0.13493686 -0.18324473 0.48717442
+v -0.12873534 -0.27713415 -0.41666667
+v 0.10748738 -0.18324473 -0.41666667
+v 0.01540282 -0.25158061 0.47302786
+v 0.16022821 -0.25871742 0.37973175
+v 0.09941096 -0.28860594 -0.43387954
+v 0.11206182 -0.19222254 0.48775082
+v -0.13493686 -0.18324473 -0.41666667
+v -0.10991307 -0.28508148 0.37803901
+v 0.17544175 -0.24368765 0.39180544
+v 0.15986554 -0.25800562 -0.43363403
+v -0.01260219 -0.25191484 0.47321903
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+v -0.04133897 -0.30263204 -0.41666668
+v -0.12538914 -0.27056689 0.38963475
+v 0.09973794 -0.24379321 0.45247843
+v 0.17696725 -0.24668156 -0.43679488
+v 0.02901263 -0.30245266 0.37971457
+v 0.01549721 -0.29763117 -0.44188461
+v 0.16453419 -0.23686532 -0.45635242
+v -0.11057774 -0.28638589 -0.41666668
+v -0.11011440 -0.24002201 0.45008747
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+v -0.04104809 -0.30079537 0.37907226
+v -0.01082749 -0.25586139 0.46681033
+v 0.01397847 -0.30319373 -0.43474091
+v 0.17895449 -0.23956032 -0.44250501
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+v -0.04107912 -0.28583989 0.40601865
+v 0.04387977 -0.28550569 0.40582751
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+f 40 27 37
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bee00988a917370b75aaddf0f726094eb38be1c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12533017 -0.27886923 -0.35606059
+v 0.18544520 -0.15514193 -0.49194143
+v 0.18324496 -0.01657806 -0.35606061
+v 0.01657829 -0.01657806 -0.35606061
+v 0.01657829 -0.18324473 -0.48315616
+v 0.18324495 -0.01657804 -0.48315624
+v 0.18562837 -0.24623420 -0.35606061
+v 0.10350640 -0.23603767 -0.49945922
+v 0.01657829 -0.18324473 -0.35606061
+v 0.01657829 -0.01657806 -0.47985637
+v 0.10736319 -0.27391007 -0.44676841
+v 0.16729333 -0.19759616 -0.49815437
+v 0.10079600 -0.26102121 -0.46642742
+v 0.13361437 -0.26595784 -0.44020122
+v 0.16872582 -0.22933168 -0.46216405
+v 0.11561991 -0.23007525 -0.49911766
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 9 1 4
+f 9 4 5
+f 10 5 4
+f 10 4 6
+f 10 8 5
+f 11 9 5
+f 11 1 9
+f 12 6 2
+f 12 10 6
+f 12 8 10
+f 13 11 5
+f 13 5 8
+f 13 8 11
+f 14 7 1
+f 14 1 11
+f 14 11 8
+f 15 12 2
+f 15 2 7
+f 15 7 14
+f 16 15 14
+f 16 14 8
+f 16 8 12
+f 16 12 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3543f6bbf4bff94bd4a6543758308590a500850d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.21069443 -0.01657806 0.34090908
+v -0.20332519 -0.01541090 -0.48445851
+v -0.21069443 0.11978557 0.34090908
+v -0.26201141 0.12277264 0.40523199
+v -0.30214604 -0.01426424 -0.43608611
+v -0.30680315 -0.01500185 0.34090908
+v -0.21905544 0.12404573 -0.49851341
+v -0.27611635 0.07749356 0.41293546
+v -0.28399478 0.11081346 -0.43242784
+v -0.21378482 0.09105718 -0.49014864
+v -0.25309809 0.04354478 -0.49965743
+v -0.29987587 0.05650611 -0.42873108
+v -0.28420383 0.11091997 0.37888806
+v -0.24036232 0.09659036 -0.49815448
+v -0.29939456 0.04127837 -0.43403629
+v -0.28365082 0.07148760 -0.44874660
+v -0.28475606 0.09604984 0.39083366
+v -0.30022092 0.05656074 0.34090908
+v -0.23047460 0.11442389 -0.49945933
+v -0.27407703 0.11348020 0.39366927
+v -0.28795596 0.07216944 0.39370941
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 7 4 3
+f 8 6 1
+f 8 1 4
+f 9 4 7
+f 10 7 3
+f 10 3 2
+f 10 2 7
+f 11 7 2
+f 11 2 5
+f 12 5 6
+f 13 4 9
+f 15 11 5
+f 15 5 12
+f 16 12 9
+f 16 15 12
+f 16 11 15
+f 16 14 11
+f 16 9 14
+f 17 8 4
+f 18 12 6
+f 18 17 13
+f 18 13 9
+f 18 9 12
+f 19 14 9
+f 19 9 7
+f 19 7 11
+f 19 11 14
+f 20 17 4
+f 20 4 13
+f 20 13 17
+f 21 6 8
+f 21 8 17
+f 21 18 6
+f 21 17 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17b34da0f686d2b07a7c5a1c98576fb9293644d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.25762646 -0.13708904 0.40064269
+v 0.29191454 -0.04489454 0.39434141
+v 0.23252075 -0.08656261 0.49871447
+v 0.20214947 0.13684931 0.49966107
+v 0.18324496 0.04402800 0.40151514
+v 0.24297733 0.04148984 0.49871446
+v 0.27898446 -0.10222831 0.39497144
+v 0.29224875 0.04209438 0.39453259
+v 0.18324496 -0.09233564 0.40151514
+v 0.24253641 -0.04427310 0.49871446
+v 0.26365927 -0.13244284 0.39486132
+v 0.22331036 0.13219119 0.45870442
+v 0.22754618 0.09632635 0.49871443
+v 0.18324496 -0.09233564 0.49204060
+v 0.18324496 0.13493709 0.48717420
+v 0.21216555 0.12651263 0.49871438
+v 0.25184509 -0.13414329 0.41212875
+v 0.22151465 -0.09639486 0.49873573
+v 0.18007423 0.13176636 0.49007270
+v 0.23398938 0.11476082 0.45586881
+f 8 6 2
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 10 6 4
+f 10 4 3
+f 11 7 3
+f 11 3 1
+f 11 1 9
+f 11 9 5
+f 11 5 8
+f 11 8 2
+f 11 2 7
+f 12 8 5
+f 13 4 6
+f 13 6 8
+f 15 12 5
+f 15 4 12
+f 16 12 4
+f 16 4 13
+f 17 14 9
+f 17 9 1
+f 17 1 3
+f 18 3 4
+f 18 4 14
+f 18 17 3
+f 18 14 17
+f 19 5 9
+f 19 9 14
+f 19 15 5
+f 19 14 4
+f 19 4 15
+f 20 16 13
+f 20 13 8
+f 20 8 12
+f 20 12 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f26a6754916cf50a1de64f63a5d1b2e479b0ec0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.13493686 0.11978557 0.40151514
+v -0.13493686 0.11978557 -0.48315627
+v -0.12796462 0.25761686 0.40799093
+v -0.12869315 0.27419820 0.38109889
+v -0.27664683 0.11478958 -0.43887227
+v -0.12791493 0.27267085 -0.43558862
+v -0.24261765 0.11289099 -0.48124966
+v -0.27407703 0.11348020 0.39366927
+v -0.25339439 0.17126801 -0.43218228
+v -0.13258122 0.22122298 -0.49945936
+v -0.18027759 0.19542933 0.44687876
+v -0.17126782 0.25339460 -0.43218229
+v -0.25350099 0.17132232 0.37871643
+v -0.23047460 0.11442389 -0.49945933
+v -0.13601173 0.22795574 0.44830717
+v -0.14104052 0.26869474 -0.43230503
+v -0.21134079 0.15354839 -0.49815448
+v -0.17132216 0.25350126 0.37871655
+v -0.24108444 0.18047856 0.38948003
+v -0.26885238 0.14112114 0.37880230
+v -0.26869459 0.14104073 -0.43230506
+v -0.13136553 0.23398853 0.44252580
+v -0.15354782 0.21134101 -0.49815460
+v -0.14112095 0.26885260 0.37880240
+v -0.15693388 0.22469614 0.43663432
+v -0.26943082 0.12626435 0.39072352
+v -0.18968608 0.18968630 0.44229065
+v -0.18047830 0.24108455 0.38947998
+v -0.17096334 0.23764548 0.40493509
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 10 6 2
+f 11 8 1
+f 14 7 5
+f 14 10 2
+f 14 2 7
+f 15 11 1
+f 16 4 6
+f 16 6 10
+f 16 10 12
+f 17 9 12
+f 17 14 9
+f 17 10 14
+f 18 12 9
+f 18 9 13
+f 19 18 13
+f 20 13 9
+f 20 5 8
+f 21 14 5
+f 21 9 14
+f 21 20 9
+f 21 5 20
+f 22 15 1
+f 22 1 3
+f 22 3 15
+f 23 17 12
+f 23 12 10
+f 23 10 17
+f 24 18 4
+f 24 4 16
+f 24 16 12
+f 24 12 18
+f 25 11 15
+f 26 19 13
+f 26 8 19
+f 26 20 8
+f 26 13 20
+f 27 19 8
+f 27 8 11
+f 27 11 19
+f 28 19 11
+f 28 18 19
+f 29 3 4
+f 29 4 18
+f 29 18 28
+f 29 28 11
+f 29 11 25
+f 29 25 15
+f 29 15 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3818478f39c5144b88c6045a9203f9839396731e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.26360534 -0.15528694 -0.41666667
+v 0.29479714 -0.09080566 -0.41666667
+v 0.18324496 0.04402800 -0.41666667
+v 0.18373712 0.13542926 -0.48892702
+v 0.21474746 -0.14583277 -0.49900921
+v 0.27803074 0.11404078 -0.43765860
+v 0.29003756 -0.09005182 -0.43622724
+v 0.18324496 -0.15294170 -0.41666667
+v 0.30263180 0.04133915 -0.41666667
+v 0.26670669 0.13114248 -0.44081944
+v 0.25708640 0.02617324 -0.49815448
+v 0.24174509 -0.14414856 -0.46302100
+v 0.18544520 -0.15514193 -0.49194143
+v 0.17758400 0.12927606 -0.48719513
+v 0.30167505 -0.02888920 -0.43360931
+v 0.22556986 0.12562237 -0.49815448
+v 0.25664563 -0.02895651 -0.49815444
+v 0.30196099 0.02608140 -0.43382236
+v 0.30453206 -0.02934169 -0.41666667
+v 0.24095054 0.09543611 -0.49815448
+v 0.20115830 0.13634431 -0.49200147
+v 0.23979658 -0.09770123 -0.49815437
+v 0.30230060 0.04128670 -0.42865374
+v 0.28621726 0.05629063 -0.44853267
+f 7 2 1
+f 8 1 3
+f 9 1 2
+f 9 3 1
+f 10 9 6
+f 10 3 9
+f 12 7 1
+f 12 1 5
+f 12 5 7
+f 13 5 1
+f 13 1 8
+f 13 4 5
+f 14 8 3
+f 14 13 8
+f 14 4 13
+f 14 10 4
+f 14 3 10
+f 15 2 7
+f 16 5 4
+f 16 10 6
+f 17 5 11
+f 17 15 7
+f 17 11 15
+f 18 15 11
+f 19 9 2
+f 19 2 15
+f 19 15 18
+f 20 11 5
+f 20 5 16
+f 20 16 6
+f 21 16 4
+f 21 4 10
+f 21 10 16
+f 22 17 7
+f 22 7 5
+f 22 5 17
+f 23 6 9
+f 23 19 18
+f 23 9 19
+f 24 20 6
+f 24 6 23
+f 24 11 20
+f 24 23 18
+f 24 18 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c95d7b456ea65e211625727f4ad3db8486dcd9cd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.13493686 -0.15294170 0.40151514
+v -0.13493685 -0.09233563 -0.48315618
+v -0.13493686 0.11978557 0.40151514
+v -0.24391298 0.13671128 0.42257606
+v -0.24409508 -0.16996011 -0.44424988
+v -0.13493686 0.11978557 -0.48315627
+v -0.13493686 -0.15294170 -0.41666667
+v -0.23374559 -0.16468681 0.41612985
+v -0.21073330 0.11980538 -0.49220506
+v -0.21115638 -0.09257101 -0.48981922
+f 1 2 3
+f 1 3 4
+f 6 3 2
+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 4 5
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 10 9 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72be15eeae52b06cece5ecd4eb7c230b1238c22f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.13003535 -0.26453408 0.39541611
+v -0.12785872 -0.26026224 -0.45064916
+v -0.13095600 -0.14896083 -0.48340322
+v -0.25787682 -0.14610201 0.39300437
+v -0.18234848 -0.24580786 -0.43323949
+v -0.13493686 -0.15294170 0.40151514
+v -0.15739345 -0.25875438 -0.43425241
+v -0.18278286 -0.24624227 0.37945583
+v -0.14634550 -0.22135346 -0.48635784
+v -0.26059793 -0.14748847 -0.43813119
+v -0.15560366 -0.25524166 0.38952460
+v -0.12924380 -0.23267752 -0.48319701
+v -0.17121154 -0.24098589 -0.44724275
+v -0.24295454 -0.18520180 -0.43323949
+v -0.25323062 -0.15888618 0.39005862
+v -0.13321991 -0.22532957 -0.48964144
+v -0.16709710 -0.22998950 -0.46309690
+v -0.25249428 -0.17366250 0.37828402
+v -0.25364998 -0.17425135 -0.42823992
+v -0.25662181 -0.16061406 -0.43484759
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 10 4 3
+f 10 3 9
+f 11 8 1
+f 12 3 2
+f 12 2 9
+f 13 7 5
+f 14 10 9
+f 14 5 8
+f 15 11 1
+f 15 1 4
+f 15 8 11
+f 16 12 9
+f 16 9 3
+f 16 3 12
+f 17 13 5
+f 17 9 2
+f 17 2 7
+f 17 7 13
+f 17 14 9
+f 17 5 14
+f 18 8 15
+f 18 15 4
+f 18 4 10
+f 19 14 8
+f 19 8 18
+f 19 18 10
+f 20 19 10
+f 20 10 14
+f 20 14 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a713e8d2b97a17eab088a49e9faf61beb03eaab0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.10687478 -0.27295151 0.40075286
+v 0.25876163 -0.15281895 0.38621089
+v 0.12877777 -0.21101097 0.49871457
+v 0.18324496 -0.09233564 0.49204060
+v 0.10748738 -0.10748715 0.40151514
+v 0.23252075 -0.08656261 0.49871447
+v 0.18691179 -0.23236610 0.39233999
+v 0.07443981 -0.20816131 0.49146437
+v 0.19725585 -0.15180107 0.49242423
+v 0.18324496 -0.09233564 0.40151514
+v 0.13244308 -0.26365910 0.39486135
+v 0.07874196 -0.23175625 0.49966127
+v 0.10748738 -0.10748715 0.49204058
+v 0.21101121 -0.12877759 0.49871454
+v 0.24883711 -0.17806520 0.38157528
+v 0.15180130 -0.19725562 0.49242423
+v 0.27156505 -0.09873653 0.40947993
+v 0.08346208 -0.24101997 0.46993269
+v 0.07718434 -0.18324470 0.49204064
+v 0.23666632 -0.19121154 0.38157528
+v 0.24843956 -0.08695355 0.45542415
+f 8 5 1
+f 10 4 6
+f 10 2 5
+f 11 7 3
+f 11 3 1
+f 11 1 5
+f 12 1 3
+f 13 10 5
+f 13 4 10
+f 13 12 6
+f 13 6 4
+f 14 12 3
+f 14 6 12
+f 15 14 9
+f 15 2 6
+f 15 6 14
+f 15 5 2
+f 16 3 7
+f 16 14 3
+f 16 9 14
+f 17 6 2
+f 17 2 10
+f 18 12 8
+f 18 8 1
+f 18 1 12
+f 19 13 5
+f 19 5 8
+f 19 8 12
+f 19 12 13
+f 20 7 11
+f 20 11 5
+f 20 5 15
+f 20 16 7
+f 20 15 9
+f 20 9 16
+f 21 17 10
+f 21 10 6
+f 21 6 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c820bbab83ee674e50f6afdb677dad1d46302a8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26453425 0.13003557 0.39541608
+v 0.26026225 0.12785888 -0.45064893
+v 0.24580800 0.18234861 -0.43323934
+v 0.14610224 0.25787704 0.39300438
+v 0.15294193 0.13493709 0.40151514
+v 0.24624248 0.18278309 0.37945586
+v 0.25875447 0.15739366 -0.43425224
+v 0.15401137 0.13600656 -0.48482494
+v 0.17425132 0.25364973 -0.42824071
+v 0.25524184 0.15560389 0.38952458
+v 0.21134102 0.15354805 -0.49815448
+v 0.14687530 0.21393978 -0.49945934
+v 0.18520194 0.24295467 -0.43323933
+v 0.17366274 0.25249453 0.37828401
+v 0.15888640 0.25323083 0.39005864
+v 0.22181102 0.13142723 -0.49945933
+v 0.14748863 0.26059801 -0.43813105
+v 0.17380314 0.23921937 -0.44778283
+v 0.15356820 0.21132098 -0.49815460
+v 0.16061422 0.25662190 -0.43484745
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 2 5
+f 10 1 6
+f 11 3 7
+f 12 8 5
+f 12 5 4
+f 13 9 6
+f 13 6 3
+f 14 6 9
+f 15 10 6
+f 15 4 1
+f 15 1 10
+f 15 14 4
+f 15 6 14
+f 16 11 7
+f 16 7 2
+f 16 2 8
+f 16 12 11
+f 16 8 12
+f 17 12 4
+f 17 14 9
+f 17 4 14
+f 18 9 13
+f 19 11 12
+f 19 18 13
+f 19 13 3
+f 19 3 11
+f 20 17 9
+f 20 9 18
+f 20 12 17
+f 20 19 12
+f 20 18 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66378a3f48a6e094250baabdd188f2d4a6e69fd6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.27755689 -0.06542327 0.41375942
+v -0.21069443 -0.01657806 0.34090908
+v -0.21069443 -0.01657806 0.40151514
+v -0.24391298 0.13671128 0.42257606
+v -0.30022092 0.05656074 0.34090908
+v -0.21069443 0.11978557 0.34090908
+v -0.29829695 -0.06870815 0.34090908
+v -0.29900138 0.01091303 0.39136092
+v -0.27642913 0.13011883 0.34090907
+v -0.29794351 -0.05905318 0.37907269
+v -0.29978008 -0.05934405 0.34090908
+v -0.28795596 0.07216944 0.39370941
+v -0.29866710 -0.01371323 0.39116973
+v -0.26201141 0.12277264 0.40523199
+v -0.29832805 0.05626093 0.37922162
+v -0.28939651 -0.06009922 0.39453333
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 1 4
+f 9 4 6
+f 9 6 2
+f 10 7 1
+f 11 8 5
+f 11 7 10
+f 11 5 9
+f 11 9 2
+f 11 2 7
+f 12 8 4
+f 13 1 8
+f 13 11 10
+f 13 8 11
+f 14 12 4
+f 14 4 9
+f 14 9 12
+f 15 12 9
+f 15 9 5
+f 15 5 8
+f 15 8 12
+f 16 13 10
+f 16 10 1
+f 16 1 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e808a5eeb4333b2ec5c84889ca6ab4c5557beac
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08695380 -0.24843942 0.45542419
+v 0.10903037 -0.23172755 0.46404117
+v -0.04148959 -0.24297699 0.49871457
+v -0.20188913 -0.14668060 0.49871457
+v -0.20491091 -0.16230969 0.45750073
+v 0.07718434 -0.18324470 0.49204064
+v 0.09859150 -0.22639165 0.49871457
+v 0.10438416 -0.23776038 0.45825980
+v -0.08454610 -0.24931443 0.45597898
+v -0.21062011 -0.15290383 0.46207408
+v 0.04427335 -0.24253614 0.49871457
+v 0.10429320 -0.22243032 0.49965562
+v -0.14497508 -0.21866392 0.45575864
+v -0.16119498 -0.14889678 0.49146437
+v -0.15013093 -0.19843880 0.49871457
+v -0.09632605 -0.22754585 0.49871457
+f 8 1 5
+f 8 7 1
+f 8 6 2
+f 10 5 4
+f 10 8 5
+f 10 6 8
+f 11 1 7
+f 11 9 1
+f 11 3 9
+f 12 2 6
+f 12 6 4
+f 12 11 7
+f 12 3 11
+f 12 8 2
+f 12 7 8
+f 13 5 1
+f 13 1 9
+f 14 10 4
+f 14 4 6
+f 14 6 10
+f 15 12 4
+f 15 4 5
+f 15 5 13
+f 16 3 12
+f 16 12 15
+f 16 9 3
+f 16 15 13
+f 16 13 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3642ff6809ce29fdb9aaf788448d70b7c2626d10
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.14307074 -0.24466285 -0.46015288
+v -0.13142722 -0.22181122 -0.49945922
+v -0.13493686 -0.09233564 -0.41666667
+v -0.29383202 0.04279711 -0.44117999
+v -0.27589810 -0.11726119 -0.43825396
+v -0.20316352 0.04283522 -0.48528058
+v -0.13493686 -0.15294170 -0.41666667
+v -0.24529775 -0.17771577 -0.43800844
+v -0.25989438 -0.16257013 -0.41666666
+v -0.13493685 -0.09233563 -0.48315618
+v -0.25423467 -0.04417814 -0.49815442
+v -0.20241475 -0.22041959 -0.43835381
+v -0.29050857 -0.07542687 -0.43870404
+v -0.25458630 0.04138071 -0.49831940
+v -0.21132100 -0.15356829 -0.49815437
+v -0.15354828 -0.21134113 -0.49815437
+v -0.23920834 -0.09885548 -0.49815437
+v -0.26958982 -0.01390737 -0.47986204
+v -0.22921151 0.04456106 -0.49045467
+v -0.27469537 -0.10950556 -0.44449544
+v -0.21175825 0.04419649 -0.48701246
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 9 3 4
+f 9 7 3
+f 9 5 8
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 12 9 8
+f 12 1 7
+f 12 7 9
+f 13 9 4
+f 13 5 9
+f 14 6 2
+f 14 2 11
+f 15 12 8
+f 16 2 1
+f 16 1 12
+f 16 15 2
+f 16 12 15
+f 17 13 11
+f 17 11 2
+f 17 2 15
+f 17 15 8
+f 17 8 5
+f 18 13 4
+f 18 11 13
+f 18 14 11
+f 18 4 14
+f 19 14 4
+f 20 17 5
+f 20 5 13
+f 20 13 17
+f 21 19 4
+f 21 4 6
+f 21 6 14
+f 21 14 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7248f093a92a069261043400c114881d57952e38
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.04402777 0.07433103 0.49174307
+v -0.09820525 0.24353237 0.45412200
+v -0.07343319 0.25048196 0.45887982
+v -0.13795992 0.20147625 0.49958131
+v -0.07368581 0.23692547 0.49965541
+v -0.13493688 0.07433105 0.49204052
+v -0.04402777 0.21069466 0.49204044
+v -0.12766669 0.21157764 0.49871435
+v -0.12841979 0.22820716 0.45401186
+v -0.04531578 0.21882688 0.48740061
+v -0.09748041 0.22695828 0.49871435
+v -0.14192996 0.17223325 0.48775060
+f 1 2 3
+f 5 4 1
+f 5 3 2
+f 6 1 4
+f 7 5 1
+f 8 4 5
+f 9 2 1
+f 9 1 6
+f 9 4 8
+f 10 7 1
+f 10 1 3
+f 10 3 5
+f 10 5 7
+f 11 8 5
+f 11 5 2
+f 11 9 8
+f 11 2 9
+f 12 9 6
+f 12 6 4
+f 12 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be472b3cf3dfe532d43b5ec0ee4469d0f2d9dcb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.07602522 -0.29713833 -0.41666667
+v 0.11920127 -0.28199209 -0.41666666
+v -0.13493686 -0.18324473 -0.41666667
+v 0.11306428 -0.22449307 -0.49832619
+v 0.10338707 -0.28125801 -0.44032397
+v 0.10748738 -0.18324473 -0.41666667
+v -0.12562238 -0.22557008 -0.49815437
+v -0.13542906 -0.18373692 -0.48892680
+v -0.12873534 -0.27713415 -0.41666667
+v -0.02617306 -0.25708665 -0.49815437
+v 0.10802684 -0.18430348 -0.48645377
+v -0.13634409 -0.20115810 -0.49200126
+v 0.01397847 -0.30319373 -0.43474091
+v -0.09693897 -0.28935482 -0.43449797
+v 0.02895681 -0.25664577 -0.49815437
+v -0.12716619 -0.27405459 -0.43437521
+v 0.07514109 -0.29155620 -0.43735880
+v -0.04133897 -0.30263204 -0.41666668
+v -0.09543611 -0.24095075 -0.49815437
+v -0.02608119 -0.30196103 -0.43382256
+v 0.09770157 -0.23979653 -0.49815437
+v -0.11046984 -0.28617416 -0.42811261
+v 0.01456125 -0.30687324 -0.41666667
+v -0.04128652 -0.30230085 -0.42865358
+v 0.07439693 -0.27170623 -0.46416153
+v -0.11057774 -0.28638589 -0.41666668
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 8 3 6
+f 8 4 7
+f 9 2 3
+f 11 8 6
+f 11 6 4
+f 11 4 8
+f 12 8 7
+f 12 9 3
+f 12 3 8
+f 15 10 4
+f 15 13 10
+f 16 12 7
+f 16 9 12
+f 17 5 1
+f 17 1 13
+f 17 13 15
+f 18 2 9
+f 19 10 14
+f 19 7 4
+f 19 4 10
+f 19 16 7
+f 19 14 16
+f 20 14 10
+f 20 10 13
+f 21 15 4
+f 21 4 5
+f 21 5 17
+f 22 16 14
+f 22 9 16
+f 23 13 1
+f 23 1 2
+f 23 2 18
+f 23 20 13
+f 24 18 14
+f 24 14 20
+f 24 23 18
+f 24 20 23
+f 25 21 17
+f 25 17 15
+f 25 15 21
+f 26 18 9
+f 26 9 22
+f 26 22 14
+f 26 14 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d1ec7d3cd0ee2491d6cb4c1af0bad5fa0a6a04
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.25872091 0.04158364 0.45329419
+v 0.29487970 0.04251110 -0.43983462
+v 0.28508156 0.10991328 0.37803916
+v 0.18324496 0.13493709 0.48717420
+v 0.18324496 0.04402800 -0.48315627
+v 0.27405463 0.12716637 -0.43437500
+v 0.22934317 0.12754497 0.45292306
+v 0.29224875 0.04209438 0.39453259
+v 0.18324496 0.04402800 0.49204055
+v 0.28617394 0.11046986 -0.42811292
+v 0.17758400 0.12927606 -0.48719513
+v 0.25517151 0.07132447 0.45126413
+v 0.27056706 0.12538937 0.38963471
+v 0.28935479 0.09693908 -0.43449776
+v 0.28589227 0.09517482 0.38974485
+v 0.24002219 0.11011461 0.45008745
+f 5 2 1
+f 8 1 2
+f 9 5 1
+f 9 1 4
+f 10 6 3
+f 11 4 6
+f 11 9 4
+f 11 5 9
+f 11 2 5
+f 12 1 8
+f 12 7 4
+f 12 4 1
+f 13 6 4
+f 13 4 7
+f 13 3 6
+f 14 8 2
+f 14 3 8
+f 14 10 3
+f 14 6 10
+f 14 11 6
+f 14 2 11
+f 15 3 13
+f 15 12 8
+f 15 8 3
+f 16 7 12
+f 16 12 15
+f 16 15 13
+f 16 13 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5315becc4d1936f1db2498d0fd54a5bf3c7acba7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01657829 -0.18324473 0.26515151
+v 0.01657829 -0.18324473 -0.23484849
+v 0.01657829 0.13493709 0.26515151
+v -0.13493686 0.13493709 0.26515151
+v -0.13493686 -0.18324473 -0.23484849
+v -0.13493686 0.13493709 -0.23484849
+v -0.13493686 -0.18324473 0.26515151
+v 0.01657829 0.13493709 -0.23484849
+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/can/can_0/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c26714f6da4dcf2881ff91119c55bd975c0bee92
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18324496 -0.01657806 0.40151514
+v 0.18324496 -0.01657806 -0.23484849
+v 0.21878603 0.17047823 0.42990898
+v 0.18324496 0.13493709 -0.23484849
+v 0.01657829 0.13493709 -0.23484849
+v 0.01657829 -0.01657806 0.40151514
+v 0.01657829 -0.01657806 -0.23484849
+v 0.01657829 0.13493709 0.40151514
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 5 3 4
+f 6 2 1
+f 6 1 3
+f 7 6 5
+f 7 5 2
+f 7 2 6
+f 8 6 3
+f 8 3 5
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b1d9a9b30a887f68e1266b71678407b7b505709
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18324496 -0.01657806 -0.23484849
+v 0.18324495 -0.01657804 -0.48315624
+v 0.18373712 0.13542926 -0.48892702
+v -0.13493686 0.13493709 -0.23484849
+v -0.13493686 -0.01657806 -0.23484849
+v 0.18324496 0.13493709 -0.23484849
+v -0.13493686 -0.01657804 -0.48315624
+v -0.13493686 0.13493709 -0.48315627
+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 8 4 3
+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/can/can_0/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d129b7feecede4de879f159fa3850e1c0a9c148
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21593122 -0.21593099 0.26515152
+v 0.21593140 -0.21593111 -0.35606059
+v 0.18324496 -0.01657806 0.26515151
+v 0.01657829 -0.01657806 0.26515151
+v 0.01657829 -0.18324473 -0.35606061
+v 0.01657829 -0.18324473 0.26515151
+v 0.18324496 -0.01657806 -0.35606061
+v 0.01657829 -0.01657806 -0.35606061
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f88b412daf46f387b41f051889f2fc010d6f9da
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15294193 0.13493709 0.26515151
+v 0.15294193 0.13493709 -0.35606061
+v 0.17482813 0.25364873 0.26515149
+v -0.16053392 0.26093203 0.26515148
+v -0.13493686 0.13493709 -0.35606061
+v 0.17482802 0.25364851 -0.35606063
+v -0.13493686 0.13493709 0.26515151
+v -0.16053383 0.26093173 -0.35606063
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+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/can/can_0/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b429bf1d5cd4aa1e9b816bbce4f64973a7b6052
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01657829 -0.01657806 0.40151514
+v 0.01657829 -0.01657806 0.26515151
+v 0.01657829 0.21069466 0.40151514
+v -0.14949514 0.23926706 0.41963035
+v -0.13493686 -0.01657806 0.26515151
+v -0.13493686 -0.01657806 0.40151514
+v -0.16053392 0.26093203 0.26515148
+v 0.01657829 0.21069466 0.26515151
+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/can/can_0/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b46c02bd81cb8e150bd8583287c0da4f9218c40a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20047539 -0.20047517 0.41528060
+v 0.21593122 -0.21593099 0.26515152
+v 0.18324496 -0.01657806 0.26515151
+v -0.13493686 -0.01657806 0.40151514
+v -0.17047797 -0.21878577 0.42990903
+v 0.18324496 -0.01657806 0.40151514
+v -0.13493686 -0.18324473 0.26515151
+v -0.13493686 -0.01657806 0.26515151
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+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/can/can_0/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..808e3ee7106953e9aadad25c88dce84d27f289a1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.16468708 0.23374578 0.41612985
+v 0.16996026 0.24409508 -0.44424982
+v 0.11326035 0.28319729 0.37845561
+v -0.05626075 0.29832830 0.37922173
+v -0.04419625 0.21175845 -0.48701262
+v 0.05929177 0.29944883 -0.42865377
+v 0.01371344 0.29866735 0.39116975
+v 0.14346155 0.26784593 0.37836975
+v 0.01677237 0.21192005 -0.48619056
+v -0.14949514 0.23926706 0.41963035
+v 0.11387144 0.28439665 -0.42833045
+v 0.13671899 0.23889492 0.43048499
+v -0.05650585 0.29987581 -0.42873184
+v 0.05905338 0.29794376 0.37907269
+v 0.09845734 0.28388124 0.39027889
+v 0.14887365 0.23301323 -0.47067890
+v 0.04417833 0.25423453 -0.49815460
+v -0.09604960 0.28475621 0.39083362
+v 0.14406137 0.26902318 -0.42828569
+v 0.14950314 0.23424871 0.42753923
+v -0.01091283 0.29900158 0.39136093
+v -0.16053383 0.26093173 -0.35606063
+v 0.10466036 0.23544937 -0.49945941
+v 0.10015964 0.28722223 -0.43509297
+v 0.01390755 0.26958997 -0.47986199
+v -0.11091976 0.28420397 0.37888811
+v -0.13586714 0.25797500 -0.44847749
+v -0.04138051 0.25458648 -0.49831916
+v 0.07429560 0.28336494 -0.44853343
+v 0.09885553 0.23920824 -0.49815460
+v -0.04127813 0.29939472 -0.43403623
+v 0.04408637 0.29910869 -0.43382312
+v -0.11081322 0.28399488 -0.43242777
+v -0.12626416 0.26943102 0.39072350
+v -0.07378068 0.25267592 -0.48983667
+v -0.07148735 0.28365099 -0.44874654
+v -0.12791493 0.27267085 -0.43558862
+f 8 1 2
+f 9 1 5
+f 11 6 3
+f 11 3 8
+f 14 3 6
+f 14 6 7
+f 15 8 3
+f 15 1 8
+f 15 12 1
+f 15 3 14
+f 15 14 7
+f 15 7 12
+f 16 2 1
+f 16 1 9
+f 19 11 8
+f 19 8 2
+f 20 12 10
+f 20 1 12
+f 20 10 5
+f 20 5 1
+f 21 12 7
+f 21 10 12
+f 21 18 10
+f 21 4 18
+f 21 13 4
+f 21 7 6
+f 21 6 13
+f 22 5 10
+f 23 2 16
+f 23 16 9
+f 23 9 5
+f 24 6 11
+f 24 2 23
+f 24 19 2
+f 24 11 19
+f 26 18 4
+f 26 4 13
+f 27 5 22
+f 28 23 5
+f 28 17 23
+f 28 25 17
+f 29 24 17
+f 30 24 23
+f 30 23 17
+f 30 17 24
+f 31 25 28
+f 32 17 25
+f 32 29 17
+f 32 6 24
+f 32 24 29
+f 32 25 31
+f 32 31 13
+f 32 13 6
+f 33 26 13
+f 33 22 26
+f 34 26 22
+f 34 22 10
+f 34 10 18
+f 34 18 26
+f 35 28 5
+f 35 5 27
+f 35 27 33
+f 36 31 28
+f 36 13 31
+f 36 28 35
+f 36 35 33
+f 36 33 13
+f 37 33 27
+f 37 27 22
+f 37 22 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48a403faecf1ec52bdd509b5624d6293c8ea1b5d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.15294193 0.13493709 0.40151514
+v 0.15294193 0.13493709 0.26515151
+v 0.17482813 0.25364873 0.26515149
+v 0.01657829 0.21069466 0.40151514
+v 0.01657829 0.13493709 0.26515151
+v 0.16468708 0.23374578 0.41612985
+v 0.01657829 0.13493709 0.40151514
+v 0.01657829 0.21069466 0.26515151
+v 0.16763284 0.23952715 0.40464379
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 6 1
+f 9 1 3
+f 9 3 4
+f 9 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc876c7784fb45d344baec3ced73e9e548cd9392
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01657829 -0.18324473 -0.23484849
+v 0.01657829 -0.18324473 -0.48315616
+v 0.01657829 -0.01657806 -0.23484849
+v -0.13493686 -0.01657806 -0.23484849
+v -0.13542906 -0.18373692 -0.48892680
+v -0.13493686 -0.18324473 -0.23484849
+v 0.01657829 -0.01657806 -0.47985637
+v -0.13493686 -0.01657804 -0.48315624
+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 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/can/can_0/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6631562eeb1c8d5dd083fb570c4ea962fee8b0bd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.17806541 -0.24883689 0.38157528
+v 0.29003756 -0.09005182 -0.43622724
+v 0.30245285 -0.02901237 0.37971456
+v 0.18324496 0.04402800 0.40151514
+v 0.17436432 -0.18951563 -0.49945922
+v 0.30263180 0.04133915 -0.41666667
+v 0.17750330 -0.23810913 0.39692811
+v 0.24499811 -0.18439182 0.37878221
+v 0.18427648 -0.24488233 -0.43227636
+v 0.30453206 -0.02934169 -0.41666667
+v 0.30079551 0.04104828 0.37907222
+v 0.18324496 0.04402800 -0.41666667
+v 0.26499749 -0.08767015 -0.46971094
+v 0.29224875 0.04209438 0.39453259
+v 0.17696725 -0.24668156 -0.43679488
+v 0.28942040 -0.09982559 0.37990329
+v 0.18439206 -0.24499788 0.37878218
+v 0.24488250 -0.18427624 -0.43227633
+v 0.21081629 -0.15154982 -0.49971710
+v 0.28659043 -0.08950585 0.39129630
+v 0.28860616 -0.09941068 -0.43387953
+v 0.18691179 -0.23236610 0.39233999
+v 0.18544520 -0.15514193 -0.49194143
+v 0.19759634 -0.16729310 -0.49815437
+v 0.25901307 -0.14522701 0.39191558
+v 0.21721482 -0.20206308 0.39233999
+f 7 4 5
+f 11 10 6
+f 11 3 10
+f 12 5 4
+f 13 10 2
+f 13 6 10
+f 14 4 7
+f 14 3 11
+f 14 11 6
+f 14 12 4
+f 14 6 12
+f 15 7 5
+f 15 1 7
+f 15 9 1
+f 15 5 9
+f 16 10 3
+f 17 7 1
+f 17 9 8
+f 17 1 9
+f 18 9 5
+f 18 8 9
+f 18 16 8
+f 19 12 6
+f 19 6 13
+f 20 16 3
+f 20 3 14
+f 20 14 7
+f 21 2 10
+f 21 10 16
+f 21 16 18
+f 21 18 19
+f 21 19 13
+f 21 13 2
+f 22 17 8
+f 22 7 17
+f 23 19 5
+f 23 5 12
+f 23 12 19
+f 24 19 18
+f 24 18 5
+f 24 5 19
+f 25 20 7
+f 25 8 16
+f 25 16 20
+f 26 22 8
+f 26 7 22
+f 26 25 7
+f 26 8 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8881365c436c4c07a8727d1f88496c0a45b5974d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.21062011 -0.15290383 0.46207408
+v -0.20340303 -0.08862049 -0.48808737
+v -0.21069443 -0.01657806 0.40151514
+v -0.28288095 -0.02081197 0.41680451
+v -0.26902341 -0.14406139 -0.42828491
+v -0.30214604 -0.01426424 -0.43608611
+v -0.22920489 -0.10176714 0.47385706
+v -0.20332519 -0.01541090 -0.48445851
+v -0.24409508 -0.16996011 -0.44424988
+v -0.26784565 -0.14346130 0.37836988
+v -0.30680315 -0.01500185 0.34090908
+v -0.28722216 -0.10015949 -0.43509312
+v -0.28388103 -0.09845713 0.39027886
+v -0.24590206 -0.15544070 -0.45102005
+v -0.27192198 -0.13038677 -0.43497036
+v -0.29944886 -0.05929161 -0.42865379
+v -0.28439671 -0.11387138 -0.42833050
+v -0.24127050 -0.09247475 0.46229431
+v -0.28939651 -0.06009922 0.39453333
+v -0.26855582 -0.12867165 0.39016874
+v -0.29910858 -0.04408619 -0.43382322
+v -0.29978008 -0.05934405 0.34090908
+v -0.28319705 -0.11326012 0.37845561
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 8 2 6
+f 9 2 1
+f 10 9 1
+f 10 5 9
+f 11 4 3
+f 11 8 6
+f 11 3 8
+f 12 6 2
+f 13 1 7
+f 14 12 2
+f 14 2 9
+f 14 9 12
+f 15 12 9
+f 15 9 5
+f 16 11 6
+f 17 5 10
+f 17 16 12
+f 17 15 5
+f 17 12 15
+f 18 13 7
+f 18 7 4
+f 19 4 11
+f 19 18 4
+f 19 13 18
+f 20 10 1
+f 20 1 13
+f 21 16 6
+f 21 6 12
+f 21 12 16
+f 22 11 16
+f 22 19 11
+f 22 13 19
+f 22 16 17
+f 23 22 17
+f 23 17 10
+f 23 13 22
+f 23 20 13
+f 23 10 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ab4888a20e4e2e9664fe6d989f4556eb3ff65f8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.15294193 0.13493709 -0.35606061
+v 0.15401137 0.13600656 -0.48482494
+v 0.17482802 0.25364851 -0.35606063
+v -0.05114389 0.30107885 -0.35606063
+v -0.13493686 0.13493709 -0.48315627
+v 0.08650276 0.24470112 -0.49945943
+v -0.13493686 0.13493709 -0.35606061
+v 0.14687530 0.21393978 -0.49945934
+v 0.10832657 0.28753270 -0.41666668
+v -0.12677634 0.22498172 -0.49815460
+v 0.15519648 0.18264622 -0.49155544
+v 0.16257017 0.25989417 -0.41666668
+v -0.07413755 0.28523215 -0.44606074
+v -0.14214712 0.27030020 -0.35606061
+v -0.09659005 0.24036236 -0.49815460
+v -0.13189103 0.26532292 -0.44203305
+v -0.11478933 0.27664696 -0.43887220
+v -0.07187465 0.27094473 -0.46571975
+v -0.13638804 0.19839127 -0.49151487
+v -0.08678561 0.26942599 -0.46458830
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 8 2 5
+f 9 4 3
+f 10 8 5
+f 10 6 8
+f 11 3 2
+f 11 2 8
+f 12 9 3
+f 12 8 6
+f 12 6 9
+f 12 11 8
+f 12 3 11
+f 13 9 6
+f 13 4 9
+f 14 7 1
+f 14 1 3
+f 14 3 4
+f 14 5 7
+f 15 6 10
+f 17 14 4
+f 17 4 13
+f 17 16 14
+f 17 15 10
+f 17 10 16
+f 18 13 6
+f 18 6 15
+f 19 16 10
+f 19 10 5
+f 19 5 14
+f 19 14 16
+f 20 17 13
+f 20 15 17
+f 20 18 15
+f 20 13 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d4e3eb0f1d97ffa5fcb52ee1c2937876115b1ce
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.10748738 -0.18324473 0.49204065
+v 0.18324496 -0.10748715 0.40151514
+v 0.18007423 0.13176636 0.49007270
+v -0.13493688 0.13493711 0.49204047
+v -0.17047797 -0.21878577 0.42990903
+v -0.13493686 0.13493709 0.40151514
+v 0.18324496 -0.10748715 0.49204063
+v 0.10748738 -0.18324473 0.40151514
+v -0.13176602 -0.18007389 0.49007291
+v 0.21878603 0.17047823 0.42990898
+v -0.04402777 0.13493709 0.49204051
+v -0.11978534 -0.03172958 0.49174307
+v -0.13493686 0.07433103 0.49204052
+v 0.09233587 0.04402800 0.49174307
+v -0.08948231 -0.06203261 0.49174307
+f 6 5 4
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 5 1
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 10 6 4
+f 11 1 7
+f 11 10 4
+f 11 3 10
+f 13 4 5
+f 13 5 9
+f 13 9 12
+f 13 12 1
+f 13 11 4
+f 13 1 11
+f 14 11 7
+f 14 7 3
+f 14 3 11
+f 15 12 9
+f 15 9 1
+f 15 1 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11a5b4e12bb86b3179ed7db5610170eeb8ea6dab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.13468156 -0.25850126 0.40119747
+v -0.12879006 -0.24693853 0.42416960
+v -0.28939651 -0.06009922 0.39453333
+v -0.14484894 0.24529985 0.41384898
+v -0.13136553 0.23398853 0.44252580
+v -0.20487942 -0.22288427 0.38171800
+v -0.24012546 -0.05949474 0.49871446
+v -0.20137287 0.21652458 0.39406811
+v -0.18055167 -0.22885956 0.40469010
+v -0.13493686 -0.15294170 0.49204064
+v -0.26362953 -0.14903316 0.38157524
+v -0.27407703 0.11348020 0.39366927
+v -0.15155775 0.19701246 0.49871435
+v -0.16024987 -0.24920884 0.39530597
+v -0.20188913 -0.14668060 0.49871457
+v -0.13133159 0.17678636 0.49191877
+v -0.27320202 -0.11588748 0.39311449
+v -0.28973068 0.05729901 0.39472446
+v -0.24342656 0.17390920 0.39344896
+v -0.13336841 0.20761638 0.49965541
+v -0.22695799 0.09748057 0.49871442
+v -0.18513979 -0.23344768 0.39320405
+v -0.24258855 -0.17625043 0.39288911
+v -0.12754472 -0.22934299 0.45292304
+v -0.14032886 -0.22469677 0.44997727
+v -0.26830439 -0.13626359 0.38446406
+v -0.22580362 -0.09974555 0.49871449
+v -0.19701239 0.15155801 0.49871435
+v -0.12841979 0.22820716 0.45401186
+v -0.18501749 -0.15756778 0.49966127
+v -0.24056630 0.05671143 0.49871446
+v -0.19547094 -0.22862729 0.38630612
+v -0.15730409 -0.24342750 0.40679201
+f 5 2 1
+f 5 1 4
+f 8 4 1
+f 8 1 6
+f 11 8 6
+f 13 4 8
+f 14 6 1
+f 14 1 2
+f 17 7 3
+f 18 12 11
+f 18 11 3
+f 19 8 11
+f 19 11 12
+f 20 5 4
+f 20 4 13
+f 20 10 16
+f 21 19 12
+f 22 14 9
+f 22 9 15
+f 23 15 11
+f 23 11 6
+f 23 6 15
+f 24 16 10
+f 25 15 9
+f 26 17 3
+f 26 3 11
+f 27 7 17
+f 27 17 26
+f 27 26 11
+f 27 11 15
+f 28 13 8
+f 28 8 19
+f 28 19 21
+f 28 21 20
+f 28 20 13
+f 29 20 16
+f 29 5 20
+f 29 16 24
+f 29 24 2
+f 29 2 5
+f 30 10 20
+f 30 24 10
+f 30 25 24
+f 30 15 25
+f 30 27 15
+f 30 7 27
+f 31 7 30
+f 31 30 20
+f 31 20 21
+f 31 18 3
+f 31 3 7
+f 31 21 12
+f 31 12 18
+f 32 6 14
+f 32 14 22
+f 32 22 15
+f 32 15 6
+f 33 25 9
+f 33 9 14
+f 33 24 25
+f 33 14 2
+f 33 2 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7425ab18762d28e2e120ba3f3eb73a8284ddeab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.20820421 0.13221428 0.49965543
+v 0.25850144 0.13468177 0.40119744
+v 0.11588771 0.27320224 0.39311451
+v -0.05729882 0.28973097 0.39472451
+v -0.13493686 0.13493709 0.40151514
+v 0.05949497 0.24012587 0.49871435
+v 0.17625081 0.24258868 0.39288912
+v 0.22934317 0.12754497 0.45292306
+v 0.01650318 0.30112950 0.38609238
+v -0.13493688 0.13493711 0.49204047
+v 0.23344788 0.18514001 0.39320405
+v 0.15298460 0.19558582 0.49871435
+v 0.24693871 0.12879028 0.42416956
+v 0.06111447 0.29580541 0.38304726
+v -0.05671128 0.24056681 0.49871435
+v -0.11347999 0.27407722 0.39366924
+v 0.17920018 0.13089231 0.49146415
+v 0.24920903 0.16025009 0.39530595
+v 0.09974583 0.22580405 0.49871435
+v 0.19843915 0.15013128 0.49871435
+v -0.07368581 0.23692547 0.49965541
+v -0.13091036 0.26339823 0.39650487
+v -0.07744935 0.23196670 0.49932812
+v -0.12841979 0.22820716 0.45401186
+f 10 5 8
+f 13 8 5
+f 13 5 2
+f 13 2 1
+f 13 1 8
+f 14 9 6
+f 14 6 3
+f 14 3 7
+f 14 7 11
+f 15 9 4
+f 15 6 9
+f 16 4 9
+f 16 14 5
+f 16 9 14
+f 17 10 8
+f 17 8 1
+f 17 1 10
+f 18 1 2
+f 18 2 5
+f 18 14 11
+f 18 5 14
+f 19 1 12
+f 19 3 6
+f 19 12 7
+f 19 7 3
+f 20 12 1
+f 20 11 7
+f 20 7 12
+f 20 18 11
+f 20 1 18
+f 21 6 15
+f 21 19 6
+f 21 1 19
+f 21 15 4
+f 21 4 16
+f 22 16 5
+f 22 5 10
+f 22 21 16
+f 23 10 1
+f 23 1 21
+f 24 22 10
+f 24 10 23
+f 24 23 21
+f 24 21 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6445a3b4862b33a6cb8d9b2f1f0e2a4ec6c98c84
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/model.xml
@@ -0,0 +1,27 @@
+
+
+
+
+
+
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46b0a372e9d3056b87fe8f95ea0dc63c64791eb6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_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 38.39998900
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_0/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a0eb4d9c1cc253a2bfd07e19d1080ef57fd9888
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_0/visual/model_normalized_0.obj
@@ -0,0 +1,9175 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7847d709432a8c13d82819b2c603e112827766d7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10c6f4f8bae7e4960765bde45884b1fe14d5bf30
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,1363 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72ca7be5bbcb0cfc2aad015c4dc29f501f1bee5d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_10.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce85248f2c621f448893c0a9e44f6e5a0d14dba2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_11.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f43be8a9b3f536865635c253fe6a9e7586f330
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_12.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2703014b9225c1c032219c5df5d7eba601cf8ca6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_13.obj
@@ -0,0 +1,532 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f50d33b82c0149309c9feafc2fb75cd26b7977a9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_14.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c98b620fdc034f4d54d59841a2d264a0b82725
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_15.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb814fd84ff125f3cb29fe229b2f73814f37de42
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa9bea522480395c7948df310e33f89c04cd7a7b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a6f343a725b3d2cf965b3750d02ec0d7d19a4a5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6bd8d8cf1c5a95607bc74dd8e72faeae7bde26
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_5.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559cd50681cd8ebd05a78a7d1f4eba57d86ab463
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_6.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e43365899a7fe608f35c88d6f59ee18082f8215b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,460 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c0afdb13d8b77085fe9cbb61fb24131fd5db34
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aab3ee54bdfc816f95761a810c233f5a04f1e0d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/collision_mesh_collision_9.obj
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+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb9f9b350b8f89b6a8a9537c5288a4dfb38e88bb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_0.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.17405440 0.06247675 -0.28698614
+v -0.05675618 0.11056345 -0.48401844
+v -0.13675368 0.08320893 -0.31741155
+v -0.10175599 0.23095275 -0.28030303
+v -0.20883722 0.13332617 -0.44266189
+v -0.10664748 0.19068492 -0.29588721
+v -0.17030921 0.10660395 -0.49855790
+v -0.19308236 0.15598827 -0.23484848
+v -0.21417211 0.10578112 -0.44888612
+v -0.09748732 0.22322872 -0.44947822
+v -0.17984803 0.17266154 -0.23484848
+v -0.21180866 0.11971080 -0.44550474
+v -0.22119914 0.10941387 -0.41666667
+v -0.14943371 0.20085194 -0.44266190
+v -0.05675618 0.17116951 -0.48401845
+v -0.14193895 0.19087976 -0.26079027
+v -0.17832625 0.17457872 -0.44266190
+v -0.17743537 0.07119288 -0.28698614
+v -0.20883722 0.13332617 -0.41666667
+v -0.10969465 0.17244675 -0.49855790
+v -0.12496922 0.21812398 -0.28030303
+v -0.12496921 0.21812397 -0.44266190
+v -0.17832626 0.17457872 -0.31741156
+v -0.16534651 0.11569648 -0.49855790
+v -0.08973933 0.17601897 -0.49999978
+v -0.14943372 0.20085195 -0.34783696
+v -0.11131425 0.22083193 -0.44593276
+v -0.13891434 0.20631098 -0.44471619
+v -0.19733243 0.14733531 -0.44426586
+v -0.09808802 0.17886112 -0.49855791
+v -0.09615386 0.17247384 -0.49999975
+f 1 2 3
+f 1 3 4
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+f 6 4 3
+f 7 2 1
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+f 11 8 1
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+f 29 5 17
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+f 30 20 22
+f 30 22 27
+f 31 24 20
+f 31 20 25
+f 31 25 7
+f 31 7 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..619699c22bcc90830b2a1397f5a2c3843ff15fd0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_1.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.06163744 -0.24408653 0.35372254
+v 0.06632253 -0.24387274 -0.43181818
+v 0.00000024 -0.21887994 -0.06888528
+v -0.04226474 -0.24440334 0.36046892
+v 0.01742339 -0.25272857 -0.43181819
+v 0.06516764 -0.24019055 0.35766552
+v 0.06199599 -0.24522972 -0.43181819
+v -0.00968098 -0.25230959 0.35372254
+v -0.04284886 -0.25013939 -0.43181817
+v 0.00972816 -0.21935412 -0.07400825
+v 0.01730169 -0.25153358 0.35372254
+v -0.01431543 -0.22297924 -0.07400825
+v -0.04120008 -0.24909991 0.35372254
+v -0.02479868 -0.25197749 -0.43181819
+v -0.03616766 -0.24024621 -0.05109307
+v -0.02472781 -0.25128155 0.34027386
+v -0.03101348 -0.23617354 -0.07400825
+f 6 3 4
+f 6 1 2
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+f 7 1 5
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+f 9 2 7
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+f 10 2 3
+f 10 3 6
+f 11 8 5
+f 11 5 1
+f 11 1 6
+f 11 6 4
+f 11 4 8
+f 12 4 3
+f 12 3 9
+f 13 8 4
+f 13 4 9
+f 14 5 8
+f 14 9 7
+f 14 7 5
+f 15 9 4
+f 16 13 9
+f 16 9 14
+f 16 14 8
+f 16 8 13
+f 17 12 9
+f 17 9 15
+f 17 15 4
+f 17 4 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d55eeae80364fb60c32f446dfe0c683d9ad0f04
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.21526560 0.06716096 0.37827098
+v -0.18722606 0.16336629 -0.41666667
+v -0.17405440 0.11284029 -0.27394325
+v -0.17929105 0.17221944 0.34097084
+v -0.22082666 0.10138845 0.35803889
+v -0.16550940 0.17330676 0.13656534
+v -0.23596546 0.06434348 -0.44352974
+v -0.19815086 0.11316434 0.37672186
+v -0.20823133 0.13301295 0.34028747
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+v -0.20132641 0.09965448 0.38019957
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+v -0.22617799 0.06591724 -0.45060248
+v -0.22900727 0.06230202 0.36466766
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+v -0.22439450 0.10323291 -0.44266189
+v -0.17984803 0.17266154 -0.23484848
+v -0.19893862 0.14861021 -0.41666667
+v -0.21013312 0.11152594 -0.44963337
+v -0.20883722 0.13332617 -0.41666667
+f 10 6 3
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+f 13 3 1
+f 13 12 3
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+f 14 13 1
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+f 18 2 16
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+f 19 16 2
+f 19 2 12
+f 19 12 16
+f 20 18 16
+f 20 16 9
+f 20 9 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dac18d51b0bac1dce39a8d79497c7ed5587a6e2f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_11.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.12585178 -0.13279171 0.43181608
+v 0.18798619 -0.05678333 0.41681690
+v 0.16811167 0.10148734 0.44568219
+v -0.02645315 0.17116951 0.42827946
+v -0.07190769 0.03480588 0.42827946
+v 0.16927718 0.10208988 0.41551400
+v 0.18568250 -0.05610745 0.44566577
+v 0.07960746 -0.13186079 0.42827946
+v -0.07190769 0.15601800 0.42827946
+v 0.19236582 0.03400059 0.44568219
+v 0.06503385 0.17301233 0.43187079
+v 0.14191667 0.11185899 0.44509821
+v 0.12506200 -0.13186079 0.42827946
+v 0.16892677 -0.06008258 0.44552939
+v 0.18555524 0.06063048 0.44568219
+v 0.19352905 0.03411139 0.41621233
+v 0.06507522 0.17311047 0.42797845
+v 0.18675907 0.06098367 0.41575540
+f 6 2 5
+f 7 1 2
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+f 9 4 6
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+f 11 3 6
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+f 12 4 9
+f 12 11 4
+f 12 3 11
+f 13 8 2
+f 13 2 1
+f 13 1 8
+f 14 5 8
+f 14 12 5
+f 14 7 3
+f 14 3 12
+f 14 8 1
+f 14 1 7
+f 15 6 3
+f 15 3 10
+f 16 10 2
+f 17 11 6
+f 17 6 4
+f 17 4 11
+f 18 16 2
+f 18 2 6
+f 18 6 15
+f 18 15 10
+f 18 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff78518d7918e4a34215f4b6fe90291a76c6da1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_12.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.05021413 -0.19536728 0.43177611
+v 0.07960746 -0.14701230 0.42827946
+v 0.07282201 0.06775512 0.49031712
+v -0.01357217 0.12705081 0.49851081
+v -0.07190769 0.03480588 0.42827946
+v -0.04160943 0.08260389 0.49188208
+v 0.07513481 0.02848934 0.47922605
+v -0.02774034 -0.13630571 0.41148447
+v 0.07960746 0.03480588 0.42827946
+v 0.06113790 0.10140227 0.49544888
+v -0.02770314 0.11407574 0.47678512
+v 0.05036850 -0.19585949 0.41689401
+v -0.07190769 -0.14701230 0.42827946
+v 0.01228894 -0.00952097 0.41148447
+v 0.06265948 0.10053795 0.47583530
+v -0.02551510 0.11500095 0.49671497
+v 0.03988759 0.12942097 0.47792808
+v -0.04069647 -0.11126901 0.41148447
+v -0.04158748 -0.19241206 0.42836572
+v 0.03585128 -0.12486365 0.41148447
+v -0.01521115 0.12770216 0.47778156
+v -0.03952863 0.08978715 0.49165222
+v 0.05328221 0.11582978 0.47694437
+v 0.03825450 0.12869986 0.49874235
+v -0.04335463 -0.19804640 0.41704056
+v -0.04042728 -0.04648313 0.41148447
+v -0.04728335 0.02824571 0.47882160
+v 0.01263389 -0.14886072 0.41148447
+v 0.03548866 -0.03298595 0.41148447
+v -0.01724015 -0.01223401 0.41148447
+v -0.01724011 -0.14631280 0.41148447
+v -0.02731180 -0.02168616 0.41148447
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 9 3 7
+f 9 7 2
+f 10 6 3
+f 12 2 1
+f 12 9 2
+f 13 6 5
+f 14 5 9
+f 15 10 3
+f 15 3 9
+f 16 10 4
+f 16 6 10
+f 17 9 5
+f 18 13 5
+f 18 14 8
+f 19 1 6
+f 20 8 14
+f 20 9 12
+f 21 16 4
+f 21 11 16
+f 21 17 5
+f 21 5 11
+f 22 16 11
+f 22 11 5
+f 22 5 6
+f 22 6 16
+f 23 15 9
+f 23 9 17
+f 23 10 15
+f 24 4 10
+f 24 23 17
+f 24 10 23
+f 24 21 4
+f 24 17 21
+f 25 18 8
+f 25 13 18
+f 25 19 13
+f 25 12 1
+f 25 1 19
+f 26 18 5
+f 26 14 18
+f 27 19 6
+f 27 6 13
+f 27 13 19
+f 28 20 12
+f 28 8 20
+f 28 12 25
+f 29 20 14
+f 29 14 9
+f 29 9 20
+f 30 5 14
+f 30 14 26
+f 31 28 25
+f 31 25 8
+f 31 8 28
+f 32 30 26
+f 32 26 5
+f 32 5 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..224395dd13a1efe6c10621a6ed0e3aac0fd2f632
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_13.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.11631243 -0.22087027 0.35460278
+v -0.11123666 -0.19653430 -0.46459983
+v -0.16358873 -0.12942400 -0.07228294
+v -0.21147129 -0.12568220 0.35372254
+v -0.16892842 -0.18181326 -0.44414143
+v -0.12073259 -0.21371692 0.36074084
+v -0.13759282 -0.21089936 -0.44266186
+v -0.13682600 -0.20999564 0.35372254
+v -0.21251107 -0.12621974 -0.44266186
+v -0.20050182 -0.13567706 0.36153990
+v -0.11444162 -0.18718206 -0.47123041
+v -0.11273886 -0.21440398 -0.44974596
+v -0.20529033 -0.13763835 0.35372254
+v -0.15335060 -0.19646234 -0.44329358
+v -0.19623124 -0.13346930 -0.45142122
+v -0.20633011 -0.13817589 -0.44266186
+v -0.12579831 -0.18455263 -0.46694915
+f 8 1 6
+f 8 7 1
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 10 8 6
+f 11 6 1
+f 11 1 2
+f 11 3 6
+f 12 2 1
+f 12 1 7
+f 12 11 2
+f 12 7 11
+f 13 5 8
+f 13 10 4
+f 13 8 10
+f 14 8 5
+f 14 7 8
+f 15 9 3
+f 15 3 11
+f 16 5 13
+f 16 15 5
+f 16 9 15
+f 16 13 4
+f 16 4 9
+f 17 11 7
+f 17 7 14
+f 17 14 5
+f 17 15 11
+f 17 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5605d3526aeb4bfe300353128dbfcf441825c62a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.18515974 0.16485125 0.34053748
+v -0.04260308 0.23651274 -0.45330728
+v -0.14756378 0.17104991 -0.26468966
+v -0.04339254 0.24933250 0.34156734
+v -0.09534160 0.23449764 -0.44266190
+v -0.04034261 0.24968519 0.34044443
+v -0.09500429 0.23388729 0.34035742
+v -0.10342957 0.21882952 -0.45023213
+v -0.18570431 0.16528350 -0.26515151
+v -0.03947603 0.25130020 -0.44266191
+v -0.17138461 0.18126680 0.34139647
+v -0.07444095 0.22470099 -0.45485694
+v -0.05220469 0.24756679 0.34034326
+v -0.05241421 0.24823482 -0.44266191
+v -0.17779155 0.17415430 0.34019350
+v -0.14943373 0.20085197 -0.25656076
+v -0.17953420 0.17305692 -0.26200717
+v -0.14899084 0.20033002 0.34012261
+f 6 3 2
+f 6 1 3
+f 6 4 1
+f 9 3 1
+f 9 8 3
+f 9 5 8
+f 10 4 6
+f 10 6 2
+f 11 1 4
+f 11 4 7
+f 12 8 5
+f 12 2 3
+f 12 3 8
+f 13 7 4
+f 13 4 10
+f 14 10 2
+f 14 13 10
+f 14 5 7
+f 14 7 13
+f 14 12 5
+f 14 2 12
+f 15 9 1
+f 15 1 11
+f 16 7 5
+f 17 15 11
+f 17 9 15
+f 17 11 16
+f 17 16 5
+f 17 5 9
+f 18 16 11
+f 18 11 7
+f 18 7 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28c01bb0c2aefbc999df9449c2b631dc60b37ef1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.14877731 -0.19985467 0.35372254
+v 0.20564668 -0.12652341 -0.44735006
+v 0.20050961 -0.13852203 0.35954800
+v 0.18267004 -0.12948113 0.38261720
+v 0.18489048 -0.13124359 -0.46114020
+v 0.20459958 -0.12598211 0.36277164
+v 0.17096577 -0.16564552 0.36901254
+v 0.17405464 -0.17996047 -0.43181819
+v 0.16849769 -0.14540985 0.38384080
+v 0.19153853 -0.12706279 0.37619729
+v 0.20328968 -0.14044274 -0.44396793
+v 0.17153279 -0.17735295 0.35736937
+v 0.14954412 -0.20075837 -0.41666667
+v 0.16250636 -0.16802276 0.37427205
+v 0.18930616 -0.13787362 0.37197604
+v 0.18815237 -0.16101060 0.34173241
+v 0.18115756 -0.14343211 -0.45643067
+v 0.15758632 -0.19237997 0.35372254
+v 0.16045031 -0.18330837 0.36130787
+v 0.18568769 -0.16530452 -0.43181819
+v 0.18476542 -0.16457247 0.35372254
+v 0.16582784 -0.18694116 -0.43181819
+f 9 4 5
+f 10 5 4
+f 10 2 5
+f 10 6 2
+f 10 3 6
+f 11 6 3
+f 11 2 6
+f 11 5 2
+f 13 9 5
+f 13 1 9
+f 14 9 1
+f 14 7 4
+f 14 4 9
+f 14 12 7
+f 15 7 3
+f 15 3 10
+f 15 10 4
+f 15 4 7
+f 16 11 3
+f 17 5 11
+f 17 13 5
+f 18 13 8
+f 18 1 13
+f 19 14 1
+f 19 12 14
+f 19 18 12
+f 19 1 18
+f 20 16 8
+f 20 8 11
+f 20 11 16
+f 21 16 3
+f 21 12 18
+f 21 18 8
+f 21 8 16
+f 21 3 7
+f 21 7 12
+f 22 8 13
+f 22 13 17
+f 22 17 11
+f 22 11 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de364b944839ae58573edd807533a8d9d1d26b36
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_16.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.12177035 -0.20044322 -0.45608941
+v -0.11193887 -0.17092382 -0.49855786
+v -0.13251375 0.11056345 -0.48401844
+v -0.22071291 0.10916250 -0.44309257
+v -0.24065274 -0.05226766 -0.44266188
+v -0.23581822 0.06874559 -0.41666667
+v -0.11736224 0.03480588 -0.48401844
+v -0.19594597 -0.15238062 -0.44266186
+v -0.19429441 0.04585670 -0.49855789
+v -0.14976715 0.11223172 -0.46420996
+v -0.23821991 0.06055960 -0.44266189
+v -0.11077724 -0.18055150 -0.47880089
+v -0.15589926 0.11709890 -0.49999939
+v -0.17717842 -0.09331655 -0.49855787
+v -0.16091458 -0.19022508 -0.44318634
+v -0.22188739 -0.10808263 -0.41666667
+v -0.22883307 0.09255394 -0.44266189
+v -0.23821991 0.06055960 -0.41666667
+v -0.24013434 0.03351117 -0.44488886
+v -0.17030921 0.10660395 -0.49855790
+v -0.20065341 0.11445808 -0.45530050
+v -0.22188739 -0.10808263 -0.44266187
+v -0.16235385 -0.11946688 -0.49855787
+v -0.19263423 -0.05151542 -0.49855788
+v -0.20931571 -0.13240070 -0.41666667
+v -0.24065274 -0.05226766 -0.41666667
+v -0.24046221 -0.02453670 -0.44530454
+v -0.17968552 0.08846684 -0.49855790
+v -0.18271163 -0.16905388 -0.44266186
+v -0.13014044 -0.14691944 -0.49999953
+v -0.22549480 -0.09657265 -0.44429944
+v -0.12074790 -0.16344912 -0.49855786
+f 10 4 6
+f 10 7 3
+f 10 6 1
+f 10 1 7
+f 12 7 1
+f 12 1 2
+f 12 2 7
+f 13 7 2
+f 13 3 7
+f 13 10 3
+f 15 2 1
+f 17 11 6
+f 17 6 4
+f 17 9 11
+f 18 6 11
+f 18 16 6
+f 19 11 9
+f 19 18 11
+f 20 4 13
+f 21 13 4
+f 21 4 10
+f 21 10 13
+f 22 16 5
+f 23 22 14
+f 23 8 22
+f 24 9 13
+f 25 15 1
+f 25 1 6
+f 25 6 16
+f 25 22 8
+f 25 16 22
+f 26 5 16
+f 26 16 18
+f 26 19 5
+f 26 18 19
+f 27 19 9
+f 27 5 19
+f 27 24 5
+f 27 9 24
+f 28 20 13
+f 28 13 9
+f 28 9 17
+f 28 17 4
+f 28 4 20
+f 29 8 23
+f 29 25 8
+f 29 15 25
+f 30 23 14
+f 30 13 2
+f 30 24 13
+f 30 14 24
+f 31 22 5
+f 31 5 24
+f 31 24 14
+f 31 14 22
+f 32 29 23
+f 32 2 15
+f 32 15 29
+f 32 30 2
+f 32 23 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67376a3a86d36bdce50c7004abb649ac960120f2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_17.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00079325 0.19468007 0.17146466
+v 0.04995639 0.24900579 0.14393939
+v 0.04973994 0.24831568 0.34096323
+v -0.04186757 0.24950884 0.34100589
+v -0.04041410 0.25038733 0.12878788
+v 0.00594008 0.19671083 0.16939492
+v -0.04051277 0.24017323 0.14372689
+v 0.00304682 0.25419258 0.12878788
+v -0.00474753 0.19521171 0.16638697
+v 0.04788786 0.24891793 0.34041513
+v -0.04034261 0.24968519 0.34044443
+v -0.02946303 0.22628228 0.16939492
+v 0.04802152 0.24961265 0.14393939
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 4 5
+f 9 6 1
+f 9 5 8
+f 9 8 2
+f 9 2 6
+f 9 7 5
+f 9 1 4
+f 10 3 2
+f 10 4 3
+f 11 8 5
+f 11 5 4
+f 11 10 8
+f 11 4 10
+f 12 9 4
+f 12 4 7
+f 12 7 9
+f 13 10 2
+f 13 2 8
+f 13 8 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b17d6e5fce49fb52d54bd48107b91b6518de69e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.06199596 -0.24522963 0.31060606
+v 0.15701883 -0.19441586 -0.41666667
+v 0.10505250 -0.22913105 -0.44266185
+v 0.15701878 -0.19441581 0.31060606
+v 0.11188081 -0.21118359 -0.45224358
+v 0.14206943 -0.20710089 -0.44266186
+v 0.08958503 -0.23657655 0.31060606
+v 0.06199599 -0.24522971 -0.41666667
+v 0.14954413 -0.20075838 -0.44266186
+v 0.11665910 -0.22271666 -0.44266185
+v 0.14206937 -0.20710082 0.31060606
+v 0.08958505 -0.23657663 -0.41666668
+f 5 1 4
+f 5 4 2
+f 7 4 1
+f 8 5 3
+f 8 1 5
+f 9 6 5
+f 9 5 2
+f 9 2 4
+f 9 4 6
+f 10 3 5
+f 10 5 6
+f 10 7 3
+f 11 6 4
+f 11 4 7
+f 11 10 6
+f 11 7 10
+f 12 8 3
+f 12 3 7
+f 12 7 1
+f 12 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1805c814750656c683153f583fe9adb8b7dc67f1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_19.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.17640474 0.17584323 0.34118397
+v 0.17688562 0.17238366 -0.28517213
+v 0.11495571 0.22348374 -0.33318292
+v 0.07733278 0.23967460 0.34062631
+v 0.15031400 0.18036832 -0.35606061
+v 0.13053357 0.21426006 0.34016805
+v 0.14375032 0.18681236 0.07811874
+v 0.15684188 0.19456592 -0.30102603
+v 0.07754546 0.24035269 -0.31060606
+v 0.10090505 0.23063207 0.34021970
+v 0.10210480 0.22991607 0.34147144
+v 0.12561790 0.20062373 0.07811874
+v 0.12339590 0.21797735 -0.32805218
+v 0.16093640 0.19018222 0.34036413
+v 0.16752540 0.18550068 -0.28030304
+v 0.11774654 0.20800269 -0.35606062
+v 0.10123990 0.23123797 -0.31060606
+v 0.08187198 0.23899572 -0.31060606
+v 0.08165333 0.23829856 0.34116342
+v 0.16704797 0.18493801 0.34157367
+f 5 2 1
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 9 5 4
+f 11 6 10
+f 12 7 4
+f 12 4 5
+f 12 5 7
+f 13 8 5
+f 13 5 3
+f 13 3 6
+f 13 6 8
+f 14 8 6
+f 15 1 2
+f 15 2 8
+f 15 8 14
+f 16 9 3
+f 16 3 5
+f 16 5 9
+f 17 10 6
+f 17 6 3
+f 18 9 4
+f 18 10 17
+f 18 17 3
+f 18 3 9
+f 19 4 1
+f 19 11 10
+f 19 18 4
+f 19 10 18
+f 20 6 11
+f 20 14 6
+f 20 15 14
+f 20 1 15
+f 20 19 1
+f 20 11 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23804f71a13ea0b01fe89d433468cdbe860e7ab3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_2.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.20931567 -0.13240068 0.31060606
+v -0.20931571 -0.13240070 -0.41666667
+v -0.19490391 -0.09739410 -0.04735721
+v -0.23565516 0.06869775 0.32621887
+v -0.24065274 -0.05226766 -0.44266188
+v -0.20612034 -0.13858166 -0.17424243
+v -0.23126587 -0.08426199 -0.44266187
+v -0.23953462 -0.05193962 0.35372254
+v -0.23581822 0.06874559 -0.41666667
+v -0.20612033 -0.13858165 0.05303030
+v -0.22188739 -0.10808263 -0.41666667
+v -0.22625434 -0.08723698 0.35799752
+v -0.23809333 0.06052247 0.32516806
+v -0.22711339 -0.05718599 -0.45183586
+v -0.22188735 -0.10808261 0.31060606
+v -0.23197542 -0.05861247 0.36191107
+v -0.23821991 0.06055960 -0.41666667
+v -0.22396587 -0.08656556 -0.44768570
+v -0.23014776 -0.08393395 0.35372254
+f 1 3 4
+f 6 2 3
+f 9 3 2
+f 9 4 3
+f 10 6 3
+f 10 3 1
+f 11 7 2
+f 11 2 6
+f 11 6 10
+f 12 1 4
+f 13 8 4
+f 13 5 8
+f 13 4 9
+f 14 5 9
+f 14 9 2
+f 15 7 11
+f 15 11 10
+f 15 10 1
+f 16 12 4
+f 16 4 8
+f 17 13 9
+f 17 9 5
+f 17 5 13
+f 18 14 2
+f 18 2 7
+f 18 7 5
+f 18 5 14
+f 19 15 1
+f 19 1 12
+f 19 7 15
+f 19 8 5
+f 19 5 7
+f 19 16 8
+f 19 12 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e2db559f2b4b1156338470b7b4e1685f9c3da4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.22947443 -0.09036798 -0.41666667
+v 0.23187611 -0.08218201 -0.44266187
+v 0.23762931 0.06257260 -0.44266189
+v 0.14688710 0.11586032 -0.46420998
+v 0.14021352 -0.08640624 -0.48401842
+v 0.24006208 -0.05428066 -0.41666667
+v 0.17279331 -0.08758323 -0.49999924
+v 0.16264355 -0.09016883 -0.46420983
+v 0.23322819 -0.06742718 -0.44491954
+v 0.15887518 0.11334954 -0.49999937
+v 0.18455868 -0.07904052 -0.49855787
+v 0.14021352 0.11056345 -0.48401844
+v 0.19853243 0.10938107 -0.45959204
+v 0.18551785 0.07577103 -0.49855789
+v 0.17193305 0.10346288 -0.49855790
+v 0.17210520 0.08891423 -0.49999927
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 2 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 6 2
+f 9 3 6
+f 10 7 5
+f 11 3 9
+f 11 9 2
+f 11 2 7
+f 12 10 5
+f 12 5 4
+f 12 4 10
+f 13 10 4
+f 13 4 3
+f 14 3 11
+f 14 11 7
+f 15 13 3
+f 15 3 14
+f 15 10 13
+f 16 14 7
+f 16 7 10
+f 16 15 14
+f 16 10 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebde53598d2140a336affc9fc1156107b0e7d85d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.07190769 -0.13186079 0.42827946
+v -0.11736224 -0.13186079 0.42827946
+v -0.15504891 0.14985228 0.39175083
+v -0.07113035 0.19899409 0.39890957
+v -0.06802315 0.18908720 0.44568219
+v -0.09780019 0.19349184 0.39241401
+v -0.19305719 -0.03950241 0.41571855
+v -0.17022182 -0.05827573 0.44597643
+v -0.10773618 0.16890292 0.44568219
+v -0.18834034 -0.05470096 0.44568219
+v -0.14122755 0.16358257 0.39164861
+v -0.07810854 0.18527654 0.44568219
+v -0.17646606 0.08680247 0.44568219
+v -0.19094104 0.04487288 0.44568219
+v -0.16239766 0.11335585 0.44568219
+v -0.19269943 -0.03946832 0.44568219
+v -0.17297334 0.12175025 0.39523642
+v -0.19144441 0.04502056 0.41557616
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 10 7 2
+f 10 2 8
+f 11 9 6
+f 11 6 3
+f 11 3 9
+f 12 5 6
+f 12 6 9
+f 12 9 8
+f 12 8 5
+f 14 8 13
+f 15 9 3
+f 15 13 8
+f 15 8 9
+f 16 10 8
+f 16 8 14
+f 16 7 10
+f 17 14 13
+f 17 3 7
+f 17 15 3
+f 17 13 15
+f 18 16 14
+f 18 7 16
+f 18 17 7
+f 18 14 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40ebd9d80b98e7e7d4a49fe7f9a1cf1524533ea8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_22.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.08922651 -0.23543346 0.35372254
+v 0.17655829 -0.16695940 0.36117689
+v 0.11404228 -0.16432850 0.44568219
+v 0.07960746 -0.13186079 0.42827946
+v -0.04120008 -0.24909991 0.35372254
+v 0.15066977 -0.12813396 0.44568219
+v 0.14130261 -0.20619718 0.35372254
+v 0.15701878 -0.19441581 0.31060606
+v 0.05969070 -0.19242510 0.44568219
+v 0.16506102 -0.18603746 0.35372254
+v 0.15131240 -0.12864404 0.41634152
+v 0.11495842 -0.21963933 0.35718182
+v -0.04576882 -0.20574373 0.40019181
+v 0.08958503 -0.23657655 0.31060606
+v 0.03258465 -0.23767280 0.37091203
+v -0.04270844 -0.18083230 0.44596190
+v 0.14329173 -0.13742921 0.44568219
+v 0.17443007 -0.15011863 0.37610261
+v 0.14206937 -0.20710082 0.31060606
+v 0.06199596 -0.24522963 0.31060606
+v -0.03895432 -0.19916805 0.44568219
+v 0.07431163 -0.23618793 0.35926984
+v -0.04259300 -0.18046535 0.43172921
+v 0.16256353 -0.14069966 0.39158643
+v -0.04306299 -0.23709079 0.37042870
+f 9 1 3
+f 10 3 7
+f 10 8 2
+f 11 4 6
+f 12 7 3
+f 12 3 1
+f 12 1 7
+f 13 8 5
+f 13 4 8
+f 14 7 1
+f 16 6 4
+f 16 9 3
+f 17 3 10
+f 17 16 3
+f 17 6 16
+f 17 10 2
+f 17 2 6
+f 18 11 6
+f 18 6 2
+f 18 2 8
+f 19 14 8
+f 19 7 14
+f 19 10 7
+f 19 8 10
+f 20 14 1
+f 20 5 8
+f 20 8 14
+f 21 15 9
+f 21 5 15
+f 21 9 16
+f 21 16 13
+f 22 15 5
+f 22 1 9
+f 22 9 15
+f 22 20 1
+f 22 5 20
+f 23 16 4
+f 23 4 13
+f 23 13 16
+f 24 18 8
+f 24 8 4
+f 24 4 11
+f 24 11 18
+f 25 21 13
+f 25 13 5
+f 25 5 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3ff6c40d7b66815199e12ee01c3e6cc83620338
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_23.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.24286546 0.03448117 -0.18939394
+v 0.23386652 0.06146864 -0.44576129
+v 0.20191471 0.14486082 -0.23484848
+v 0.11774654 0.20800269 -0.35606062
+v 0.16178311 0.10604854 -0.46276847
+v 0.17439158 0.17737039 -0.44371491
+v 0.19020215 0.15961691 -0.23484848
+v 0.22944332 0.09047394 -0.44266189
+v 0.19947412 0.06471416 -0.47590154
+v 0.12426399 0.21439086 -0.44387785
+v 0.23642847 0.06666560 -0.18939394
+v 0.18868036 0.16153408 -0.44266190
+v 0.24272920 0.03591151 -0.35606061
+v 0.23229275 0.07615842 -0.44368621
+v 0.13124158 0.19360377 -0.45646950
+v 0.15124166 0.19931785 -0.29545455
+v 0.21664204 0.11822896 -0.23484848
+v 0.17544606 0.17820737 -0.28030302
+v 0.20191468 0.14486080 -0.44266189
+v 0.24286545 0.03448117 -0.35606061
+v 0.23762932 0.06257260 -0.18939394
+v 0.16873769 0.10964384 -0.49242424
+v 0.14510129 0.20452810 -0.44266190
+v 0.16005070 0.19184316 -0.28030303
+v 0.20749452 0.06262195 -0.46863399
+v 0.24272921 0.03591151 -0.18939395
+v 0.16246630 0.11932513 -0.49242424
+f 5 1 4
+f 7 4 1
+f 9 1 5
+f 11 7 1
+f 11 3 7
+f 12 7 3
+f 14 2 9
+f 14 13 2
+f 14 8 13
+f 15 5 4
+f 15 4 10
+f 16 10 4
+f 17 11 8
+f 17 3 11
+f 18 12 6
+f 18 7 12
+f 19 12 3
+f 19 17 8
+f 19 3 17
+f 20 2 13
+f 20 13 1
+f 20 1 9
+f 21 11 1
+f 21 13 8
+f 21 8 11
+f 22 14 9
+f 22 8 14
+f 22 19 8
+f 22 9 5
+f 23 15 10
+f 23 10 16
+f 23 18 6
+f 24 16 4
+f 24 4 7
+f 24 7 18
+f 24 23 16
+f 24 18 23
+f 25 20 9
+f 25 9 2
+f 25 2 20
+f 26 21 1
+f 26 1 13
+f 26 13 21
+f 27 6 12
+f 27 12 19
+f 27 19 22
+f 27 23 6
+f 27 15 23
+f 27 22 5
+f 27 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ea2900b9b2ad44960314b3b11942316023912f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.04120008 -0.24909991 0.35372254
+v -0.04050477 -0.24227192 0.36386647
+v -0.11869659 -0.16103164 0.44561887
+v -0.18834034 -0.05470096 0.44568219
+v -0.13251376 -0.05610321 0.42827946
+v -0.19502369 -0.15164856 0.35372254
+v -0.03895432 -0.19916805 0.44568219
+v -0.04160466 -0.14701230 0.42827946
+v -0.13682600 -0.20999564 0.35372254
+v -0.14664038 -0.13417237 0.44567163
+v -0.20732005 -0.13136901 0.35535452
+v -0.17022182 -0.05827573 0.44597643
+v -0.06654343 -0.19051504 0.44568219
+v -0.18859431 -0.05477547 0.41637337
+v -0.18053301 -0.07989923 0.44568219
+v -0.04703419 -0.17947587 0.44596598
+v -0.08221639 -0.23763214 0.35372254
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 8 7 2
+f 9 6 1
+f 10 9 3
+f 10 6 9
+f 11 5 1
+f 11 1 6
+f 11 6 10
+f 12 5 4
+f 13 3 9
+f 14 11 4
+f 14 4 5
+f 14 5 11
+f 15 11 10
+f 15 4 11
+f 15 12 4
+f 15 10 12
+f 16 8 5
+f 16 5 12
+f 16 7 8
+f 16 13 7
+f 16 12 10
+f 16 10 3
+f 16 3 13
+f 17 13 9
+f 17 9 1
+f 17 1 7
+f 17 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c6263fafb6a0349ea46a881e016af50ba8ed1ed
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.04120008 -0.24909991 0.35372254
+v -0.04132177 -0.25029489 -0.41666667
+v -0.04226474 -0.24440334 0.36046892
+v -0.12073259 -0.21371692 0.36074084
+v -0.08257493 -0.23877532 -0.43181819
+v -0.10802387 -0.21813708 0.36413303
+v -0.06878038 -0.24310182 -0.43181819
+v -0.08221639 -0.23763214 0.35372254
+v -0.12358957 -0.21888654 -0.43181817
+v -0.04284886 -0.25013938 -0.41666666
+v -0.11018404 -0.22493264 0.35372254
+v -0.11076082 -0.22597632 -0.43181819
+f 1 2 3
+f 6 3 2
+f 8 1 3
+f 8 3 6
+f 8 7 1
+f 8 5 7
+f 9 2 7
+f 9 6 2
+f 9 4 6
+f 10 7 2
+f 10 2 1
+f 10 1 7
+f 11 8 6
+f 11 6 4
+f 11 4 9
+f 11 5 8
+f 12 11 9
+f 12 5 11
+f 12 9 7
+f 12 7 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff3247ac3bf288773159a7400594b0f385acaefd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_26.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.18696043 -0.12867657 0.37961964
+v -0.18341204 -0.11169064 0.39087631
+v -0.23610911 -0.05093460 0.35916121
+v -0.18914199 0.11633989 0.38344899
+v -0.16438032 0.11137175 0.41677662
+v -0.20931567 -0.13240068 0.31060606
+v -0.18076847 -0.08002097 0.41579808
+v -0.16281679 0.08026042 0.42827946
+v -0.22084761 -0.10754509 0.35372254
+v -0.23565516 0.06869775 0.32621887
+v -0.17335144 0.11600953 0.39796186
+v -0.17752662 -0.08617791 0.41663561
+v -0.23638120 0.04830515 0.35980328
+v -0.20547797 -0.13824957 0.34141478
+v -0.24065271 -0.05226765 0.31060606
+v -0.22259282 -0.09532971 0.35987919
+v -0.19346795 0.06076575 0.40165916
+v -0.21400844 0.10569650 0.36422427
+v -0.22390478 0.06080499 0.37155857
+v -0.22188735 -0.10808261 0.31060606
+v -0.20795290 -0.12386330 0.35972955
+v -0.24521297 -0.00983774 0.31060606
+v -0.22304714 -0.06669917 0.37069511
+v -0.23710184 0.06023159 0.35372254
+v -0.20944145 0.10333551 0.37105194
+v -0.19596801 -0.12550035 0.37289256
+v -0.23809333 0.06052247 0.32516806
+v -0.20815182 -0.10881462 0.36964318
+f 6 5 1
+f 8 2 1
+f 8 1 5
+f 11 4 5
+f 11 5 6
+f 11 10 4
+f 11 6 10
+f 12 1 2
+f 12 8 7
+f 12 2 8
+f 13 3 7
+f 14 6 1
+f 15 9 3
+f 16 3 9
+f 16 12 7
+f 17 13 7
+f 17 7 8
+f 18 4 10
+f 18 5 4
+f 19 8 5
+f 19 17 8
+f 19 13 17
+f 20 14 9
+f 20 6 14
+f 20 15 6
+f 20 9 15
+f 21 9 14
+f 21 16 9
+f 22 10 6
+f 22 6 15
+f 22 15 3
+f 22 3 13
+f 23 16 7
+f 23 7 3
+f 23 3 16
+f 24 18 10
+f 24 19 18
+f 24 13 19
+f 24 22 13
+f 25 19 5
+f 25 5 18
+f 25 18 19
+f 26 21 14
+f 26 14 1
+f 26 1 12
+f 27 24 10
+f 27 10 22
+f 27 22 24
+f 28 26 12
+f 28 12 16
+f 28 16 21
+f 28 21 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde006deeb75aa1fc992c8dd28a09b53566c570b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_27.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.18470438 0.10621295 0.39225010
+v -0.04218008 0.20330718 0.40344389
+v -0.12300173 0.21456390 0.35800327
+v -0.05652523 0.24619075 0.34088038
+v -0.22057694 0.10909221 0.34079264
+v -0.06689227 0.23093604 0.36967193
+v -0.12188246 0.18859029 0.38503260
+v -0.04522628 0.19786802 0.40770888
+v -0.10175603 0.23095282 0.31060606
+v -0.17740407 0.17384674 0.35372254
+v -0.05242197 0.23310802 0.37193908
+v -0.09316414 0.23055760 0.35864960
+v -0.15902057 0.11957666 0.40770888
+v -0.20539233 0.13154526 0.35782898
+v -0.14809944 0.20198422 0.31060606
+v -0.16582106 0.17200535 0.36901254
+v -0.04444723 0.21053571 0.39589165
+v -0.09500429 0.23388729 0.34035742
+v -0.20823133 0.13301295 0.34028747
+v -0.21400844 0.10569650 0.36422427
+v -0.17961496 0.13014707 0.38464048
+v -0.16495072 0.18613117 0.35372254
+v -0.14062474 0.20832670 0.31060606
+v -0.06084577 0.24481472 0.34141750
+v -0.21736580 0.11526501 0.34128122
+v -0.17779155 0.17415430 0.34019350
+v -0.12619141 0.21744863 0.31060606
+v -0.16527304 0.18651102 0.34018692
+f 8 5 2
+f 8 1 5
+f 8 6 7
+f 9 4 2
+f 9 2 5
+f 12 7 6
+f 12 3 7
+f 12 11 4
+f 12 6 11
+f 13 8 7
+f 13 1 8
+f 15 9 5
+f 16 7 3
+f 16 13 7
+f 16 10 14
+f 17 2 4
+f 17 4 11
+f 17 11 6
+f 17 8 2
+f 17 6 8
+f 18 3 12
+f 18 4 9
+f 19 14 10
+f 19 15 5
+f 20 14 5
+f 20 5 1
+f 21 1 13
+f 21 16 14
+f 21 13 16
+f 21 20 1
+f 21 14 20
+f 22 16 3
+f 22 10 16
+f 23 22 3
+f 23 9 15
+f 24 18 12
+f 24 12 4
+f 24 4 18
+f 25 19 5
+f 25 5 14
+f 25 14 19
+f 26 19 10
+f 26 15 19
+f 27 23 3
+f 27 3 18
+f 27 18 9
+f 27 9 23
+f 28 23 15
+f 28 22 23
+f 28 15 26
+f 28 26 10
+f 28 10 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5b4c8e24f7af2222c6bc477e5ed357d649d845
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_28.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.19721509 -0.13513737 -0.03787879
+v -0.05331373 -0.09739412 -0.07400829
+v -0.23801560 -0.05579348 -0.03787879
+v -0.23689039 -0.04990779 -0.05234083
+v -0.20775263 -0.12819630 -0.11363638
+v -0.18258284 -0.06458459 -0.05309961
+v -0.21219069 -0.11090260 -0.03327993
+v -0.16711479 -0.13344479 -0.07400829
+v -0.22558022 -0.06118150 -0.09848486
+v -0.21859506 -0.08498981 -0.11363637
+v -0.20213965 -0.12869090 -0.03536825
+v -0.20775263 -0.12819630 -0.10443367
+v -0.16664501 -0.13034103 -0.09679051
+v -0.21189677 -0.05428993 -0.07400829
+v -0.16739304 -0.13256646 -0.08145965
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 10 5 3
+f 10 3 4
+f 10 4 9
+f 10 9 2
+f 10 2 5
+f 11 1 2
+f 11 2 7
+f 12 7 3
+f 12 3 5
+f 12 11 7
+f 12 5 1
+f 12 1 11
+f 13 5 2
+f 13 2 8
+f 14 9 4
+f 14 4 2
+f 14 2 9
+f 15 13 8
+f 15 8 5
+f 15 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a5bba5e02aeabf569406d507302d0929c35602f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_29.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.07960746 -0.14701230 -0.48401841
+v 0.14021352 -0.08640624 -0.48401842
+v -0.13562962 -0.13433389 -0.47640253
+v -0.05675618 0.17116951 -0.48401845
+v -0.12140030 -0.15177101 -0.49105900
+v 0.14021352 0.11056345 -0.48401844
+v 0.12506200 -0.13186079 -0.48401841
+v -0.11935378 -0.14935925 -0.47659940
+v -0.13251376 0.11056345 -0.48401844
+v 0.04930443 0.17116951 -0.48401845
+v -0.13810711 -0.13630030 -0.49086213
+f 6 2 5
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 8 3 5
+f 8 1 7
+f 8 7 2
+f 8 6 3
+f 8 2 6
+f 9 3 4
+f 10 4 3
+f 10 3 6
+f 10 6 5
+f 11 5 3
+f 11 3 9
+f 11 9 4
+f 11 10 5
+f 11 4 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e52ee03f1381d06afd5f0a29303543f1be9f3ae
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_3.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.16178311 0.10604854 -0.46276847
+v 0.16873769 0.10964384 -0.49855790
+v 0.12567528 0.21773377 -0.31060606
+v 0.00304682 0.25419251 -0.37121213
+v -0.10139852 0.16969998 -0.49997561
+v 0.11999629 0.21759935 -0.44266190
+v 0.17815645 0.14693060 -0.45660837
+v 0.04930443 0.11056345 -0.48401844
+v -0.10071557 0.16846406 -0.46276848
+v 0.04802152 0.24961258 -0.35606061
+v -0.03897561 0.24876633 -0.44467024
+v 0.03086649 0.19964201 -0.49855791
+v 0.13056880 0.20391546 -0.32996747
+v 0.16138503 0.19071092 -0.44266190
+v 0.07754546 0.24035269 -0.31060606
+v 0.02975214 0.24804732 -0.44266191
+v -0.10103278 0.22964412 -0.44381673
+v 0.15301921 0.12072751 -0.49999941
+v -0.06223206 0.20257470 -0.49855790
+v 0.09602174 0.23412179 -0.34653278
+v 0.08832338 0.22891730 -0.44266190
+v 0.00251220 0.24894262 -0.44490135
+v -0.04041410 0.25038726 -0.41666666
+v -0.10648509 0.20920689 -0.45581269
+v 0.11197266 0.17089509 -0.49855790
+v -0.08432983 0.23822481 -0.44266191
+v -0.09808802 0.17886112 -0.49855791
+v 0.10123990 0.23123797 -0.31060606
+v 0.05942439 0.24603618 -0.35606061
+v 0.08596533 0.18556071 -0.49855791
+v 0.15508826 0.12862036 -0.49855790
+v 0.08187198 0.23899572 -0.31060606
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 8 1 3
+f 9 8 3
+f 9 5 8
+f 13 7 3
+f 13 3 1
+f 13 1 7
+f 14 6 3
+f 14 3 7
+f 14 7 2
+f 15 9 3
+f 15 10 4
+f 16 4 10
+f 17 15 4
+f 17 9 15
+f 18 2 5
+f 18 5 12
+f 19 12 5
+f 20 3 6
+f 21 20 6
+f 22 16 12
+f 22 11 4
+f 22 4 16
+f 22 19 11
+f 22 12 19
+f 23 4 11
+f 24 5 9
+f 24 9 17
+f 25 6 14
+f 26 19 17
+f 26 11 19
+f 26 23 11
+f 26 17 4
+f 26 4 23
+f 27 19 5
+f 27 17 19
+f 27 24 17
+f 27 5 24
+f 28 15 3
+f 28 3 20
+f 29 10 15
+f 29 20 21
+f 29 21 16
+f 29 16 10
+f 30 12 16
+f 30 16 21
+f 30 21 6
+f 30 6 25
+f 30 25 18
+f 30 18 12
+f 31 25 14
+f 31 14 2
+f 31 2 18
+f 31 18 25
+f 32 28 20
+f 32 15 28
+f 32 29 15
+f 32 20 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e737411e03a70e604883d5c1eb010f74c4a992f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_30.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02047759 -0.25241753 -0.12878787
+v 0.05252800 -0.24819927 -0.23484848
+v 0.04820145 -0.24955625 -0.15909091
+v 0.00896112 -0.17096930 -0.16528449
+v -0.03768493 -0.24076151 -0.16759928
+v 0.00242739 -0.25425567 -0.23484850
+v -0.04194585 -0.24127185 -0.13808710
+v 0.04820146 -0.24955626 -0.23484849
+v -0.02585968 -0.21902666 -0.16528448
+v 0.00242738 -0.25425564 -0.19570987
+v -0.03541212 -0.23221030 -0.14159165
+f 1 3 4
+f 3 2 4
+f 6 4 2
+f 7 5 6
+f 8 6 2
+f 8 2 3
+f 8 3 1
+f 8 1 6
+f 9 6 5
+f 9 4 6
+f 9 5 7
+f 10 7 6
+f 10 6 1
+f 10 1 7
+f 11 9 7
+f 11 4 9
+f 11 7 1
+f 11 1 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6537bf36aacc09ca504e7dfcd0b2f947d4b73df9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_31.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.21413487 -0.12307871 0.08333333
+v 0.24006208 -0.05428066 0.00757576
+v 0.23187611 -0.08218202 0.00757576
+v 0.24006208 -0.05428066 0.08333333
+v 0.12895402 -0.09587562 0.04769331
+v 0.23187611 -0.08218202 0.08333333
+v 0.13211082 -0.10118946 0.05031806
+v 0.22076425 -0.05814059 0.02267835
+v 0.20774421 -0.13544059 0.00757576
+v 0.19145642 -0.07018643 0.04769331
+v 0.13082653 -0.09510600 0.04623545
+v 0.13329745 -0.10184700 0.04769331
+v 0.21413488 -0.12307871 0.00757576
+v 0.17891826 -0.12712629 0.06825297
+v 0.16290524 -0.11825319 0.04769331
+f 3 2 4
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 8 4 2
+f 10 8 5
+f 10 5 4
+f 10 4 8
+f 11 8 2
+f 11 5 8
+f 11 9 5
+f 11 2 9
+f 12 7 5
+f 12 5 9
+f 13 1 9
+f 13 6 1
+f 13 3 6
+f 13 9 2
+f 13 2 3
+f 14 9 1
+f 14 1 7
+f 15 12 9
+f 15 9 14
+f 15 14 7
+f 15 7 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b6265a5834df1fc13f17ccf468c193366a06d7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.19153853 -0.12706279 0.37619729
+v 0.24006208 -0.05428066 -0.44266188
+v 0.23075799 -0.08185397 0.35372254
+v 0.23627468 0.06662048 0.32595186
+v 0.23115184 0.06511748 -0.44700823
+v 0.24360791 -0.01039469 0.35430685
+v 0.20774421 -0.13544059 -0.43181818
+v 0.19425118 -0.08323511 0.39440763
+v 0.23762931 0.06257260 -0.44266189
+v 0.23187611 -0.08218201 -0.41666667
+v 0.21309509 -0.12254118 0.35372254
+v 0.23208722 -0.05638622 -0.44824159
+v 0.21590862 -0.09369263 0.36969840
+v 0.19116035 -0.09656426 0.39093761
+v 0.23749376 0.06253283 0.32542646
+v 0.21413488 -0.12307871 -0.43181818
+v 0.21702657 -0.08227063 0.37213261
+v 0.20054869 -0.12388791 0.36947013
+f 6 3 2
+f 8 4 5
+f 8 6 4
+f 9 5 4
+f 9 6 2
+f 10 2 3
+f 11 1 7
+f 11 10 3
+f 12 7 5
+f 12 2 7
+f 12 9 2
+f 12 5 9
+f 13 11 3
+f 14 7 1
+f 14 1 8
+f 14 8 5
+f 14 5 7
+f 15 9 4
+f 15 4 6
+f 15 6 9
+f 16 7 2
+f 16 2 10
+f 16 11 7
+f 16 10 11
+f 17 13 3
+f 17 3 6
+f 17 6 8
+f 17 8 13
+f 18 1 11
+f 18 11 13
+f 18 13 8
+f 18 8 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d80dea1ee7d49554dc9f694cd42e50446a8f1839
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_5.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.08958505 -0.23657663 -0.41666668
+v 0.23067527 -0.08627500 -0.43181818
+v -0.11765795 -0.14736078 -0.46419045
+v 0.12506200 -0.08640624 -0.48401842
+v 0.10138451 -0.17703942 -0.49855786
+v -0.07310688 -0.24174485 -0.41666666
+v 0.15835314 -0.19328368 -0.44266186
+v 0.18178785 -0.08440030 -0.49855787
+v 0.17330254 -0.18059865 -0.41666666
+v -0.12358957 -0.21888654 -0.43181817
+v 0.01742339 -0.25272858 -0.44266185
+v 0.22186696 -0.08369073 -0.44991721
+v 0.16942596 -0.10831264 -0.49855787
+v -0.12266568 -0.15326225 -0.49999957
+v 0.21413488 -0.12307871 -0.44266186
+v 0.15835313 -0.19328366 -0.41666668
+v 0.01742339 -0.25272857 -0.43181819
+v 0.08958506 -0.23657665 -0.44266185
+v -0.08257494 -0.23877532 -0.44266185
+v -0.06751782 -0.19362176 -0.49855786
+v 0.16959818 -0.09376403 -0.49999926
+v 0.18568770 -0.16530452 -0.44266186
+v 0.21413488 -0.12307871 -0.43181818
+v 0.21858988 -0.11023028 -0.44419063
+v -0.06878037 -0.24310181 -0.41666667
+v 0.13359239 -0.21078920 -0.44439873
+v 0.07452794 -0.19142308 -0.49855786
+v -0.11076082 -0.22597632 -0.43181819
+v -0.11193887 -0.17092382 -0.49855786
+v -0.02479868 -0.25197750 -0.44266185
+v 0.22947443 -0.09036798 -0.43181818
+v 0.18568769 -0.16530452 -0.43181819
+v 0.07537573 -0.23958067 -0.44372737
+v -0.08257493 -0.23877532 -0.43181819
+v -0.11034207 -0.22521860 -0.44333054
+v -0.09548623 -0.18029910 -0.49855786
+v -0.06793214 -0.24039733 -0.44484081
+v -0.02479868 -0.25197749 -0.43181819
+f 3 2 4
+f 9 6 1
+f 9 2 6
+f 10 6 2
+f 10 2 3
+f 12 8 4
+f 12 4 2
+f 13 7 5
+f 14 3 4
+f 14 4 8
+f 14 10 3
+f 15 13 8
+f 16 9 1
+f 16 7 9
+f 17 11 1
+f 18 1 11
+f 21 13 5
+f 21 14 8
+f 21 8 13
+f 22 9 7
+f 22 7 13
+f 22 13 15
+f 23 22 15
+f 24 12 2
+f 24 15 8
+f 24 8 12
+f 25 17 1
+f 25 1 6
+f 25 6 19
+f 26 16 1
+f 26 1 18
+f 26 7 16
+f 26 18 5
+f 26 5 7
+f 27 5 18
+f 27 11 20
+f 27 20 14
+f 27 21 5
+f 27 14 21
+f 28 6 10
+f 29 10 14
+f 30 20 11
+f 30 25 19
+f 30 11 17
+f 31 23 15
+f 31 2 9
+f 31 9 23
+f 31 24 2
+f 31 15 24
+f 32 23 9
+f 32 9 22
+f 32 22 23
+f 33 27 18
+f 33 18 11
+f 33 11 27
+f 34 28 19
+f 34 19 6
+f 34 6 28
+f 35 28 10
+f 35 19 28
+f 35 10 29
+f 35 20 19
+f 36 29 14
+f 36 14 20
+f 36 35 29
+f 36 20 35
+f 37 30 19
+f 37 19 20
+f 37 20 30
+f 38 30 17
+f 38 17 25
+f 38 25 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf2ad9c45f686b3ec5161894703e89b4b7705f35
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_6.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.08165333 0.23829856 0.34116342
+v 0.08293679 0.23704363 -0.35860585
+v 0.07754546 0.24035269 -0.35606061
+v 0.04788786 0.24891793 0.34041513
+v -0.04194120 0.25023183 0.12878788
+v 0.05406048 0.24693964 0.34150035
+v -0.04194119 0.25023175 -0.41666667
+v 0.00499311 0.25271585 -0.41754066
+v 0.05428290 0.24764876 -0.35606061
+v 0.00217498 0.25359768 -0.41538621
+v -0.04041410 0.25038733 0.12878788
+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 2 5
+f 8 3 2
+f 8 2 7
+f 9 4 3
+f 9 3 8
+f 10 8 7
+f 10 9 8
+f 10 4 9
+f 11 5 4
+f 11 4 10
+f 11 10 7
+f 11 7 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45e05d1bcfdb3795f7b27b19bd3a2caf9279325f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_7.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.18168214 -0.15587490 0.36551591
+v 0.24483962 -0.01195533 0.32625499
+v 0.18415534 -0.06636560 0.44568219
+v 0.16152827 0.11546765 0.41716159
+v 0.21948624 0.11238068 0.32590141
+v 0.12586583 -0.13281137 0.44567321
+v 0.23075799 -0.08185397 0.35372254
+v 0.19037834 -0.15075105 0.36004939
+v 0.19236582 0.03400059 0.44568219
+v 0.15652603 -0.12075592 0.44568219
+v 0.12506200 -0.08640624 0.42827946
+v 0.24499541 -0.01052686 0.32571121
+v 0.23056810 -0.02430405 0.37111574
+v 0.21747335 0.10350721 0.36108097
+v 0.18569174 0.03480663 0.44557478
+v 0.14630775 -0.15419441 0.39562848
+v 0.16200256 0.11583195 0.40770888
+v 0.23086837 0.01818683 0.37140658
+v 0.22832528 0.09014592 0.35372254
+v 0.12506200 -0.13186079 0.42827946
+v 0.23096795 0.08466036 0.32632312
+v 0.22889177 0.07516060 0.35932154
+v 0.22931848 0.09043731 0.32511816
+v 0.22269738 0.10620787 0.32541282
+f 8 1 5
+f 8 2 7
+f 10 9 6
+f 10 3 9
+f 10 1 8
+f 10 8 7
+f 10 7 3
+f 11 6 4
+f 12 8 5
+f 12 2 8
+f 13 7 2
+f 13 9 3
+f 13 3 7
+f 14 5 4
+f 14 4 9
+f 15 9 4
+f 15 4 6
+f 15 6 9
+f 16 10 6
+f 16 1 10
+f 16 11 5
+f 16 5 1
+f 17 11 4
+f 17 4 5
+f 17 5 11
+f 18 13 2
+f 18 2 12
+f 18 9 13
+f 19 5 14
+f 19 14 9
+f 20 16 6
+f 20 6 11
+f 20 11 16
+f 21 19 12
+f 22 18 12
+f 22 12 19
+f 22 19 9
+f 22 9 18
+f 23 21 12
+f 23 19 21
+f 24 23 12
+f 24 12 5
+f 24 5 19
+f 24 19 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a342b046f9f7cc3e67875d8666cc897d696abfcb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_8.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.16491631 0.10766830 0.44568219
+v 0.22220879 0.10595529 0.34054435
+v 0.10066320 0.23019446 0.35372254
+v -0.05220469 0.24756679 0.34034326
+v -0.07190769 0.15601800 0.42827946
+v 0.10090505 0.23063207 0.34021970
+v 0.19925877 0.14275270 0.35705974
+v 0.10991049 0.11056345 0.42827946
+v -0.10145947 0.20011317 0.38482410
+v 0.01734890 0.20039653 0.44568219
+v 0.21603599 0.11791565 0.34029176
+v 0.05921583 0.24537117 0.34025765
+v 0.21747335 0.10350721 0.36108097
+v 0.13846542 0.14254594 0.44484892
+v 0.13053357 0.21426006 0.34016805
+v -0.07782511 0.16672213 0.44558337
+v -0.06084577 0.24481472 0.34141750
+v 0.21316528 0.11643158 0.35788334
+v 0.04707448 0.24469004 0.35932737
+v 0.15906830 0.11658937 0.44555986
+v 0.07463678 0.18677365 0.44568219
+v 0.14250974 0.20147392 0.35794729
+v 0.20137899 0.14443560 0.34022787
+v -0.06802315 0.18908720 0.44568219
+v -0.09780019 0.19349184 0.39241401
+v 0.21578651 0.11830090 0.34152153
+v 0.05906591 0.24489318 0.35372254
+v -0.05109967 0.24404355 0.35845643
+v 0.10184939 0.17173469 0.44568219
+v 0.13029080 0.21382077 0.35372254
+v 0.08973662 0.23091403 0.35988648
+v -0.00973599 0.20124944 0.44568219
+v -0.09822404 0.20941029 0.37819378
+f 8 5 2
+f 9 2 5
+f 11 2 4
+f 12 3 6
+f 13 8 2
+f 13 1 8
+f 15 6 3
+f 15 12 6
+f 15 4 12
+f 16 8 1
+f 16 5 8
+f 17 4 2
+f 17 2 9
+f 18 13 2
+f 18 7 1
+f 18 1 13
+f 20 1 7
+f 20 7 14
+f 21 10 1
+f 21 19 10
+f 22 14 7
+f 23 11 4
+f 23 4 15
+f 23 22 7
+f 24 16 1
+f 24 1 10
+f 24 9 16
+f 25 16 9
+f 25 9 5
+f 25 5 16
+f 26 7 18
+f 26 23 7
+f 26 11 23
+f 26 18 2
+f 26 2 11
+f 27 3 12
+f 27 12 4
+f 27 4 19
+f 27 19 21
+f 28 19 4
+f 28 4 17
+f 29 20 14
+f 29 14 22
+f 29 3 21
+f 29 21 1
+f 29 1 20
+f 30 15 3
+f 30 29 22
+f 30 3 29
+f 30 23 15
+f 30 22 23
+f 31 27 21
+f 31 21 3
+f 31 3 27
+f 32 10 19
+f 32 19 28
+f 32 28 24
+f 32 24 10
+f 33 28 17
+f 33 17 9
+f 33 9 24
+f 33 24 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..496da2731f2e0e54c1329a03f10364cc15009dfb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/collision/model_normalized_collision_9.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.23749376 0.06253283 0.32542646
+v 0.23666633 0.06229008 -0.22750342
+v 0.20191471 0.14486082 -0.23484848
+v 0.16361472 0.17818713 0.36409041
+v 0.16625728 0.15263723 0.38103954
+v 0.20137899 0.14443560 0.34022787
+v 0.22944334 0.09047396 -0.22613536
+v 0.22558907 0.06993248 -0.23906022
+v 0.16885974 0.18436846 -0.28030303
+v 0.21603599 0.11791565 0.34029176
+v 0.18543871 0.15896104 0.35818724
+v 0.16249024 0.16479868 0.37633073
+v 0.17866768 0.15757186 -0.28653451
+v 0.18649697 0.16428487 -0.27461941
+v 0.17666288 0.14887019 0.37510713
+v 0.22931848 0.09043731 0.32511816
+v 0.17161864 0.17516938 0.35931474
+v 0.17544606 0.17820737 -0.28030302
+v 0.19027423 0.15400773 -0.27224120
+v 0.23096795 0.08466036 0.32632312
+v 0.17289583 0.16103163 0.37039832
+v 0.23627468 0.06662048 0.32595186
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 10 7 3
+f 10 3 6
+f 11 10 6
+f 12 9 5
+f 12 4 9
+f 13 8 5
+f 13 5 9
+f 13 2 8
+f 14 3 7
+f 14 7 2
+f 15 5 1
+f 15 1 10
+f 15 10 11
+f 15 12 5
+f 16 1 7
+f 16 7 10
+f 17 9 4
+f 17 11 6
+f 18 14 13
+f 18 13 9
+f 18 6 3
+f 18 3 14
+f 18 17 6
+f 18 9 17
+f 19 14 2
+f 19 2 13
+f 19 13 14
+f 20 16 10
+f 20 1 16
+f 21 17 4
+f 21 4 12
+f 21 12 15
+f 21 15 11
+f 21 11 17
+f 22 20 10
+f 22 10 1
+f 22 1 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_11/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..409a1041261533bb2cafbbf1564ffe513f840b2a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/model.xml
@@ -0,0 +1,55 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_11/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/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.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_11/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_11/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a8191528b5258dee833290d332648d231ca326
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_11/visual/model_normalized_0.obj
@@ -0,0 +1,26266 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fa6dc5b594b0826b8bbaa0f43e0bba62b2aadea
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,469 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeff26308b7a4c1aa1943d9f65cc7b863f7a85f8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d737825e4c7ce915863139fff5c5bf70f450e9f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_10.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fba1093aba5f46a522b70a375e69d169e438bca5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_11.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b276004c70002318353b0295aa44464064e57b63
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,640 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e103d393708e2606159b4095c40e3389c15a5ec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_13.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.12799104 -0.09367993 -0.47882235
+v 0.06840539 -0.09367993 -0.47102913
+v 0.06840539 0.03760636 -0.46682605
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+v 0.06840539 -0.09367993 0.41424450
+v 0.06840539 0.03760636 0.38543588
+v 0.12799104 0.03760636 0.38368461
+v 0.12799104 -0.02500394 0.41424450
+v 0.06840539 -0.02500394 0.41424450
+v 0.06840539 -0.01679212 0.41214296
+v 0.12799104 -0.00824617 0.41100463
+v 0.12799104 -0.02200964 0.41415694
+v 0.12799104 -0.01106055 0.41223052
+f 1 2 3
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+f 5 10 6
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+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 10 14 11
+f 11 14 12
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e52268eb165ede1da3b2dee277ff566b849bf5c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_14.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.04081868 -0.09702025 0.41421568
+v -0.09822387 -0.09702025 0.41421568
+v -0.09822387 -0.13014196 0.41773522
+v 0.04081868 -0.13014196 0.41421568
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+v 0.04081868 -0.13014196 -0.47403073
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+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d8451f3a5adba4d2d483936413824bb01be736c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,904 @@
+# https://github.com/mikedh/trimesh
+v 0.21499297 0.03760637 -0.50550002
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+v 0.23238635 0.03760637 -0.50437117
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ade07715b877ba03dda07b0b1dbaedd9d500554
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f0cf1f703902e41f0b8329189efa5d7b28efe01
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee9869646b6aab52a8e5a9235fd8a6e0959974f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,835 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dd9f93653de3fed656b75f2bac657d004b408d9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_6.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f199ab652c5e8f73aae1dd0fd127308d97f453e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_7.obj
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+f 109 128 129
+f 109 129 110
+f 110 129 130
+f 111 131 132
+f 111 132 133
+f 111 121 131
+f 112 133 134
+f 112 134 113
+f 114 134 132
+f 114 132 116
+f 115 135 136
+f 115 136 119
+f 116 132 154
+f 116 154 137
+f 117 119 138
+f 117 138 156
+f 117 156 139
+f 119 136 140
+f 119 140 138
+f 120 141 142
+f 120 142 121
+f 121 142 143
+f 121 143 131
+f 122 124 144
+f 122 144 145
+f 122 145 149
+f 122 149 125
+f 124 146 145
+f 124 145 144
+f 124 147 148
+f 124 148 146
+f 125 149 126
+f 126 149 150
+f 126 150 151
+f 126 151 152
+f 126 152 131
+f 126 131 127
+f 127 131 143
+f 127 143 129
+f 129 143 142
+f 129 142 153
+f 129 153 130
+f 131 152 132
+f 132 134 133
+f 132 152 150
+f 132 150 159
+f 132 159 154
+f 135 137 155
+f 135 155 136
+f 136 155 157
+f 136 157 140
+f 137 154 155
+f 138 140 157
+f 138 157 156
+f 139 156 154
+f 139 154 147
+f 141 158 142
+f 142 158 153
+f 145 146 159
+f 145 159 150
+f 145 150 149
+f 146 148 159
+f 147 154 148
+f 148 154 159
+f 150 152 151
+f 154 156 157
+f 154 157 155
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01a48c30a54b1c1bf42af6c691754598e064bdf5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v -0.04102533 0.01450560 0.49502915
+v -0.04087769 0.02313025 0.49171004
+v -0.04087769 0.02313025 0.48858693
+v -0.04101057 0.01499606 0.48848891
+v -0.04056765 0.00465856 0.49529052
+v -0.04012474 -0.00094029 0.50013196
+v -0.04036096 0.00499811 0.50037372
+v -0.04035357 0.01084597 0.50036067
+v -0.03593180 0.02587685 0.49419284
+v -0.03322264 0.03239627 0.49201712
+v -0.03537816 0.03239627 0.48498687
+v -0.03267637 0.03239627 0.47640812
+v -0.03314143 0.02499401 0.47663027
+v -0.00286079 0.01489042 0.43557250
+v -0.00173135 0.00751081 0.43557250
+v -0.04046430 0.00776736 0.48939711
+v -0.04012474 -0.00094029 0.49881870
+v -0.03599086 -0.01499778 0.49499649
+v -0.03204153 -0.02513156 0.49487236
+v -0.03131810 -0.02189448 0.50098133
+v -0.03315620 -0.01499778 0.50203979
+v -0.03572511 -0.00456973 0.50193530
+v -0.03499430 0.00499811 0.50195485
+v -0.03499430 0.01295875 0.50083107
+v -0.03499430 0.01796149 0.49873376
+v -0.02785598 0.03239627 0.49201059
+v -0.01806017 0.03239627 0.45787200
+v -0.00179779 0.02509965 0.43557250
+v -0.00284603 0.01513189 0.43557250
+v 0.00242467 -0.00572421 0.43557250
+v -0.02037071 -0.04049444 0.47957042
+v -0.03059467 -0.03094923 0.48920763
+v -0.03156170 -0.02499573 0.48810345
+v -0.03974088 0.00110457 0.49215433
+v -0.03895101 -0.00456973 0.49529052
+v -0.03059467 -0.03094923 0.49144870
+v -0.02118272 -0.04078118 0.49105012
+v -0.02691847 -0.02856481 0.49811959
+v -0.02025260 -0.03011167 0.50005358
+v -0.02609908 -0.01499778 0.50203979
+v -0.02705135 -0.00500738 0.50232077
+v -0.02821769 0.00499811 0.50157595
+v -0.02919949 0.01310211 0.50074613
+v -0.02620243 0.02499401 0.49395764
+v -0.01905673 0.03239627 0.48351026
+v -0.00040999 0.03239627 0.43557250
+v -0.00045428 0.03217744 0.43557250
+v 0.00719339 -0.01474878 0.43557250
+v -0.01079636 -0.04109809 0.46908385
+v -0.01447255 -0.04269776 0.47574168
+v -0.02116796 -0.04096227 0.48499992
+v -0.01499667 -0.04374661 0.48499992
+v -0.01499667 -0.04119619 0.49133110
+v -0.01991303 -0.03011167 0.50005358
+v -0.01991303 -0.02910055 0.50005358
+v -0.02048144 -0.02243022 0.49977261
+v -0.02110152 -0.01499778 0.49898857
+v -0.02205379 -0.00500738 0.49764916
+v -0.02322013 0.00499811 0.49630323
+v -0.02480724 0.01566762 0.49517289
+v 0.00099257 0.03239627 0.46113235
+v 0.02248135 0.03239627 0.43557250
+v 0.01391832 -0.02599930 0.43557250
+v -0.00091934 -0.04065290 0.45904154
+v -0.00454387 -0.04197339 0.46545765
+v -0.00499416 -0.04468981 0.47499683
+v -0.00551090 -0.04266004 0.48435310
+v -0.00919448 -0.04081136 0.49072346
+v -0.00927568 -0.03499369 0.49067771
+v -0.00983671 -0.02930428 0.49018115
+v 0.01044144 0.03189071 0.45051506
+v 0.01657581 -0.01499778 0.45608178
+v 0.01134203 0.03239627 0.44933900
+v 0.03437363 -0.01532979 0.43557250
+v 0.02166934 0.03239627 0.43729740
+v 0.01542423 -0.02765179 0.43557250
+v 0.00320715 -0.04065290 0.45904154
+v 0.01733615 -0.03149252 0.43705565
+v 0.02163981 -0.03126615 0.43557250
+v 0.00426277 -0.04164138 0.46500027
+v 0.00221797 -0.04168665 0.47499683
+v 0.00048322 -0.04071327 0.48058969
+v 0.00048322 -0.03837412 0.48058969
+v 0.01774216 -0.02499573 0.45742118
+v 0.02093853 -0.01499778 0.45108351
+v 0.02001579 0.03008731 0.44002849
+v 0.01718113 0.03239627 0.44262889
+v 0.03058670 -0.01746520 0.44068184
+v 0.02200891 -0.02499573 0.45242292
+v 0.02700647 -0.02499573 0.44580427
+v 0.03438839 -0.01613718 0.43557250
+v 0.02161767 0.03239627 0.43738234
+v 0.02546365 -0.03117560 0.43557250
+v 0.03028404 -0.03019467 0.43557250
+v 0.03023975 -0.03019467 0.44039437
+v 0.03062361 -0.02499573 0.44080600
+v 0.03372402 -0.02436190 0.43557250
+v 0.03357638 -0.02558429 0.43557250
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 7 22 8
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 10
+f 8 10 9
+f 10 26 45
+f 10 45 61
+f 10 61 73
+f 10 73 87
+f 10 87 92
+f 10 92 75
+f 10 75 62
+f 10 62 46
+f 10 46 27
+f 10 27 12
+f 10 12 11
+f 10 25 26
+f 12 27 28
+f 12 28 29
+f 12 29 14
+f 12 14 13
+f 14 29 28
+f 14 28 47
+f 14 47 46
+f 14 46 62
+f 14 62 74
+f 14 74 91
+f 14 91 97
+f 14 97 98
+f 14 98 94
+f 14 94 93
+f 14 93 79
+f 14 79 76
+f 14 76 63
+f 14 63 48
+f 14 48 30
+f 14 30 15
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 16
+f 16 34 17
+f 16 33 32
+f 16 32 34
+f 17 35 18
+f 17 34 35
+f 18 35 32
+f 18 32 36
+f 18 36 19
+f 19 36 20
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 54
+f 21 54 40
+f 21 40 41
+f 21 41 22
+f 22 41 23
+f 23 42 43
+f 23 43 24
+f 23 41 42
+f 24 43 25
+f 25 43 26
+f 26 44 45
+f 26 43 44
+f 27 46 47
+f 27 47 28
+f 30 48 49
+f 30 49 31
+f 31 49 50
+f 31 50 51
+f 31 51 32
+f 32 51 36
+f 32 35 34
+f 36 51 37
+f 37 51 52
+f 37 52 53
+f 37 53 39
+f 37 39 38
+f 39 53 54
+f 40 54 55
+f 40 55 41
+f 41 55 56
+f 41 56 42
+f 42 56 57
+f 42 57 43
+f 43 57 58
+f 43 58 59
+f 43 59 60
+f 43 60 44
+f 44 61 45
+f 44 60 61
+f 48 63 49
+f 49 64 50
+f 49 63 64
+f 50 64 65
+f 50 65 66
+f 50 66 52
+f 50 52 51
+f 52 66 67
+f 52 67 68
+f 52 68 53
+f 53 68 54
+f 54 68 55
+f 55 68 69
+f 55 69 56
+f 56 69 70
+f 56 70 57
+f 57 70 58
+f 58 70 59
+f 59 71 60
+f 59 70 72
+f 59 72 71
+f 60 71 61
+f 61 71 73
+f 62 75 74
+f 63 76 64
+f 64 77 66
+f 64 66 65
+f 64 76 78
+f 64 78 79
+f 64 79 77
+f 66 77 80
+f 66 80 81
+f 66 81 67
+f 67 81 82
+f 67 82 68
+f 68 82 83
+f 68 83 69
+f 69 83 70
+f 70 83 84
+f 70 84 85
+f 70 85 72
+f 71 86 73
+f 71 72 85
+f 71 85 86
+f 73 86 87
+f 74 88 89
+f 74 89 90
+f 74 90 91
+f 74 75 92
+f 74 92 86
+f 74 86 88
+f 76 79 78
+f 77 79 93
+f 77 93 94
+f 77 94 80
+f 80 94 95
+f 80 95 81
+f 81 95 82
+f 82 95 96
+f 82 96 90
+f 82 90 89
+f 82 89 83
+f 83 89 84
+f 84 89 88
+f 84 88 85
+f 85 88 86
+f 86 92 87
+f 90 96 91
+f 91 96 97
+f 94 98 95
+f 95 98 97
+f 95 97 96
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deac3369f22a4aee04599203286eb7236a7df99a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.04081868 0.03239627 0.41616622
+v 0.04081868 0.03914241 0.41569683
+v 0.04002162 0.03239627 0.41710496
+v 0.04081868 0.03239627 -0.46578997
+v 0.04081868 0.04797109 0.41447645
+v -0.01905360 0.03239627 0.48347461
+v 0.00099698 0.03239627 0.46103847
+v -0.06493084 0.03239627 -0.46663487
+v 0.04081868 0.04797109 -0.46625936
+v 0.03787889 0.04797109 0.41607234
+v -0.01928134 0.04054042 0.48075223
+v -0.01830831 0.03500020 0.48206648
+v -0.02785226 0.03240541 0.49192336
+v -0.02785226 0.03239627 0.49192336
+v -0.06493084 0.04797109 -0.46701035
+v -0.06493084 0.03239627 0.41278669
+v 0.03502191 0.04797109 0.41654170
+v -0.02499529 0.04079655 0.48169100
+v -0.03321427 0.03239627 0.49201724
+v -0.06493084 0.04797109 0.41428870
+v -0.06493084 0.03241456 0.41428870
+v 0.02499144 0.04797109 0.41813758
+v -0.03088521 0.04052060 0.48150325
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 14
+f 1 14 19
+f 1 19 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 5 9 15
+f 5 15 20
+f 5 20 22
+f 5 22 17
+f 5 17 10
+f 6 12 13
+f 6 13 14
+f 8 15 9
+f 8 16 21
+f 8 21 20
+f 8 20 15
+f 10 17 18
+f 10 18 11
+f 11 18 13
+f 11 13 12
+f 13 19 14
+f 13 18 19
+f 16 19 21
+f 17 22 18
+f 18 23 19
+f 18 22 20
+f 18 20 23
+f 19 23 20
+f 19 20 21
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be31891e20a09827bfc4131c276058315e2318bd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_0.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.25712785 0.06023729 0.18939396
+v -0.18148372 0.10572625 -0.50000000
+v -0.22293331 0.14198728 0.18939396
+v -0.25329764 0.07286386 0.18939396
+v -0.23933305 0.11130554 -0.44026501
+v -0.23984930 0.05499583 -0.47262210
+v -0.21005196 0.15947456 -0.41666667
+v -0.23933313 0.11130558 0.18939396
+v -0.20083085 0.13017325 -0.50000000
+v -0.21178676 0.06027170 -0.50000000
+v -0.22879745 0.13101613 -0.41666667
+v -0.18148372 0.13602928 -0.50000000
+v -0.22345076 0.08492058 -0.50000000
+v -0.22448194 0.12661763 -0.44976508
+v -0.23186858 0.05717110 -0.50000000
+v -0.21049673 0.11208961 -0.50000000
+v -0.23903115 0.09901024 -0.45006054
+f 1 2 3
+f 5 1 4
+f 6 1 5
+f 8 5 4
+f 8 3 5
+f 8 1 3
+f 8 4 1
+f 10 2 1
+f 10 1 6
+f 10 9 2
+f 11 7 5
+f 11 5 3
+f 11 3 7
+f 12 7 3
+f 12 3 2
+f 12 9 7
+f 12 2 9
+f 13 9 10
+f 14 9 5
+f 14 5 7
+f 14 7 9
+f 15 5 13
+f 15 13 10
+f 15 10 6
+f 16 13 5
+f 16 5 9
+f 16 9 13
+f 17 15 6
+f 17 6 5
+f 17 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc4fdd768b7b7d1b5d62666b984a9b37cf2903fa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_1.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.26338569 -0.01453287 0.25000002
+v 0.26338571 -0.01453287 -0.41666666
+v 0.24465926 0.10134092 -0.44026501
+v 0.21738236 0.11541245 0.36481798
+v 0.14403808 -0.01471645 -0.46974532
+v 0.25846091 0.05584264 0.33322706
+v 0.15184962 -0.01548587 0.25000002
+v 0.26049500 0.04388247 -0.44026501
+v 0.13571705 0.10763820 -0.48096623
+v 0.23873709 0.09888814 0.34479380
+v 0.23650387 0.04599645 0.37614252
+v 0.25846084 0.05584262 -0.44026501
+v 0.26019292 0.04385272 0.33377747
+v 0.23530873 0.11689564 -0.44174181
+v 0.15184962 0.12087777 0.25000002
+v 0.23875464 0.06961251 0.36017223
+v 0.24379458 0.04372989 0.36338952
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 8 1 2
+f 9 8 5
+f 9 5 7
+f 10 6 3
+f 11 4 7
+f 11 10 4
+f 11 7 1
+f 12 3 6
+f 12 6 8
+f 12 9 3
+f 12 8 9
+f 13 8 6
+f 13 1 8
+f 13 6 11
+f 14 3 9
+f 14 10 3
+f 14 4 10
+f 15 9 7
+f 15 7 4
+f 15 14 9
+f 15 4 14
+f 16 11 6
+f 16 6 10
+f 16 10 11
+f 17 13 11
+f 17 11 1
+f 17 1 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..850d6a56fa051d909bf99814f6a9a8ee686fe1d9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_10.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.20972406 -0.15987435 -0.41666666
+v -0.18148372 -0.13669800 -0.50000000
+v -0.18148372 0.10572625 -0.50000000
+v -0.22879745 0.13101613 -0.41666667
+v -0.26042354 -0.04461009 -0.44026501
+v -0.20055293 -0.13069342 -0.50000000
+v -0.22265550 -0.14250744 -0.41666666
+v -0.23186858 0.05717110 -0.50000000
+v -0.23553131 0.11841806 -0.41666667
+v -0.21178676 0.10572625 -0.50000000
+v -0.23168279 -0.05778351 -0.50000000
+v -0.26048859 0.04394772 -0.44026501
+v -0.23849361 -0.04394240 -0.48760378
+v -0.23855485 0.04327973 -0.48761953
+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 3 6
+f 9 5 7
+f 9 7 1
+f 9 1 4
+f 10 4 3
+f 10 3 8
+f 10 9 4
+f 11 8 6
+f 11 6 5
+f 12 5 9
+f 12 10 8
+f 12 9 10
+f 13 11 5
+f 13 8 11
+f 14 12 8
+f 14 8 13
+f 14 13 5
+f 14 5 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f452498ed885d0914bcc61f675e9de72b7a8152
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_11.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.15131294 -0.21180163 -0.44644614
+v 0.25827515 -0.05645501 -0.44026501
+v 0.15184962 0.12087777 -0.41666666
+v 0.19282004 0.16265230 -0.45853124
+v 0.22332137 -0.08534713 -0.50000000
+v 0.26049500 0.04388247 -0.41666666
+v 0.08628183 0.11483184 -0.46955544
+v 0.19989837 -0.17184705 -0.44026501
+v 0.23530873 0.11689564 -0.44174181
+v 0.19036762 -0.18346034 -0.41666666
+v 0.08238157 -0.13526984 -0.47171876
+v 0.09184587 0.12161169 -0.47085246
+v 0.21407712 -0.14304189 -0.45208231
+v 0.15432455 -0.18185762 -0.50000000
+v 0.20142511 0.15727979 -0.45329017
+v 0.22350707 0.08473474 -0.50000000
+v 0.17184718 -0.19989829 -0.44026501
+v 0.22617094 -0.13593031 -0.41666667
+v 0.19538570 -0.13784053 -0.50000000
+v 0.09316980 -0.15545328 -0.48576776
+v 0.19571352 0.13744085 -0.50000000
+v 0.23998913 0.02820359 -0.48781629
+v 0.26049500 0.04388247 -0.44026501
+v 0.14527084 -0.18928781 -0.50000000
+v 0.25827515 -0.05645501 -0.41666666
+v 0.14393165 0.12681420 -0.49233222
+v 0.24465926 0.10134092 -0.44026501
+v 0.18961571 0.14487104 -0.50000000
+v 0.23992790 -0.02886628 -0.48780057
+v 0.14216425 -0.20065393 -0.47336605
+v 0.11176463 0.12742064 -0.47863629
+v 0.11189320 -0.15854899 -0.49345769
+v 0.25526347 -0.02888441 -0.45105311
+v 0.18733393 0.15814998 -0.47397226
+f 9 3 6
+f 10 6 3
+f 11 3 7
+f 11 10 3
+f 11 1 10
+f 12 7 3
+f 12 3 4
+f 13 5 2
+f 15 4 3
+f 15 3 9
+f 16 5 14
+f 17 10 1
+f 17 8 10
+f 17 14 8
+f 18 10 8
+f 18 13 2
+f 18 8 13
+f 19 13 8
+f 19 8 14
+f 19 14 5
+f 19 5 13
+f 20 1 11
+f 20 11 7
+f 21 15 9
+f 21 16 14
+f 22 5 16
+f 23 22 16
+f 23 6 2
+f 24 17 1
+f 24 14 17
+f 24 21 14
+f 25 18 2
+f 25 2 6
+f 25 6 10
+f 25 10 18
+f 26 20 7
+f 27 21 9
+f 27 16 21
+f 27 23 16
+f 27 9 6
+f 27 6 23
+f 28 4 15
+f 28 15 21
+f 28 21 24
+f 29 2 5
+f 29 5 22
+f 29 22 23
+f 30 24 1
+f 30 1 20
+f 30 20 24
+f 31 26 7
+f 31 7 12
+f 31 28 26
+f 32 24 20
+f 32 20 26
+f 32 28 24
+f 32 26 28
+f 33 29 23
+f 33 23 2
+f 33 2 29
+f 34 31 12
+f 34 12 4
+f 34 4 28
+f 34 28 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c3f56d32ee0e624e5858a49159a4fceeaaced7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_12.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01548598 0.18148383 0.32575760
+v 0.01376052 0.16396616 -0.47564378
+v 0.01454996 0.26288967 -0.44105992
+v -0.05602833 0.25840474 0.32575760
+v -0.13917655 0.21571871 0.34716653
+v 0.01459822 0.26337937 0.32575760
+v -0.12045553 0.21099710 0.37071827
+v -0.13531496 0.20849421 -0.46592368
+v -0.04394763 0.26048865 -0.44026505
+v -0.07943648 0.22501739 0.37883728
+v -0.04444704 0.23525643 -0.50000000
+v -0.11130543 0.23933296 -0.44026501
+v -0.07298206 0.23404279 0.36657434
+v -0.09883220 0.23860308 0.34505582
+v -0.11838841 0.20712981 -0.50000000
+v -0.05602827 0.25840454 -0.44026501
+v -0.07161478 0.24468699 0.34882512
+v -0.11130552 0.23933313 0.33322706
+v -0.04512008 0.21178686 -0.50000000
+v -0.08492054 0.22345075 -0.50000000
+v -0.11208940 0.21049672 -0.50000000
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 10 7 1
+f 10 1 6
+f 11 3 2
+f 11 9 3
+f 12 8 5
+f 13 10 6
+f 14 7 10
+f 15 2 8
+f 15 8 12
+f 16 12 4
+f 16 4 9
+f 16 9 11
+f 17 13 6
+f 17 6 4
+f 17 4 14
+f 17 14 10
+f 17 10 13
+f 18 12 5
+f 18 5 7
+f 18 7 14
+f 18 14 4
+f 18 4 12
+f 19 15 11
+f 19 11 2
+f 19 2 15
+f 20 11 15
+f 20 16 11
+f 20 12 16
+f 21 20 15
+f 21 15 12
+f 21 12 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9233c7e7a19f1c2d2308371f265de9b7c561c27d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.04831625 -0.26005845 -0.41666666
+v -0.04713708 -0.24808572 -0.45970468
+v -0.04512008 0.18148383 -0.41666666
+v -0.14280044 0.22249859 -0.41666668
+v -0.12362553 -0.23274800 -0.41666666
+v -0.12087766 0.18148383 -0.50000000
+v -0.04581691 -0.15414666 -0.47336231
+v -0.12145025 -0.22867833 -0.44772141
+v -0.06228786 0.18813053 -0.49626113
+v -0.12478047 -0.15660513 -0.49755406
+v -0.04552479 0.18281797 -0.49015314
+v -0.06257999 -0.15945924 -0.47947030
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 6 4
+f 10 8 5
+f 10 5 4
+f 10 4 6
+f 10 2 8
+f 10 6 9
+f 11 9 4
+f 11 4 3
+f 11 3 7
+f 12 7 2
+f 12 2 10
+f 12 10 9
+f 12 11 7
+f 12 9 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e706d174d9fa2a856bdb45839b7c70d5df568fb9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_14.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.11447767 -0.12889978 0.40879508
+v -0.12681411 -0.14393163 -0.49233205
+v -0.11348715 0.21311173 -0.48841244
+v -0.11381612 0.22887863 0.34779892
+v -0.19001862 -0.09580539 0.43740293
+v -0.19072048 -0.14427845 0.37780226
+v -0.18805856 0.06226613 0.44820688
+v -0.14316300 -0.09709818 0.43181825
+v -0.16825938 0.19567282 -0.44922029
+v -0.12087766 0.10572625 0.40879508
+v -0.16791399 0.19525195 0.34426364
+v -0.11390052 0.22903652 -0.45296128
+v -0.16944667 0.16944702 -0.50000000
+v -0.11562562 0.21711247 0.36506748
+v -0.18689639 0.10861939 0.41937429
+v -0.15529145 0.21348507 0.33322706
+v -0.15529135 0.21348494 -0.44026501
+v -0.11838841 0.20712981 -0.50000000
+v -0.18148372 -0.13669800 -0.50000000
+v -0.13920380 0.20833404 0.35895201
+v -0.12661756 0.22448193 -0.44976519
+v -0.13776875 0.19544427 -0.50000000
+v -0.16954649 0.18208964 0.36083439
+v -0.12638601 0.22404872 0.34477852
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 6 5
+f 8 7 5
+f 8 5 1
+f 10 8 1
+f 10 7 8
+f 12 4 3
+f 14 10 1
+f 14 1 4
+f 14 7 10
+f 15 11 9
+f 15 7 14
+f 15 9 13
+f 16 9 11
+f 17 9 16
+f 17 13 9
+f 18 3 2
+f 18 12 3
+f 19 2 6
+f 19 15 13
+f 19 6 7
+f 19 7 15
+f 19 18 2
+f 19 13 18
+f 20 15 14
+f 21 16 4
+f 21 4 12
+f 21 17 16
+f 21 18 17
+f 21 12 18
+f 22 18 13
+f 22 13 17
+f 22 17 18
+f 23 11 15
+f 23 15 20
+f 23 20 16
+f 23 16 11
+f 24 4 16
+f 24 16 20
+f 24 20 14
+f 24 14 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae54d086672428e4f34e606addd2b6e4af61b659
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_15.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01376052 0.16396616 -0.47564378
+v 0.13192003 0.20284768 -0.48983054
+v 0.13173358 0.21765041 -0.45560353
+v -0.04394763 0.26048865 -0.44026505
+v -0.11838841 0.20712981 -0.50000000
+v 0.04461007 0.26042323 -0.44026505
+v -0.12620578 0.22175511 -0.45396471
+v 0.13628816 0.21101991 -0.46158302
+v -0.12087766 0.18148383 -0.50000000
+v 0.08553297 0.22326485 -0.50000000
+v 0.11890870 0.20685169 -0.50000000
+v -0.13531496 0.20849421 -0.46592368
+v 0.06000393 0.25415381 -0.44497289
+v -0.04444704 0.23525643 -0.50000000
+v 0.11260970 0.21021856 -0.50000000
+v 0.04394250 0.23849351 -0.48760373
+f 7 1 3
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 10 9 5
+f 11 2 1
+f 11 1 9
+f 11 9 10
+f 11 3 2
+f 12 7 5
+f 12 5 9
+f 12 9 1
+f 12 1 7
+f 13 10 6
+f 13 6 3
+f 13 3 10
+f 14 10 5
+f 14 5 4
+f 14 4 6
+f 15 11 10
+f 15 10 3
+f 15 3 11
+f 16 14 6
+f 16 6 10
+f 16 10 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cef6c745fd22e8dce2258eb78de9e20bbe44f6e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_16.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.12889964 0.11447758 0.43181821
+v 0.12889964 0.11447758 0.40879508
+v 0.13358035 0.20595398 0.36756453
+v -0.02874000 0.24476710 0.36429913
+v -0.22194234 0.10305586 0.36808792
+v 0.04357108 0.20447522 0.44389600
+v -0.18602809 0.10005672 0.44002905
+v -0.20169346 0.14289746 0.36401098
+v 0.11711058 0.17526750 0.44254365
+v 0.02940395 0.24471697 0.36427134
+v -0.21629156 0.10003545 0.37970569
+v -0.08696210 0.18987662 0.44384106
+v -0.21711242 0.11562570 0.36506750
+v 0.12287989 0.17979795 0.43013209
+v 0.09408265 0.15649243 0.44775495
+v 0.08778037 0.23067312 0.36463231
+v -0.14289735 0.20169350 0.36401094
+v -0.04291064 0.20450304 0.44396516
+v -0.18130260 0.11268231 0.43693734
+v -0.17554498 0.10255199 0.44605896
+v 0.08760880 0.18983507 0.44372862
+v 0.05492297 0.20710082 0.43500700
+v 0.11618057 0.21689932 0.36493417
+v -0.08715465 0.23081555 0.36471442
+v -0.13739165 0.16468206 0.43442716
+v -0.17479599 0.11679612 0.44352093
+v 0.11323972 0.18109409 0.43680086
+v -0.11679554 0.17479655 0.44352093
+v -0.05429632 0.20724036 0.43509080
+v -0.16542570 0.16542627 0.38893018
+v -0.16468195 0.13739175 0.43442699
+f 1 2 3
+f 5 3 2
+f 7 2 1
+f 10 4 6
+f 11 7 5
+f 11 5 2
+f 11 2 7
+f 13 3 5
+f 14 9 1
+f 14 1 3
+f 15 1 9
+f 16 8 10
+f 17 10 8
+f 17 4 10
+f 18 6 4
+f 18 15 6
+f 19 13 5
+f 19 5 7
+f 19 8 13
+f 20 7 1
+f 20 1 15
+f 20 18 12
+f 20 15 18
+f 21 15 9
+f 21 6 15
+f 22 16 10
+f 22 10 6
+f 22 21 16
+f 22 6 21
+f 23 13 8
+f 23 8 16
+f 23 3 13
+f 23 14 3
+f 23 16 21
+f 24 4 17
+f 26 19 7
+f 26 7 20
+f 26 8 19
+f 27 21 9
+f 27 9 14
+f 27 23 21
+f 27 14 23
+f 28 24 17
+f 28 12 24
+f 28 17 25
+f 28 25 26
+f 28 26 20
+f 28 20 12
+f 29 18 4
+f 29 4 24
+f 29 24 12
+f 29 12 18
+f 30 25 17
+f 30 17 8
+f 31 26 25
+f 31 8 26
+f 31 30 8
+f 31 25 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb1bfe367c7186ca36eaca31ea446dcb85712b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_17.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.24601106 -0.01431389 0.36461786
+v 0.26338569 -0.01453287 0.25000002
+v 0.23274791 0.12362555 0.25000002
+v 0.01548598 0.12087777 0.40879508
+v 0.01548598 -0.01548587 0.25000002
+v 0.21738236 0.11541245 0.36481798
+v 0.04138569 -0.00762916 0.37548898
+v 0.01548598 0.12087777 0.25000002
+v 0.24379458 0.04372989 0.36338952
+v 0.26019292 0.04385272 0.33377747
+v 0.25494969 0.02818479 0.34602329
+v 0.25603292 -0.01380869 0.34662357
+v 0.26049502 0.04388247 0.25000002
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 6 4
+f 9 4 1
+f 10 3 6
+f 10 6 9
+f 11 10 9
+f 11 9 1
+f 12 1 2
+f 12 2 10
+f 12 11 1
+f 12 10 11
+f 13 10 2
+f 13 2 3
+f 13 3 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d465e70fd9f67099e811a8303210caeed3875f76
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_18.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.22914856 0.11360294 0.34754944
+v 0.22932926 0.11369960 -0.45269724
+v 0.21375415 0.15496351 0.33322706
+v 0.13177085 0.21772018 0.35029598
+v 0.12889964 0.11447758 0.40879508
+v 0.15569108 0.21315699 -0.44026501
+v 0.19635855 0.15312185 0.35972749
+v 0.22477464 0.12641654 -0.44950123
+v 0.15569119 0.21315713 0.33322706
+v 0.13069334 0.20055269 -0.50000000
+v 0.21255243 0.12798231 0.36179757
+v 0.13358035 0.20595398 0.36756453
+v 0.21375404 0.15496341 -0.44026501
+v 0.16837646 0.19500048 0.34408420
+v 0.13173358 0.21765041 -0.45560353
+v 0.14393165 0.12681420 -0.49233222
+v 0.18218552 0.15392475 -0.50000000
+v 0.22431864 0.12617280 0.34452901
+v 0.21738236 0.11541245 0.36481798
+v 0.14282164 0.21374763 0.34720293
+v 0.19561426 0.16766255 0.34404496
+v 0.15383578 0.19574478 0.35976675
+v 0.19730417 0.12087777 -0.50000000
+v 0.13816847 0.19511635 -0.50000000
+v 0.18303298 0.18303286 -0.44986437
+f 5 2 1
+f 8 1 2
+f 8 3 1
+f 9 6 4
+f 10 5 4
+f 11 3 7
+f 12 4 5
+f 12 5 7
+f 13 3 8
+f 13 9 3
+f 13 6 9
+f 14 3 9
+f 15 10 4
+f 15 4 6
+f 15 6 10
+f 16 2 5
+f 16 5 10
+f 17 8 2
+f 17 13 8
+f 18 11 1
+f 18 1 3
+f 18 3 11
+f 19 11 7
+f 19 7 5
+f 19 5 1
+f 19 1 11
+f 20 9 4
+f 20 4 12
+f 21 14 7
+f 21 7 3
+f 21 3 14
+f 22 12 7
+f 22 7 14
+f 22 20 12
+f 22 14 9
+f 22 9 20
+f 23 16 10
+f 23 10 17
+f 23 17 2
+f 23 2 16
+f 24 17 10
+f 24 10 6
+f 25 6 13
+f 25 13 17
+f 25 24 6
+f 25 17 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc6a696231f81d24fe9744e187699d4a9fb5edc9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12889964 0.11447758 0.40879508
+v 0.14393165 0.12681420 -0.49233222
+v 0.14427850 0.19072060 0.37780222
+v -0.13011534 0.19876634 0.38201984
+v -0.11235684 0.11235696 -0.47171876
+v -0.14280044 0.22249859 -0.41666668
+v -0.12087766 0.12087777 0.40879508
+v 0.13669810 0.18148383 -0.50000000
+v -0.04552479 0.18281797 -0.49015314
+v 0.06294134 0.18807966 -0.49634776
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+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 9 8 2
+f 9 2 5
+f 9 5 6
+f 10 9 6
+f 10 6 8
+f 10 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1924711c10624280dba319122e389b60356168b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.14646316 -0.21919755 0.33537568
+v 0.25827515 -0.05645501 -0.41666666
+v 0.25603292 -0.01380869 0.34662357
+v 0.13616903 -0.00613448 0.37591774
+v 0.13359375 -0.12171576 -0.48544088
+v 0.26338571 -0.01453287 -0.41666666
+v 0.14310843 -0.20180443 0.36361294
+v 0.21342622 -0.15536310 0.33322706
+v 0.14681672 -0.21972671 -0.44115620
+v 0.25827515 -0.05645501 0.33322706
+v 0.14403808 -0.01471645 -0.46974532
+v 0.22412753 -0.09018789 -0.49149376
+v 0.24601106 -0.01431389 0.36461786
+v 0.16812499 -0.19536286 0.34386559
+v 0.15536323 -0.21342628 0.33322723
+v 0.21342634 -0.15536313 -0.44026501
+v 0.24789177 -0.05790139 -0.45564210
+v 0.22625698 -0.08623765 -0.48801161
+v 0.21894332 -0.10176405 -0.48991043
+v 0.22328462 -0.11113730 0.35903391
+v 0.25489966 -0.02884859 0.34599554
+v 0.19610709 -0.15358420 0.35954806
+v 0.15536325 -0.21342626 -0.44026501
+v 0.23925651 -0.09910327 -0.44966869
+v 0.23879267 -0.09891109 0.34468532
+v 0.19536282 -0.16812491 0.34386553
+v 0.15358431 -0.19610717 0.35954814
+v 0.22410547 -0.12672757 0.34439572
+v 0.22457373 -0.12697791 -0.44936009
+v 0.23861219 -0.07023802 0.36009011
+f 6 4 3
+f 7 4 5
+f 9 7 5
+f 9 1 7
+f 10 6 3
+f 10 2 6
+f 11 5 4
+f 11 4 6
+f 12 5 11
+f 13 3 4
+f 13 4 7
+f 15 1 9
+f 15 14 1
+f 15 8 14
+f 16 8 15
+f 17 6 2
+f 18 12 11
+f 18 11 6
+f 18 17 12
+f 18 6 17
+f 19 9 5
+f 19 5 12
+f 21 13 10
+f 21 10 3
+f 21 3 13
+f 22 20 13
+f 22 13 7
+f 23 16 15
+f 23 15 9
+f 23 19 16
+f 23 9 19
+f 24 10 8
+f 24 8 16
+f 24 2 10
+f 24 17 2
+f 24 12 17
+f 24 19 12
+f 25 8 10
+f 26 22 14
+f 26 14 8
+f 26 8 22
+f 27 22 7
+f 27 14 22
+f 27 7 1
+f 27 1 14
+f 28 22 8
+f 28 20 22
+f 28 25 20
+f 28 8 25
+f 29 24 16
+f 29 16 19
+f 29 19 24
+f 30 25 10
+f 30 10 13
+f 30 13 20
+f 30 20 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc54e0e9b178012f66e46ef2bca90eb2e7b12f79
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.24178267 0.05558236 0.36230288
+v -0.22293331 0.14198728 0.18939396
+v -0.25712785 0.06023729 0.18939396
+v -0.19097201 0.14381610 0.37798167
+v -0.23933314 0.11130559 0.33322706
+v -0.22824452 0.06526413 0.38069724
+v -0.21005205 0.15947465 0.26515153
+v -0.23933313 0.11130558 0.18939396
+v -0.23860274 0.09883300 0.34505584
+v -0.22404866 0.12638604 0.34477853
+v -0.22879754 0.13101618 0.26515153
+v -0.25329764 0.07286386 0.18939396
+v -0.20359613 0.11754566 0.38504024
+v -0.21228248 0.12819555 0.36204708
+f 3 2 4
+f 5 3 1
+f 6 1 3
+f 6 3 4
+f 7 4 2
+f 9 5 1
+f 9 1 6
+f 10 7 5
+f 10 4 7
+f 11 7 2
+f 11 5 7
+f 11 8 5
+f 11 2 8
+f 12 3 5
+f 12 5 8
+f 12 8 2
+f 12 2 3
+f 13 9 6
+f 13 6 4
+f 13 5 9
+f 14 13 4
+f 14 4 10
+f 14 10 5
+f 14 5 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc588ba40e2e9af516d770696dec03fbcf18d08c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_21.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.11360299 -0.22914863 0.34754955
+v -0.11811051 -0.20727860 -0.50000000
+v -0.11447767 -0.12889978 0.40879508
+v -0.21772015 -0.13177083 0.35029603
+v -0.15496347 -0.21375430 -0.44026501
+v -0.20055293 -0.13069342 -0.50000000
+v -0.15312172 -0.19635869 0.35972754
+v -0.11369957 -0.22932930 -0.45269745
+v -0.12681411 -0.14393163 -0.49233205
+v -0.21315717 -0.15569112 -0.44026501
+v -0.13744100 -0.19571363 -0.50000000
+v -0.11541249 -0.21738244 0.36481810
+v -0.20595397 -0.13358032 0.36756458
+v -0.15496344 -0.21375432 0.33322723
+v -0.12641661 -0.22477471 -0.44950136
+v -0.21765051 -0.13173361 -0.45560364
+v -0.19511649 -0.13816865 -0.50000000
+v -0.12798238 -0.21255255 0.36179770
+v -0.21315717 -0.15569112 0.33322706
+v -0.19543575 -0.16873356 -0.44903051
+v -0.12617288 -0.22431873 0.34452914
+v -0.21374772 -0.14282148 0.34720297
+v -0.19500046 -0.16837632 0.34408419
+v -0.16802221 -0.19605275 -0.44898899
+v -0.16766238 -0.19561437 0.34404498
+v -0.19574477 -0.15383565 0.35976674
+f 6 4 3
+f 8 3 1
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 11 6 2
+f 11 2 5
+f 12 1 3
+f 12 3 7
+f 13 7 3
+f 13 3 4
+f 15 5 2
+f 15 2 8
+f 15 14 5
+f 15 8 1
+f 15 1 14
+f 16 10 4
+f 16 4 6
+f 16 6 10
+f 17 10 6
+f 17 6 11
+f 18 12 7
+f 18 7 14
+f 18 1 12
+f 19 4 10
+f 19 10 5
+f 19 5 14
+f 20 17 11
+f 20 5 10
+f 20 10 17
+f 21 18 14
+f 21 14 1
+f 21 1 18
+f 22 13 4
+f 22 4 19
+f 23 19 14
+f 24 20 11
+f 24 11 5
+f 24 5 20
+f 25 23 14
+f 25 14 7
+f 25 7 23
+f 26 23 7
+f 26 7 13
+f 26 13 22
+f 26 22 19
+f 26 19 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceb989ce964adbad7b0ebb6fc11fc3b36f6e2f7f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08627068 -0.24151654 0.34661250
+v 0.15184962 -0.15184952 -0.50000000
+v 0.15410806 -0.15370296 0.41827801
+v 0.08904381 -0.14773397 0.41666669
+v 0.08623785 -0.22625696 -0.48801164
+v 0.08659636 -0.20376130 0.41122967
+v 0.14304177 -0.21407722 -0.45208234
+v 0.09635427 -0.16141102 -0.48991474
+v 0.14289427 -0.21385632 0.34696722
+v 0.13784065 -0.19538562 -0.50000000
+v 0.09910314 -0.23925659 -0.44966874
+v 0.09891103 -0.23879283 0.34468541
+v 0.11173609 -0.19410148 0.40518884
+v 0.08955618 -0.22204463 -0.50000000
+v 0.08635826 -0.24180526 -0.45170577
+v 0.12697804 -0.22457368 -0.44936021
+v 0.08714529 -0.21409672 0.39372874
+v 0.14230855 -0.17052678 0.40837210
+v 0.12672781 -0.22410553 0.34439581
+v 0.11233178 -0.21036734 -0.50000000
+v 0.13904364 -0.19685148 0.37523070
+f 3 2 4
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 3
+f 8 5 4
+f 8 4 2
+f 9 7 3
+f 10 2 7
+f 12 1 11
+f 13 3 6
+f 13 6 9
+f 14 8 2
+f 14 2 10
+f 14 5 8
+f 15 11 1
+f 15 1 5
+f 15 14 11
+f 15 5 14
+f 16 7 9
+f 16 12 11
+f 17 12 6
+f 17 6 1
+f 17 1 12
+f 18 9 3
+f 18 3 13
+f 19 16 9
+f 19 12 16
+f 19 9 6
+f 19 6 12
+f 20 16 11
+f 20 11 14
+f 20 14 10
+f 20 10 7
+f 20 7 16
+f 21 18 13
+f 21 13 9
+f 21 9 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f1dade6b87a837d41b71c0071b3cd09009227e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.10553054 0.20821295 0.38792738
+v 0.11459191 0.22516528 0.35307404
+v 0.04393863 0.25360558 0.34564903
+v -0.05602833 0.25840474 0.33322706
+v -0.13917655 0.21571871 0.34716653
+v 0.05664093 0.25821885 0.32575760
+v -0.06975482 0.23855552 0.36044287
+v 0.10493206 0.23739610 0.34177249
+v -0.13011534 0.19876634 0.38201984
+v 0.05664093 0.25821885 0.33322706
+v -0.13020252 0.22923251 0.32575759
+v 0.05620796 0.24164025 0.36222074
+v -0.04327470 0.25365572 0.34567684
+v -0.12045553 0.21099710 0.37071827
+v -0.05602833 0.25840474 0.32575760
+v 0.09587074 0.22044373 0.37662578
+f 7 4 5
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 9 1 7
+f 10 4 3
+f 10 8 6
+f 11 5 4
+f 11 6 8
+f 11 8 2
+f 11 2 5
+f 12 7 1
+f 12 10 3
+f 13 3 4
+f 13 4 7
+f 13 12 3
+f 13 7 12
+f 14 9 7
+f 14 7 5
+f 14 5 9
+f 15 11 4
+f 15 6 11
+f 15 10 6
+f 15 4 10
+f 16 12 1
+f 16 1 8
+f 16 8 10
+f 16 10 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09675da2eeb9a339302d20a1b5480bb2139801d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.02953894 -0.26190784 -0.44026501
+v 0.09441286 -0.23805501 -0.45372664
+v 0.08361639 -0.13758003 -0.47332680
+v -0.11192361 -0.14093913 -0.48511310
+v -0.04438184 -0.23526312 -0.50000000
+v -0.12145025 -0.22867833 -0.44772141
+v 0.05986965 -0.25437987 -0.44468659
+v 0.08534727 -0.22332141 -0.50000000
+v -0.07007670 -0.14184703 -0.47171876
+v -0.02887645 -0.26197310 -0.44026501
+v -0.11181149 -0.21064550 -0.50000000
+v 0.09463025 -0.17333706 -0.49587246
+v 0.02886641 -0.23992800 -0.48780060
+v -0.12478047 -0.15660513 -0.49755406
+v 0.09316980 -0.15545328 -0.48576776
+v -0.13055943 -0.21541727 -0.45968045
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 8 2 7
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 6 5
+f 10 5 1
+f 10 1 6
+f 11 5 6
+f 11 8 5
+f 12 2 8
+f 13 8 7
+f 13 7 1
+f 13 1 5
+f 13 5 8
+f 14 4 3
+f 14 12 8
+f 14 8 11
+f 15 3 2
+f 15 2 12
+f 15 14 3
+f 15 12 14
+f 16 14 11
+f 16 11 6
+f 16 6 4
+f 16 4 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6484e510e562cf46356b747ace635534e350ea7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01548598 -0.06094042 0.40879508
+v 0.04578901 -0.03063739 0.40879508
+v -0.01625810 -0.03640732 0.49095202
+v -0.02583253 0.03686002 0.48224756
+v -0.04512008 0.04512019 0.40879508
+v 0.04213609 0.04989098 0.40879508
+v 0.01455276 -0.03203055 0.45447487
+v -0.04512008 -0.06094042 0.40879508
+v -0.03268325 0.02325838 0.49374933
+v 0.02919811 -0.02524692 0.43587325
+v -0.03216009 0.02590430 0.49243942
+v -0.03027260 -0.02365948 0.49459146
+v -0.03355780 0.03135391 0.48358312
+v -0.02066818 -0.03142099 0.49306230
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 5 1
+f 8 1 3
+f 9 3 6
+f 9 5 8
+f 10 7 2
+f 10 2 6
+f 10 6 7
+f 11 9 6
+f 11 6 4
+f 12 9 8
+f 12 8 3
+f 13 11 4
+f 13 4 5
+f 13 5 9
+f 13 9 11
+f 14 12 3
+f 14 3 9
+f 14 9 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b3b3fadd41d8c17cef08a3f579c6981ba579656
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01548598 -0.15184952 0.40879508
+v 0.01548598 -0.15184952 0.00757577
+v 0.01548598 0.12087777 0.00757577
+v -0.12253241 0.12223583 0.41666669
+v -0.12087766 -0.15184952 0.00757577
+v 0.01548598 0.12087777 0.40879508
+v -0.07673875 -0.15431097 0.41666671
+v -0.12087766 0.12087777 0.00757577
+v -0.12087766 -0.09124345 0.40879508
+v -0.10704744 -0.13499775 0.40879508
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 7 4
+f 9 4 5
+f 10 9 5
+f 10 5 7
+f 10 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab0dd9f111ce88b62ae99d087d6b4d2a2b4e4880
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.17025516 0.02886241 0.40879508
+v -0.18148372 0.02996867 -0.41666666
+v -0.21005196 0.15947456 -0.41666667
+v -0.21005205 0.15947465 0.26515153
+v -0.26138429 0.03485361 -0.41666667
+v -0.23383085 0.03213983 0.38342857
+v -0.22293324 0.14198724 -0.41666667
+v -0.20359613 0.11754566 0.38504024
+v -0.22293332 0.14198728 0.26515154
+v -0.21582694 0.10788578 0.37373870
+f 1 2 3
+f 1 3 4
+f 5 3 2
+f 6 5 2
+f 6 2 1
+f 7 4 3
+f 7 3 5
+f 8 6 1
+f 8 1 4
+f 9 5 6
+f 9 7 5
+f 9 4 7
+f 10 8 4
+f 10 4 9
+f 10 9 6
+f 10 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..add2a0f083b9123168f0d3dbba5370c7dd0239f9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_28.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.21228248 0.12819555 0.36204708
+v -0.17581852 0.16168296 -0.50000000
+v -0.19097201 0.14381610 0.37798167
+v -0.17361125 0.18704262 0.34921661
+v -0.21348492 0.15529146 -0.44026501
+v -0.18148372 0.13602928 -0.50000000
+v -0.21348504 0.15529155 0.33322706
+v -0.17363187 0.18706775 -0.45446138
+v -0.17451036 0.17451093 0.36574708
+v -0.20083085 0.13017325 -0.50000000
+v -0.20833353 0.13920452 0.35895203
+v -0.21785138 0.13117223 -0.45574463
+v -0.18293947 0.18293982 -0.45007648
+v -0.18261266 0.18261323 0.34507088
+v -0.19544445 0.13776890 -0.50000000
+f 6 3 1
+f 9 6 2
+f 9 3 6
+f 9 8 4
+f 9 2 8
+f 10 2 6
+f 10 6 1
+f 11 7 1
+f 11 1 3
+f 11 3 9
+f 12 7 5
+f 12 1 7
+f 12 10 1
+f 12 5 10
+f 13 8 2
+f 13 2 5
+f 13 5 7
+f 13 4 8
+f 14 9 4
+f 14 11 9
+f 14 7 11
+f 14 13 7
+f 14 4 13
+f 15 10 5
+f 15 5 2
+f 15 2 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a90c743b8c49eab0955a907373fcd532f831bb0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19036762 -0.18346034 0.25000002
+v 0.19036762 -0.18346034 0.00757577
+v 0.15184962 0.12087777 0.25000002
+v 0.01548598 0.12087777 0.25000002
+v 0.01548598 -0.15184952 0.00757577
+v 0.01548598 -0.15184952 0.25000002
+v 0.15184962 0.12087777 0.00757577
+v 0.01548598 0.12087777 0.00757577
+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 7 3 2
+f 7 4 3
+f 8 5 4
+f 8 4 7
+f 8 7 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00bc50a101d662439740604599ce9a442ad1d66f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_3.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.19036762 -0.18346034 0.00757577
+v 0.19036762 -0.18346034 -0.41666666
+v 0.15184962 0.12087777 -0.41666666
+v -0.12087766 0.12087777 0.00757577
+v -0.12087766 -0.15184952 0.00757577
+v 0.15184962 0.12087777 0.00757577
+v -0.12087766 -0.15184952 -0.41666666
+v -0.04553580 0.12224820 -0.46758859
+v 0.09184587 0.12161169 -0.47085246
+v -0.11235684 0.11235696 -0.47171876
+v 0.09316980 -0.15545328 -0.48576776
+v -0.04581691 -0.15414666 -0.47336231
+v 0.06323345 -0.15940835 -0.47955686
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 8 4 6
+f 9 8 6
+f 9 6 3
+f 9 3 2
+f 10 7 4
+f 10 4 8
+f 10 8 9
+f 11 10 9
+f 11 9 2
+f 12 2 7
+f 12 7 10
+f 12 10 11
+f 13 12 11
+f 13 11 2
+f 13 2 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a18b427370414fcc7502dc94de652e31bdbdc7ca
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_30.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.23383085 0.03213983 0.38342857
+v -0.24479653 0.03321989 -0.46719795
+v -0.22824452 0.06526413 0.38069724
+v -0.23893056 0.06850580 -0.46452435
+v -0.25840460 0.05602844 0.33322706
+v -0.25478877 0.02823482 0.34630479
+v -0.25840454 0.05602842 -0.44026501
+v -0.24178267 0.05558236 0.36230288
+v -0.24476691 0.02874005 0.36429907
+v -0.25365551 0.04327472 0.34567676
+v -0.26186815 0.02893208 -0.44042478
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 7 5 4
+f 7 4 2
+f 8 1 3
+f 8 3 5
+f 9 2 1
+f 9 1 6
+f 10 6 1
+f 10 5 6
+f 10 8 5
+f 10 1 8
+f 11 6 5
+f 11 5 7
+f 11 7 2
+f 11 9 6
+f 11 2 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbef4e35bdf1752065057c2ed2af0bc7a77d14e3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16896700 -0.16589727 0.38342474
+v 0.19036762 -0.18346034 0.25000002
+v 0.15184962 -0.01548587 0.25000002
+v 0.04138569 -0.00762916 0.37548898
+v 0.01548598 -0.15184952 0.25000002
+v 0.13616903 -0.00613448 0.37591774
+v 0.01548598 -0.15184952 0.40879508
+v 0.01548598 -0.01548587 0.25000002
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 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/can/can_12/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa51c05b30e77a65ef7bfe2c57b1c610eae86a61
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_4.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.20557934 -0.15647286 0.34294899
+v -0.20284787 -0.13192008 -0.48983066
+v -0.18148372 0.02996867 0.32575760
+v -0.26196657 0.02894178 0.32575760
+v -0.25821894 -0.05664083 -0.44026501
+v -0.20970766 -0.06030974 0.41546845
+v -0.18148372 0.02996867 -0.41666666
+v -0.20972406 -0.15987435 -0.41666666
+v -0.25821894 -0.05664083 0.32575760
+v -0.20349128 -0.08680944 0.41147907
+v -0.24479653 0.03321989 -0.46719795
+v -0.22428102 -0.12717905 -0.44962412
+v -0.24164026 -0.05620790 0.36222075
+v -0.24465926 -0.10134115 0.32575760
+v -0.21178676 -0.06094042 -0.50000000
+v -0.26186815 0.02893208 -0.44042478
+v -0.23909728 -0.09903731 -0.44994583
+v -0.21422035 -0.05708254 0.40933698
+v -0.24131726 -0.08641295 0.34688309
+v -0.22938924 -0.12990944 0.32575760
+v -0.20685193 -0.11890878 -0.50000000
+v -0.23168279 -0.05778351 -0.50000000
+v -0.20776595 -0.08542768 0.40561712
+v -0.22326509 -0.08553307 -0.50000000
+v -0.21021880 -0.11260978 -0.50000000
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 4 5
+f 10 1 3
+f 10 3 6
+f 11 4 3
+f 11 3 7
+f 12 2 8
+f 13 4 9
+f 14 9 5
+f 15 11 7
+f 16 5 4
+f 16 4 11
+f 17 12 8
+f 17 14 5
+f 17 8 14
+f 18 13 6
+f 18 6 4
+f 18 4 13
+f 19 13 9
+f 19 9 14
+f 20 14 8
+f 20 8 1
+f 20 19 14
+f 20 1 19
+f 21 15 7
+f 21 7 2
+f 21 2 12
+f 22 11 15
+f 22 16 11
+f 22 5 16
+f 22 15 21
+f 23 10 6
+f 23 6 13
+f 23 13 19
+f 23 19 1
+f 23 1 10
+f 24 22 21
+f 24 17 5
+f 24 5 22
+f 25 24 21
+f 25 17 24
+f 25 21 12
+f 25 12 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c781d53387300e43052df66a2879951798a8c59
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.20557934 -0.15647286 0.34294899
+v -0.14316300 -0.09709818 0.43181825
+v -0.20447511 -0.04357098 0.44389597
+v -0.20359613 0.11754566 0.38504024
+v -0.18148372 0.02996867 0.32575760
+v -0.14116064 0.10993762 0.44628681
+v -0.26196657 0.02894178 0.32575760
+v -0.18983496 -0.08760871 0.44372858
+v -0.18987647 0.08696216 0.44384105
+v -0.13606071 0.10575213 0.41666669
+v -0.25821894 -0.05664083 0.33322706
+v -0.22194234 0.10305586 0.36808792
+v -0.19072048 -0.14427845 0.37780226
+v -0.15649240 -0.09408259 0.44775498
+v -0.17554498 0.10255199 0.44605896
+v -0.20450298 0.04291067 0.44396522
+v -0.14316297 -0.09709815 0.44352093
+v -0.13602918 0.07542322 0.40879508
+v -0.25478877 0.02823482 0.34630479
+v -0.19685569 -0.08326273 0.43719973
+v -0.22938924 -0.12990944 0.32575760
+v -0.19443180 0.09644984 0.43013211
+v -0.25360561 -0.04393862 0.34564913
+v -0.23081547 0.08715472 0.36471442
+v -0.20710090 -0.05492287 0.43500676
+v -0.25821894 -0.05664083 0.32575760
+v -0.23865851 -0.09885552 0.34494734
+v -0.19706430 0.08270557 0.43733625
+v -0.20724014 0.05429633 0.43509106
+v -0.24465926 -0.10134115 0.32575760
+v -0.22383553 -0.12694093 0.34464523
+f 5 2 1
+f 10 5 4
+f 10 4 6
+f 12 4 5
+f 12 5 7
+f 13 8 1
+f 13 1 2
+f 14 3 8
+f 14 8 13
+f 15 6 4
+f 15 14 6
+f 16 15 9
+f 16 3 14
+f 16 14 15
+f 17 10 6
+f 17 6 14
+f 17 14 13
+f 17 13 2
+f 18 2 5
+f 18 5 10
+f 18 17 2
+f 18 10 17
+f 19 7 11
+f 19 3 16
+f 20 8 3
+f 20 1 8
+f 21 5 1
+f 22 4 12
+f 22 15 4
+f 22 9 15
+f 23 19 11
+f 23 11 3
+f 23 3 19
+f 24 12 7
+f 24 7 19
+f 24 22 12
+f 25 20 3
+f 25 3 11
+f 25 11 20
+f 26 11 7
+f 26 7 5
+f 27 20 11
+f 28 16 9
+f 28 9 22
+f 28 22 24
+f 29 24 19
+f 29 19 16
+f 29 28 24
+f 29 16 28
+f 30 11 26
+f 30 27 11
+f 30 26 5
+f 30 5 21
+f 31 21 1
+f 31 1 20
+f 31 20 27
+f 31 30 21
+f 31 27 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..840c1842e37ba3e23ee3a8290e60e12ff13683af
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_6.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01431404 -0.24601120 0.36461798
+v 0.08763796 -0.23087236 0.36436174
+v 0.04354338 -0.20505242 0.44366770
+v -0.20045267 -0.08518534 0.43013211
+v -0.22616036 -0.09100748 0.37076381
+v 0.09124356 -0.13669800 0.40879508
+v -0.11679600 -0.17479610 0.44352093
+v 0.04179881 -0.21013335 0.43657998
+v -0.20144204 -0.14335978 0.36383155
+v 0.08756427 -0.19042056 0.44352093
+v -0.07542312 -0.09124345 0.40879508
+v -0.04179249 -0.21010090 0.43663682
+v -0.21689925 -0.11618053 0.36493419
+v -0.14264585 -0.20205599 0.36379238
+v -0.16443588 -0.13785849 0.43424338
+v 0.09534268 -0.14436701 0.44352093
+v 0.08305423 -0.19713424 0.43694463
+v -0.21389742 -0.08728762 0.39399935
+v -0.01365001 -0.24606122 0.36464570
+v -0.04288283 -0.20508007 0.44373702
+v -0.18109400 -0.11323972 0.43680076
+v -0.08701217 -0.23101478 0.36444381
+v -0.13714556 -0.16505119 0.43420297
+v 0.09404108 -0.15708337 0.44796530
+v -0.17644500 -0.08855023 0.44849318
+v -0.08249682 -0.19734286 0.43708113
+v -0.19415371 -0.09697003 0.43013211
+v -0.17479620 -0.11679565 0.44352093
+v -0.08692052 -0.19046762 0.44363076
+f 6 2 5
+f 8 1 2
+f 11 6 5
+f 13 5 2
+f 13 2 9
+f 13 4 5
+f 14 9 2
+f 14 2 1
+f 15 9 14
+f 16 2 6
+f 16 6 11
+f 17 8 2
+f 17 2 10
+f 17 10 3
+f 17 3 8
+f 18 11 5
+f 18 5 4
+f 18 4 11
+f 19 1 8
+f 19 8 12
+f 19 14 1
+f 20 12 8
+f 20 8 3
+f 21 13 9
+f 22 19 12
+f 22 14 19
+f 23 15 14
+f 23 14 7
+f 23 7 15
+f 24 10 2
+f 24 2 16
+f 24 3 10
+f 24 20 3
+f 25 16 11
+f 25 11 4
+f 25 24 16
+f 25 20 24
+f 26 12 20
+f 26 22 12
+f 26 7 14
+f 26 14 22
+f 27 4 13
+f 27 13 21
+f 28 21 9
+f 28 9 15
+f 28 15 7
+f 28 7 25
+f 28 25 4
+f 28 27 21
+f 28 4 27
+f 29 25 7
+f 29 20 25
+f 29 26 20
+f 29 7 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7998e471670f7069bacb596bfb54a9d39bc8153
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_7.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.08490739 -0.20060130 0.43013211
+v 0.24601106 -0.01431389 0.36461786
+v 0.20505246 -0.04354321 0.44366773
+v 0.09580552 0.19001883 0.43740285
+v 0.01548598 0.12087777 0.40879508
+v 0.19734284 0.08249685 0.43708105
+v 0.08850880 -0.17703612 0.44828287
+v 0.20180437 -0.14310824 0.36361285
+v 0.14335988 0.20144205 0.36383152
+v 0.21010101 0.04179261 0.43663682
+v 0.08855038 0.17644515 0.44849317
+v 0.01548598 -0.15184952 0.40879508
+v 0.23087229 -0.08763779 0.36436165
+v 0.17479620 -0.11679565 0.44352093
+v 0.13358035 0.20595398 0.36756453
+v 0.20205581 0.14264592 0.36379226
+v 0.20508033 0.04288294 0.44373695
+v 0.21013324 -0.04179868 0.43658014
+v 0.17479620 0.11679589 0.44352093
+v 0.14880570 -0.19359504 0.36856589
+v 0.11679577 -0.17479610 0.44352093
+v 0.19042050 -0.08756412 0.44352093
+v 0.11679577 0.17479632 0.44352093
+v 0.23101474 0.08701223 0.36444372
+v 0.24606111 0.01365012 0.36464560
+v 0.13785862 0.16443599 0.43424330
+v 0.19046767 0.08692062 0.44363071
+v 0.08659636 -0.20376130 0.41122967
+v 0.16480495 -0.13761242 0.43401945
+v 0.15928158 -0.18789778 0.36450110
+v 0.11303115 -0.18137269 0.43654532
+v 0.19713419 -0.08305409 0.43694454
+v 0.16505101 0.13714564 0.43420329
+v 0.13761251 -0.16480497 0.43401938
+v 0.09669208 -0.19430233 0.43013211
+f 11 4 5
+f 12 1 7
+f 12 5 9
+f 12 11 5
+f 12 7 11
+f 13 8 2
+f 15 9 5
+f 15 5 4
+f 16 2 8
+f 16 8 9
+f 17 10 6
+f 17 11 7
+f 17 7 3
+f 18 13 2
+f 18 17 3
+f 18 10 17
+f 19 6 16
+f 21 14 7
+f 21 7 1
+f 22 3 7
+f 22 7 14
+f 23 15 4
+f 23 9 15
+f 23 4 11
+f 23 11 19
+f 24 16 6
+f 24 6 10
+f 25 18 2
+f 25 10 18
+f 25 24 10
+f 25 2 16
+f 25 16 24
+f 26 16 9
+f 26 23 19
+f 26 9 23
+f 27 17 6
+f 27 6 19
+f 27 19 11
+f 27 11 17
+f 28 20 1
+f 28 1 12
+f 28 12 20
+f 29 8 14
+f 30 20 12
+f 30 12 9
+f 30 9 8
+f 30 8 29
+f 31 21 1
+f 31 20 21
+f 32 18 3
+f 32 3 22
+f 32 13 18
+f 32 8 13
+f 32 22 14
+f 32 14 8
+f 33 26 19
+f 33 19 16
+f 33 16 26
+f 34 30 29
+f 34 21 20
+f 34 20 30
+f 34 29 14
+f 34 14 21
+f 35 31 1
+f 35 1 20
+f 35 20 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..314d3a18d83afbb99b8b727d63861742defa37c0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_8.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.14427850 0.19072060 0.37780222
+v 0.13669810 0.18148383 -0.50000000
+v 0.12717897 0.22428096 -0.44962397
+v 0.01459822 0.26337937 0.32575760
+v 0.01548598 0.18148383 0.32575760
+v 0.12990943 0.22938925 0.25000003
+v 0.06588971 0.22810211 0.38061510
+v 0.01548598 0.21178686 -0.50000000
+v 0.05664087 0.25821863 -0.44026501
+v 0.10553054 0.20821295 0.38792738
+v 0.09885567 0.23865860 0.34494731
+v 0.01640924 0.19085775 -0.49223183
+v 0.01454996 0.26288967 -0.44105992
+v 0.10134126 0.24465934 0.25000003
+v 0.13069334 0.20055269 -0.50000000
+v 0.05620796 0.24164025 0.36222074
+v 0.12694092 0.22383559 0.34464520
+v 0.09903745 0.23909721 -0.44994575
+v 0.05664093 0.25821885 0.32575760
+v 0.12875042 0.21206940 0.36191375
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 4 5
+f 10 7 5
+f 10 5 1
+f 11 7 10
+f 12 8 2
+f 12 2 5
+f 12 5 8
+f 13 8 5
+f 13 5 4
+f 13 4 9
+f 14 6 3
+f 15 3 2
+f 15 2 8
+f 15 13 9
+f 15 8 13
+f 16 4 7
+f 16 7 11
+f 17 1 6
+f 17 14 11
+f 17 6 14
+f 18 14 3
+f 18 9 14
+f 18 15 9
+f 18 3 15
+f 19 14 9
+f 19 9 4
+f 19 11 14
+f 19 16 11
+f 19 4 16
+f 20 10 1
+f 20 1 17
+f 20 17 11
+f 20 11 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18eb2970971bca93a28fab0fa1c41ae5861549b4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/collision/model_normalized_collision_9.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.05645516 -0.25827518 0.33322728
+v 0.09244472 -0.23156685 -0.46468209
+v 0.08904381 -0.14773397 0.40879508
+v -0.14448335 -0.18061272 0.39173375
+v -0.05584255 -0.25846106 -0.44026501
+v -0.12087766 -0.15184952 -0.41666666
+v 0.07023818 -0.23861227 0.36009020
+v 0.05645516 -0.25827518 -0.44026501
+v -0.05584255 -0.25846106 0.33322728
+v 0.08361639 -0.13758003 -0.47332680
+v -0.11825413 -0.22269885 -0.45867690
+v 0.08763796 -0.23087236 0.36436174
+v -0.04438184 -0.23526312 -0.50000000
+v 0.08635826 -0.24180526 -0.45170577
+v -0.04388240 -0.26049515 -0.44026501
+v -0.06961239 -0.23875476 0.36017230
+v 0.02884871 -0.25489981 0.34599567
+v -0.09888825 -0.23873707 0.34479389
+v -0.08894364 -0.22223052 -0.50000000
+v 0.08627068 -0.24151654 0.34661250
+v -0.02818472 -0.25494985 0.34602338
+v -0.11369957 -0.22932930 -0.45269745
+v -0.11058259 -0.22349783 0.35916731
+v -0.09907603 -0.23919044 -0.44978363
+v -0.10123477 -0.21920437 -0.48998619
+v -0.04407869 -0.14841647 -0.47122917
+v -0.04512008 -0.22760709 -0.50000000
+f 6 4 3
+f 10 6 3
+f 10 3 2
+f 11 4 6
+f 12 3 4
+f 12 2 3
+f 12 7 1
+f 13 2 8
+f 13 10 2
+f 14 8 2
+f 14 1 8
+f 15 8 1
+f 15 13 8
+f 15 5 13
+f 15 9 5
+f 15 1 9
+f 16 12 4
+f 16 7 12
+f 17 9 1
+f 17 1 7
+f 17 7 16
+f 18 9 16
+f 19 13 5
+f 20 12 1
+f 20 1 14
+f 20 14 2
+f 20 2 12
+f 21 17 16
+f 21 16 9
+f 21 9 17
+f 22 18 4
+f 22 4 11
+f 23 18 16
+f 23 16 4
+f 23 4 18
+f 24 5 9
+f 24 9 18
+f 24 18 22
+f 24 22 19
+f 24 19 5
+f 25 11 6
+f 25 22 11
+f 25 19 22
+f 26 6 10
+f 26 10 19
+f 26 25 6
+f 26 19 25
+f 27 19 10
+f 27 10 13
+f 27 13 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_12/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d648c4dee943eed96c00c70f0ebe9f7f2213ba72
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/model.xml
@@ -0,0 +1,53 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_12/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_12/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/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/can/can_12/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_12/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ddf165e13c4f0db012af5eb88a934615a4f8bf2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_12/visual/model_normalized_0.obj
@@ -0,0 +1,9709 @@
+# 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/can/can_13/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75fb21b7996817fd4c477aa56fe90b2951e291ba
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.25485143 0.06639129 0.48260570
+v -0.25485143 0.06639129 0.50000000
+v -0.24325132 0.11715469 0.48260570
+v -0.24011777 0.11564583 0.45743710
+v -0.24361289 0.10033183 0.45743710
+v -0.25135633 0.06639129 0.45743710
+v -0.24591783 0.06639129 0.50000000
+v -0.24325132 0.11715469 0.50000000
+v -0.16834775 0.21108517 0.48260570
+v -0.17597067 0.19608335 0.45743710
+v -0.23699930 0.06639129 0.45743710
+v -0.23699930 0.06639129 0.47878104
+v -0.10096165 0.23389143 0.50000000
+v -0.16834775 0.21108517 0.50000000
+v -0.10096165 0.24355155 0.48260570
+v -0.14407790 0.21901101 0.45743710
+v -0.16617838 0.20836231 0.45743710
+v -0.10096165 0.22424862 0.45743710
+v -0.10096165 0.22424862 0.47878104
+v -0.10096165 0.22971171 0.49082580
+v -0.10096165 0.24355155 0.50000000
+v -0.10096165 0.23977074 0.45743710
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
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+f 1 12 7
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+f 3 14 9
+f 3 9 4
+f 4 9 10
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+f 4 16 22
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+f 11 19 12
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+f 13 20 19
+f 13 19 18
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+f 13 22 15
+f 13 15 21
+f 15 22 16
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3c133487380ff65c9a3043fefe25739f96e0f8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.24357268 0.06639493 -0.50000000
+v -0.24147199 0.06639493 -0.50000000
+v -0.24478889 0.06639493 -0.49981254
+v -0.23310608 0.11228082 -0.50000000
+v -0.10096502 0.22906218 -0.50000000
+v -0.10096502 0.06639493 -0.45089105
+v -0.24655789 0.06639493 -0.49953139
+v -0.23577800 0.11356067 -0.49953139
+v -0.16319348 0.20459810 -0.49953139
+v -0.16133234 0.20226920 -0.50000000
+v -0.10096502 0.23134914 -0.50000000
+v -0.10096502 0.06639493 0.45696849
+v -0.24867702 0.06639493 -0.49821931
+v -0.23769443 0.11448384 -0.49821931
+v -0.10096502 0.23458025 -0.49953139
+v -0.10096502 0.23267096 -0.49981254
+v -0.16450182 0.20627660 -0.49821931
+v -0.10096502 0.22423652 0.45743710
+v -0.23701262 0.06639493 0.45743710
+v -0.28519961 0.06639493 -0.44292489
+v -0.27060533 0.13032465 -0.44292489
+v -0.10096502 0.23686719 -0.49821931
+v -0.18727776 0.23481104 -0.44292489
+v -0.10096502 0.27639580 -0.44292489
+v -0.10096502 0.23976260 0.45743710
+v -0.25136736 0.06639493 0.45743710
+v -0.28741086 0.06639493 -0.43842638
+v -0.27259544 0.13128978 -0.43842638
+v -0.18865980 0.23655248 -0.43842638
+v -0.10096502 0.27878764 -0.43842638
+v -0.10096502 0.27601811 0.37927514
+v -0.14408453 0.21901220 0.45743710
+v -0.24360955 0.10034251 0.45743710
+v -0.27029204 0.13017778 0.37927514
+v -0.28484949 0.06639493 0.37927514
+v -0.28873762 0.06639493 -0.43355295
+v -0.27379322 0.13187726 -0.43355295
+v -0.10096502 0.27918628 -0.43711430
+v -0.18948902 0.23760155 -0.43355295
+v -0.10096502 0.27807426 0.37430802
+v -0.18823597 0.23602796 0.37430802
+v -0.18705663 0.23453829 0.37927514
+v -0.16617867 0.20835374 0.45743710
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+v -0.27200577 0.13099605 0.37430802
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+v -0.28674749 0.06639493 0.37430802
+v -0.28919831 0.06639493 -0.42839840
+v -0.27419859 0.13206609 -0.42839840
+v -0.10096502 0.28023535 -0.43355295
+v -0.18976542 0.23793724 -0.42839840
+v -0.10096502 0.28071791 -0.42839840
+v -0.10096502 0.27954295 0.36924717
+v -0.18908362 0.23709798 0.36924717
+v -0.27322197 0.13158353 0.36924717
+v -0.28811109 0.06639493 0.36924717
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+v -0.27419859 0.13206609 0.35884431
+v -0.18976542 0.23793724 0.35884431
+v -0.10096502 0.28071791 -0.21406220
+v -0.10096502 0.28017241 0.36559209
+v -0.18959957 0.23772743 0.36409259
+v -0.27395904 0.13194020 0.36409259
+v -0.28851649 0.06639493 0.36671674
+v -0.28892189 0.06639493 0.36409259
+v -0.10096502 0.28063399 0.36034381
+v -0.10096502 0.28069693 0.35884431
+v -0.10096502 0.28042418 0.36409259
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+f 45 56 47
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+f 48 58 49
+f 49 58 59
+f 49 59 51
+f 51 59 60
+f 51 60 52
+f 53 61 54
+f 54 61 62
+f 54 62 63
+f 54 63 55
+f 55 64 56
+f 55 63 64
+f 57 65 63
+f 57 63 58
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+f 58 62 59
+f 59 62 66
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+f 59 67 60
+f 61 68 62
+f 62 68 66
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+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c267bc7c2f31ffc32ac93defe092deb3c4880dd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.16891493 0.09841568 0.45704389
+v -0.10094659 0.09841568 0.45704389
+v 0.16891493 -0.07125328 0.45704389
+v 0.16891493 0.09841568 -0.47178465
+v -0.10094659 -0.07125328 0.45704389
+v -0.10094659 0.09841568 -0.45551020
+v 0.16891493 -0.07125328 -0.46532941
+v -0.10094659 -0.07125328 -0.45160067
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0337b6fc6c93be5bf5cee10d2d21a4ae686aeea
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_11.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.07873824 -0.29141292 -0.42844558
+v 0.07873824 -0.29092997 -0.43363351
+v 0.16891493 -0.24798343 -0.42844558
+v 0.07873824 -0.29141292 0.35884887
+v 0.07873824 -0.28949317 -0.43842992
+v 0.16891493 -0.24750046 -0.43363351
+v 0.16891493 -0.24798343 0.35884887
+v 0.16891493 -0.24774194 0.36325371
+v 0.07873824 -0.29112315 0.36403680
+v 0.07873824 -0.28944489 -0.43852779
+v 0.16891493 -0.24606368 -0.43842992
+v 0.16891493 -0.24768157 0.36413470
+v 0.07873824 -0.29111108 0.36413470
+v 0.07873824 -0.28709048 -0.44293267
+v 0.16891493 -0.24366099 -0.44293267
+v 0.16891493 -0.24695714 0.36844167
+v 0.07873824 -0.29103863 0.36462411
+v 0.07873824 -0.24757291 -0.49823806
+v 0.16450143 -0.20628047 -0.49823806
+v 0.16529585 -0.20728260 -0.49608457
+v 0.16891493 -0.20274284 -0.49608457
+v 0.16891493 -0.24680018 0.36932263
+v 0.07873824 -0.29025382 0.36922476
+v 0.07873824 -0.24571355 -0.49931481
+v 0.16316855 -0.20462637 -0.49951059
+v 0.16891493 -0.19743037 -0.49951059
+v 0.16891493 -0.20075066 -0.49823806
+v 0.16891493 -0.20087141 -0.49814019
+v 0.07873824 -0.29022968 0.36932263
+v 0.16891493 -0.21038558 0.50000000
+v 0.16834117 -0.21109793 0.50000000
+v 0.07873824 -0.24527888 -0.49951059
+v 0.16131487 -0.20229611 -0.50000000
+v 0.16891493 -0.19276989 -0.50000000
+v 0.07873824 -0.25423765 0.50000000
+v 0.16891493 -0.19644031 0.50000000
+v 0.07873824 -0.24205518 -0.50000000
+v 0.16891493 -0.18946165 -0.50000000
+v 0.07873824 -0.24459067 0.50000000
+v 0.07873824 -0.16806686 0.45702818
+v 0.16891493 -0.16806686 0.45702818
+v 0.07873824 -0.23976116 -0.50000000
+v 0.16891493 -0.16806686 -0.49334377
+v 0.07873824 -0.16806686 -0.46779561
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 23
+f 1 23 29
+f 1 29 35
+f 1 35 39
+f 1 39 40
+f 1 40 44
+f 1 44 42
+f 1 42 37
+f 1 37 32
+f 1 32 24
+f 1 24 18
+f 1 18 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 6 11
+f 3 11 15
+f 3 15 21
+f 3 21 28
+f 3 28 27
+f 3 27 26
+f 3 26 34
+f 3 34 38
+f 3 38 43
+f 3 43 41
+f 3 41 36
+f 3 36 30
+f 3 30 22
+f 3 22 16
+f 3 16 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 13
+f 14 18 19
+f 14 19 15
+f 15 19 20
+f 15 20 21
+f 16 22 23
+f 16 23 17
+f 18 24 19
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 20 28 21
+f 22 29 23
+f 22 30 31
+f 22 31 29
+f 24 32 25
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 29 31 35
+f 30 36 39
+f 30 39 35
+f 30 35 31
+f 32 37 33
+f 33 37 42
+f 33 42 38
+f 33 38 34
+f 36 40 39
+f 36 41 40
+f 38 42 43
+f 40 41 43
+f 40 43 44
+f 42 44 43
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a18ba6989e99bf64c1f2e6f700ad657ac46b809
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.26999491 -0.00000512 0.48260790
+v -0.26999491 -0.00000512 0.50000000
+v -0.25484678 0.06637396 0.48260790
+v -0.26649100 -0.00000512 0.45757878
+v -0.26229337 -0.01840283 0.45757878
+v -0.24326184 -0.11713783 0.48260790
+v -0.25484678 0.06637396 0.50000000
+v -0.24326184 -0.11713783 0.50000000
+v -0.25134283 0.06637396 0.45757878
+v -0.24010178 -0.11562569 0.45757878
+v -0.23167692 -0.13167764 0.48260790
+v -0.24592982 0.06637396 0.50000000
+v -0.23167692 -0.13167764 0.50000000
+v -0.23701879 0.06637396 0.45757878
+v -0.22730738 -0.13167764 0.45757878
+v -0.24223617 0.06637396 0.49121258
+v -0.22055444 -0.13167764 0.50000000
+v -0.20943198 -0.13167764 0.47878316
+v -0.20943198 -0.13167764 0.45757878
+v -0.23701879 0.06637396 0.47878316
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 13
+f 2 13 17
+f 2 17 12
+f 2 12 7
+f 3 7 12
+f 3 12 16
+f 3 16 20
+f 3 20 14
+f 3 14 9
+f 4 9 14
+f 4 14 19
+f 4 19 15
+f 4 15 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 6 11 13
+f 6 13 8
+f 10 15 11
+f 11 15 19
+f 11 19 18
+f 11 18 17
+f 11 17 13
+f 12 17 18
+f 12 18 16
+f 14 20 18
+f 14 18 19
+f 16 18 20
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19ce59ccc148d10c05fe2c5b1585179e2bb9a88f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_13.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.16891494 -0.21035743 0.48260570
+v 0.16891494 -0.21035743 0.50000000
+v 0.16891494 -0.20491728 0.45743710
+v 0.17596997 -0.19607708 0.45743710
+v 0.24325503 -0.11713342 0.48260570
+v 0.24325503 -0.11713342 0.50000000
+v 0.16891494 -0.19642740 0.50000000
+v 0.16891494 -0.18247676 0.45743710
+v 0.24011837 -0.11562914 0.45743710
+v 0.24361125 -0.10033908 0.45743710
+v 0.26651785 -0.00000583 0.45743710
+v 0.26999095 -0.00000583 0.48260570
+v 0.26999095 -0.00000583 0.50000000
+v 0.16891494 -0.19508797 0.49797934
+v 0.26104599 0.00011782 0.50000000
+v 0.25213072 0.00011782 0.47878104
+v 0.16891494 -0.18247676 0.47878104
+v 0.25213072 0.00011782 0.45743710
+v 0.25225937 0.00011782 0.45743710
+v 0.26647827 0.00011782 0.45744544
+v 0.26996127 0.00011782 0.48260570
+v 0.26996127 0.00011782 0.50000000
+f 1 2 7
+f 1 7 14
+f 1 14 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 22
+f 2 22 15
+f 2 15 7
+f 3 8 18
+f 3 18 19
+f 3 19 11
+f 3 11 10
+f 3 10 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 15 16
+f 7 16 14
+f 8 17 16
+f 8 16 18
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 14 16 17
+f 15 22 21
+f 15 21 20
+f 15 20 19
+f 15 19 18
+f 15 18 16
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d6527d9239f15f36ae01c83a1f4f7cc2388620
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_14.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.07872066 -0.23493582 0.45743710
+v 0.07872066 -0.25047562 0.45743710
+v 0.07872066 -0.16806686 0.45696849
+v -0.10092901 -0.22425693 0.45743710
+v 0.07344408 -0.25301939 0.45743710
+v 0.07872066 -0.28670573 0.37927514
+v -0.10092901 -0.16806686 0.45696849
+v 0.07872066 -0.16806686 -0.46785423
+v -0.10092901 -0.23977154 0.45743710
+v 0.05930287 -0.25983223 0.45743710
+v 0.06674284 -0.29247335 0.37927514
+v 0.07872066 -0.28856951 0.37477660
+v -0.10092901 -0.16806686 -0.47263393
+v 0.07872066 -0.23975895 -0.50000000
+v -0.10092901 -0.22908007 -0.50000000
+v -0.10078830 -0.16806686 -0.47263393
+v -0.05929686 -0.25983223 0.45743710
+v -0.10092901 -0.27601427 0.37927514
+v -0.06675442 -0.29247335 0.37927514
+v 0.06716496 -0.29432452 0.37430802
+v 0.07872066 -0.28879619 0.37421429
+v 0.07872066 -0.24205087 -0.50000000
+v -0.10092901 -0.23137200 -0.50000000
+v -0.10092901 -0.27806693 0.37430802
+v -0.06717654 -0.29432452 0.37430802
+v 0.06748156 -0.29564679 0.36924717
+v 0.07872066 -0.29023179 0.36924717
+v 0.05756161 -0.25223863 -0.50000000
+v 0.07872066 -0.24527469 -0.49953139
+v 0.05822998 -0.25514764 -0.49953139
+v -0.05757318 -0.25223863 -0.50000000
+v -0.05822396 -0.25514764 -0.49953139
+v -0.10092901 -0.23458321 -0.49953139
+v -0.10092901 -0.27954030 0.36924717
+v -0.06747554 -0.29564679 0.36924717
+v 0.06765745 -0.29644015 0.36409259
+v 0.07872066 -0.29103774 0.36456120
+v 0.07872066 -0.24757922 -0.49821931
+v 0.05870486 -0.25721288 -0.49821931
+v -0.05869885 -0.25721288 -0.49821931
+v -0.10092901 -0.23594326 -0.49878162
+v -0.10092901 -0.28042182 0.36409259
+v -0.06765143 -0.29644015 0.36409259
+v 0.06771021 -0.29671720 0.35884431
+v 0.07872066 -0.29111332 0.36409259
+v 0.07872066 -0.28708354 -0.44292489
+v 0.06683078 -0.29282594 -0.44292489
+v -0.10092901 -0.23687515 -0.49821931
+v -0.06682476 -0.29282594 -0.44292489
+v -0.10092901 -0.28071147 0.35884431
+v -0.06772178 -0.29671720 0.35884431
+v 0.07872066 -0.29140294 0.35884431
+v 0.07872066 -0.29137775 0.35931289
+v 0.06771021 -0.29671720 -0.42839840
+v 0.07872066 -0.28948879 -0.43842638
+v 0.06732326 -0.29497936 -0.43842638
+v -0.10092901 -0.27639204 -0.44292489
+v -0.06731725 -0.29497936 -0.43842638
+v -0.10092901 -0.27879733 -0.43842638
+v -0.10092901 -0.28071147 -0.42839840
+v -0.06772178 -0.29671720 -0.42839840
+v 0.07872066 -0.29140294 -0.42849210
+v 0.06762227 -0.29627645 -0.43355295
+v 0.07872066 -0.29097477 -0.43308437
+v 0.07872066 -0.28962731 -0.43795776
+v -0.06761625 -0.29627645 -0.43355295
+v -0.10092901 -0.27982995 -0.43495876
+v -0.10092901 -0.28058553 -0.42980418
+v -0.10092901 -0.28023294 -0.43355295
+v 0.07872066 -0.29089922 -0.43364668
+v 0.07872066 -0.29092440 -0.43355295
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 27
+f 1 27 37
+f 1 37 45
+f 1 45 53
+f 1 53 52
+f 1 52 62
+f 1 62 64
+f 1 64 71
+f 1 71 70
+f 1 70 65
+f 1 65 55
+f 1 55 46
+f 1 46 38
+f 1 38 29
+f 1 29 22
+f 1 22 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 16
+f 3 16 13
+f 3 13 7
+f 4 7 13
+f 4 13 15
+f 4 15 23
+f 4 23 33
+f 4 33 41
+f 4 41 48
+f 4 48 57
+f 4 57 59
+f 4 59 67
+f 4 67 69
+f 4 69 68
+f 4 68 60
+f 4 60 50
+f 4 50 42
+f 4 42 34
+f 4 34 24
+f 4 24 18
+f 4 18 9
+f 5 10 6
+f 6 11 12
+f 6 10 11
+f 8 14 15
+f 8 15 16
+f 9 18 17
+f 10 17 19
+f 10 19 11
+f 11 19 25
+f 11 25 20
+f 11 20 12
+f 12 20 21
+f 13 16 15
+f 14 22 28
+f 14 28 31
+f 14 31 23
+f 14 23 15
+f 17 18 19
+f 18 24 25
+f 18 25 19
+f 20 25 35
+f 20 35 26
+f 20 26 21
+f 21 26 27
+f 22 29 30
+f 22 30 28
+f 23 31 32
+f 23 32 33
+f 24 34 25
+f 25 34 35
+f 26 35 43
+f 26 43 36
+f 26 36 37
+f 26 37 27
+f 28 30 32
+f 28 32 31
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 32
+f 32 40 41
+f 32 41 33
+f 34 42 35
+f 35 42 43
+f 36 43 51
+f 36 51 44
+f 36 44 45
+f 36 45 37
+f 38 46 47
+f 38 47 39
+f 39 47 49
+f 39 49 40
+f 40 48 41
+f 40 49 48
+f 42 50 51
+f 42 51 43
+f 44 52 53
+f 44 53 45
+f 44 51 61
+f 44 61 54
+f 44 54 62
+f 44 62 52
+f 46 55 47
+f 47 55 56
+f 47 56 58
+f 47 58 49
+f 48 49 57
+f 49 58 59
+f 49 59 57
+f 50 60 61
+f 50 61 51
+f 54 61 66
+f 54 66 63
+f 54 63 64
+f 54 64 62
+f 55 65 63
+f 55 63 56
+f 56 63 66
+f 56 66 58
+f 58 66 67
+f 58 67 59
+f 60 68 61
+f 61 68 69
+f 61 69 66
+f 63 65 70
+f 63 70 71
+f 63 71 64
+f 66 69 67
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..607e679728bad7bb9e4418b0a1bb05815ef14ef3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.16891493 -0.07125327 0.45695090
+v -0.10094659 -0.07125327 0.45695090
+v 0.16891493 -0.16806686 0.45695090
+v 0.16891493 -0.07125327 -0.46536803
+v -0.10094659 -0.16806686 0.45695090
+v -0.10094659 -0.07125327 -0.45159930
+v 0.16891493 -0.16806686 -0.49327761
+v -0.10094659 -0.16806686 -0.47262454
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 6
+f 6 7 8
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e0ff2859310903772e3f7520de94bba24ab0f8e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.11751089 0.21626782 0.45743710
+v 0.11751089 0.21626782 0.47878104
+v 0.11751089 0.23180112 0.45743710
+v 0.25211728 0.00013842 0.45743710
+v 0.11751089 0.22592428 0.50000000
+v 0.25211728 0.00013842 0.47878104
+v 0.11751089 0.23558073 0.48260155
+v 0.15202802 0.21518463 0.45743710
+v 0.25225160 0.00013842 0.45743710
+v 0.11751089 0.23558073 0.50000000
+v 0.26104128 0.00013842 0.50000000
+v 0.16835390 0.21108237 0.48260155
+v 0.16617513 0.20836291 0.45743710
+v 0.26301116 0.01532602 0.45743710
+v 0.26647329 0.00013842 0.45744959
+v 0.16835390 0.21108237 0.50000000
+v 0.26995039 0.00013842 0.50000000
+v 0.24325296 0.11716818 0.48260155
+v 0.24010418 0.11564711 0.45743710
+v 0.26996532 0.00013842 0.48260155
+v 0.24404389 0.09843143 0.45743710
+v 0.24753588 0.09843143 0.48260155
+v 0.24325296 0.11716818 0.50000000
+v 0.24753588 0.09843143 0.50000000
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 19
+f 1 19 21
+f 1 21 14
+f 1 14 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 9 15
+f 4 15 20
+f 4 20 17
+f 4 17 11
+f 4 11 6
+f 5 6 11
+f 5 11 17
+f 5 17 24
+f 5 24 23
+f 5 23 16
+f 5 16 10
+f 7 12 8
+f 7 10 16
+f 7 16 12
+f 8 12 13
+f 9 14 15
+f 12 18 13
+f 12 16 23
+f 12 23 18
+f 13 18 19
+f 14 20 15
+f 14 21 22
+f 14 22 20
+f 17 20 24
+f 18 22 21
+f 18 21 19
+f 18 23 24
+f 18 24 22
+f 20 22 24
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acded6d49290fa70dd9593430187e49823b050ce
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.20942307 -0.13167766 0.47878104
+v -0.20942307 -0.13167766 0.45743710
+v -0.22054328 -0.13167766 0.50000000
+v -0.10095938 -0.22424528 0.47878104
+v -0.22732547 -0.13167766 0.45743710
+v -0.10095938 -0.22424528 0.45743710
+v -0.23166350 -0.13167766 0.50000000
+v -0.10095938 -0.23389299 0.50000000
+v -0.10095938 -0.22829710 0.48769692
+v -0.23166350 -0.13167766 0.48260570
+v -0.21294212 -0.14972466 0.45743710
+v -0.10095938 -0.23977360 0.45743710
+v -0.16833331 -0.21109329 0.50000000
+v -0.10095938 -0.24354070 0.50000000
+v -0.16618347 -0.20836653 0.45743710
+v -0.16833331 -0.21109329 0.48260570
+v -0.10095938 -0.24354070 0.48260570
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 12
+f 2 12 15
+f 2 15 11
+f 2 11 5
+f 3 7 13
+f 3 13 14
+f 3 14 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 14
+f 4 14 17
+f 4 17 12
+f 4 12 6
+f 5 11 10
+f 7 10 16
+f 7 16 13
+f 10 11 15
+f 10 15 16
+f 12 17 15
+f 13 16 17
+f 13 17 14
+f 15 17 16
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e49236020bc0af646deaa6415c7a636ec4671c6f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.10094661 -0.28070337 -0.42838812
+v -0.18974546 -0.23793021 -0.42838812
+v -0.18948662 -0.23759049 -0.43354341
+v -0.10094661 -0.28022772 -0.43354341
+v -0.10094661 -0.28070337 0.35878021
+v -0.18974546 -0.23793021 0.35878021
+v -0.27418399 -0.13203359 -0.42838812
+v -0.27378577 -0.13186373 -0.43354341
+v -0.27342740 -0.13165988 -0.43513688
+v -0.18865040 -0.23653731 -0.43841752
+v -0.10094661 -0.27982002 -0.43494940
+v -0.10094661 -0.28039759 0.36402923
+v -0.18960609 -0.23769242 0.36402923
+v -0.27394506 -0.13193168 0.36402923
+v -0.27418399 -0.13203359 0.35878021
+v -0.30434772 -0.00004502 -0.42838812
+v -0.30386987 -0.00004502 -0.43354341
+v -0.30253589 -0.00004502 -0.43841752
+v -0.27257127 -0.13125220 -0.43841752
+v -0.27227262 -0.13165988 -0.43841752
+v -0.10094661 -0.27876684 -0.43841752
+v -0.18729651 -0.23480463 -0.44291669
+v -0.10094661 -0.27638867 -0.44291669
+v -0.10094661 -0.27951428 0.36918452
+v -0.18908842 -0.23708087 0.36918452
+v -0.30434772 -0.00004502 0.35887393
+v -0.27342740 -0.13165988 0.36777854
+v -0.30325267 -0.00004502 0.36927828
+v -0.30404907 -0.00004502 0.36412296
+v -0.28917626 0.06637395 -0.42838812
+v -0.28871834 0.06637395 -0.43354341
+v -0.28519425 0.06637395 -0.44291669
+v -0.30032590 -0.00004502 -0.44291669
+v -0.27058026 -0.13030092 -0.44291669
+v -0.28738436 0.06637395 -0.43841752
+v -0.26952505 -0.13165988 -0.44291669
+v -0.16451941 -0.20626655 -0.49821907
+v -0.10094661 -0.23687702 -0.49821907
+v -0.10094661 -0.27805340 0.37424612
+v -0.18823229 -0.23602769 0.37424612
+v -0.27143639 -0.13165988 0.37433985
+v -0.27310884 -0.13165988 0.36927828
+v -0.28889751 0.06637395 0.36412296
+v -0.28917626 0.06637395 0.35887393
+v -0.27318847 -0.13155796 0.36927828
+v -0.28808120 0.06637395 0.36927828
+v -0.27197397 -0.13094643 0.37433985
+v -0.30187887 -0.00004502 0.37433985
+v -0.28672731 0.06637395 0.37433985
+v -0.24865930 0.06637395 -0.49821907
+v -0.26381084 -0.00004502 -0.49821907
+v -0.23768885 -0.11443511 -0.49821907
+v -0.22397083 -0.13165988 -0.49821907
+v -0.16320536 -0.20460182 -0.49953133
+v -0.10094661 -0.23592576 -0.49878147
+v -0.10094661 -0.27601495 0.37921396
+v -0.18707751 -0.23453283 0.37921396
+v -0.27026170 -0.13016503 0.37921396
+v -0.29996753 -0.00004502 0.37921396
+v -0.28579155 0.06637395 0.37677690
+v -0.24652892 0.06637395 -0.49953133
+v -0.26170039 -0.00004502 -0.49953133
+v -0.23577750 -0.11351782 -0.49953133
+v -0.22132279 -0.13165988 -0.49953133
+v -0.21839602 -0.13165988 -0.49990627
+v -0.16135371 -0.20229161 -0.50000000
+v -0.10094661 -0.23456681 -0.49953133
+v -0.10094661 -0.23976481 0.45738712
+v -0.16619185 -0.20833896 0.45738712
+v -0.24007806 -0.11562420 0.45757461
+v -0.28483588 0.06637395 0.37921396
+v -0.26645890 -0.00004502 0.45757461
+v -0.24477684 0.06637395 -0.49981251
+v -0.25869396 -0.00004502 -0.50000000
+v -0.23308964 -0.11222681 -0.50000000
+v -0.21761952 -0.13165988 -0.50000000
+v -0.10094661 -0.23133929 -0.50000000
+v -0.10094661 -0.22423875 0.45738712
+v -0.20939668 -0.13165988 0.45757461
+v -0.22727591 -0.13165988 0.45757461
+v -0.25132725 0.06637395 0.45757461
+v -0.24356233 0.06637395 -0.50000000
+v -0.10094661 -0.22906303 -0.50000000
+v -0.10094661 -0.13165988 0.45691848
+v -0.10096652 0.06637395 0.45701221
+v -0.23699200 0.06637395 0.45757461
+v -0.24145186 0.06637395 -0.50000000
+v -0.10096652 0.06637395 -0.45088398
+v -0.10094661 -0.13165988 -0.46063221
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+f 1 55 67
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+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89d413b7fc50b43333557a96a5bdbeb56c1350d6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.11749817 0.21433124 0.45695055
+v -0.10094659 0.21433124 0.45695055
+v 0.11749817 0.09841567 0.45695055
+v 0.11749817 0.21433124 -0.49687368
+v -0.10094659 0.09841567 0.45695055
+v -0.10094659 0.21433124 -0.49332511
+v 0.11749817 0.09841567 -0.45849288
+v -0.10094659 0.09841567 -0.45550460
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06ecf19d7405c8f5def50859c6605730566c3c4d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.11749817 0.23558095 0.50000000
+v 0.06006448 0.26322573 0.50000000
+v 0.11749817 0.22593592 0.50000000
+v 0.11749817 0.27157238 0.36932263
+v -0.06006303 0.26322573 0.50000000
+v 0.06746286 0.29565269 0.36932263
+v -0.10094659 0.23390354 0.50000000
+v -0.10094659 0.21433124 0.45702818
+v 0.11749817 0.21628281 0.47875881
+v 0.11749817 0.27245140 0.36413470
+v 0.06765531 0.29645106 0.36413470
+v -0.10094659 0.24355665 0.50000000
+v -0.06746142 0.29565269 0.36932263
+v 0.11749817 0.21433124 0.45702818
+v -0.10094659 0.21433124 -0.49334377
+v 0.11749817 0.27257237 0.36198121
+v -0.06765386 0.29645106 0.36413470
+v 0.06771946 0.29670912 0.35884887
+v -0.10094659 0.27954000 0.36932263
+v 0.11749817 0.21433124 -0.49696556
+v -0.10094659 0.22908103 -0.50000000
+v 0.11749817 0.27274173 0.35884887
+v -0.10094659 0.28041905 0.36413470
+v -0.06771800 0.29670912 0.35884887
+v -0.10094659 0.28071743 0.35884887
+v -0.10094659 0.28063679 0.36031714
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+v 0.11749817 0.22110534 -0.50000000
+v -0.10094659 0.23136327 -0.50000000
+v 0.11749817 0.27274173 -0.42844558
+v -0.06771800 0.29671720 -0.42844558
+v -0.10094659 0.28071743 -0.42844558
+v 0.11749817 0.27226591 -0.43363351
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+v -0.05756127 0.25225008 -0.50000000
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+v -0.06761110 0.29628173 -0.43363351
+v -0.10094659 0.28023356 -0.43363351
+v 0.11749817 0.27082241 -0.43842992
+v 0.06731319 0.29498336 -0.43842992
+v 0.11749817 0.22476658 -0.49980423
+v 0.05756272 0.25225008 -0.50000000
+v -0.05822412 0.25515327 -0.49951059
+v -0.10094659 0.23458903 -0.49951059
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+v -0.10094659 0.27879810 -0.43842992
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+v -0.05869455 0.25721774 -0.49823806
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+v -0.10094659 0.27639490 -0.44293267
+v 0.11749817 0.22891974 -0.49823806
+v 0.05869599 0.25721774 -0.49823806
+v -0.10094659 0.23688738 -0.49823806
+f 1 2 5
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+f 1 20 28
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+f 50 57 56
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+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4a7a590cfc2faa9ae57d0349f2bd4c535ec9ac6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.23415875 0.09843273 -0.50000000
+v 0.11749819 0.22109269 -0.50000000
+v 0.23626670 0.09843273 -0.50000000
+v 0.11749819 0.09843273 -0.45848230
+v 0.11749819 0.22337934 -0.50000000
+v 0.23311284 0.11227208 -0.50000000
+v 0.23884127 0.09843273 -0.49962512
+v 0.11749819 0.09843273 0.45696849
+v 0.11749819 0.22474450 -0.49981254
+v 0.16133037 0.20228755 -0.50000000
+v 0.23578396 0.11356899 -0.49953139
+v 0.23924355 0.09843273 -0.49953139
+v 0.22968543 0.09843273 0.45743710
+v 0.11749819 0.21626343 0.45743710
+v 0.11749819 0.22660454 -0.49953139
+v 0.16318086 0.20460834 -0.49953139
+v 0.16451642 0.20626360 -0.49821931
+v 0.23769881 0.11449047 -0.49821931
+v 0.24107793 0.09843273 -0.49840677
+v 0.24405479 0.09843273 0.45743710
+v 0.11749819 0.23180923 0.45743710
+v 0.11749819 0.22761135 -0.49896908
+v 0.11749819 0.22890826 -0.49821931
+v 0.11749819 0.26842976 -0.44292489
+v 0.18728535 0.23481259 -0.44292489
+v 0.24136758 0.09843273 -0.49821931
+v 0.27060515 0.13032638 -0.44292489
+v 0.27789441 0.09843273 -0.44292489
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+v 0.27754039 0.09843273 0.37927514
+v 0.11749819 0.26803726 0.37927514
+v 0.16617380 0.20836253 0.45743710
+v 0.18706007 0.23453955 0.37927514
+v 0.11749819 0.27081877 -0.43842638
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+v 0.11749819 0.27255934 0.36203077
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+f 1 61 51
+f 1 51 50
+f 1 50 40
+f 1 40 30
+f 1 30 20
+f 1 20 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 14
+f 2 14 21
+f 2 21 31
+f 2 31 42
+f 2 42 54
+f 2 54 65
+f 2 65 66
+f 2 66 73
+f 2 73 72
+f 2 72 67
+f 2 67 57
+f 2 57 56
+f 2 56 55
+f 2 55 45
+f 2 45 34
+f 2 34 24
+f 2 24 23
+f 2 23 22
+f 2 22 15
+f 2 15 9
+f 2 9 5
+f 3 6 7
+f 5 9 10
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 29
+f 13 29 38
+f 13 38 43
+f 13 43 32
+f 13 32 21
+f 13 21 14
+f 15 22 16
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 18 26 19
+f 18 25 27
+f 18 27 28
+f 18 28 26
+f 20 30 29
+f 21 32 33
+f 21 33 31
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 25 36 27
+f 27 36 28
+f 28 36 37
+f 29 30 39
+f 29 39 38
+f 30 40 41
+f 30 41 39
+f 31 33 42
+f 32 43 33
+f 33 39 41
+f 33 41 44
+f 33 44 42
+f 33 43 39
+f 34 45 35
+f 35 45 46
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 37
+f 38 39 43
+f 40 50 41
+f 41 50 51
+f 41 51 52
+f 41 52 53
+f 41 53 44
+f 42 44 54
+f 44 53 54
+f 45 55 46
+f 46 55 56
+f 46 56 57
+f 46 57 58
+f 46 58 59
+f 46 59 47
+f 47 59 60
+f 47 60 48
+f 51 61 52
+f 52 61 62
+f 52 62 63
+f 52 63 64
+f 52 64 53
+f 53 65 54
+f 53 64 66
+f 53 66 65
+f 57 67 68
+f 57 68 58
+f 58 68 69
+f 58 69 59
+f 59 69 60
+f 60 69 70
+f 62 71 63
+f 63 71 69
+f 63 69 64
+f 64 69 68
+f 64 68 72
+f 64 72 73
+f 64 73 66
+f 67 72 68
+f 69 71 70
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3482dd9be295cc4f49e2a855c713fda7b3dc971d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.10092901 -0.23978692 0.45743710
+v -0.10092901 -0.22424877 0.45743710
+v -0.06839015 -0.25545865 0.45743710
+v -0.10092901 -0.24355318 0.48260570
+v -0.10092901 -0.22424877 0.47878104
+v 0.07872066 -0.23494461 0.45743710
+v -0.05929686 -0.25983542 0.45743710
+v -0.06007075 -0.26323155 0.48260570
+v -0.10092901 -0.24355318 0.50000000
+v -0.10092901 -0.23390289 0.50000000
+v 0.07872066 -0.24459490 0.50000000
+v 0.07872066 -0.23494461 0.47878104
+v 0.07872066 -0.25047514 0.45743710
+v 0.05930287 -0.25983542 0.45743710
+v -0.06007075 -0.26323155 0.50000000
+v 0.06007677 -0.26323155 0.48260570
+v 0.07872066 -0.25424522 0.50000000
+v 0.07344408 -0.25302032 0.45743710
+v 0.07872066 -0.25424522 0.48260570
+v 0.06007677 -0.26323155 0.50000000
+f 1 2 6
+f 1 6 13
+f 1 13 18
+f 1 18 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 12
+f 2 12 6
+f 3 7 8
+f 3 8 4
+f 4 8 15
+f 4 15 9
+f 5 10 11
+f 5 11 12
+f 6 12 11
+f 6 11 17
+f 6 17 19
+f 6 19 13
+f 7 14 16
+f 7 16 8
+f 8 16 20
+f 8 20 15
+f 9 15 20
+f 9 20 17
+f 9 17 11
+f 9 11 10
+f 13 19 18
+f 14 18 16
+f 16 18 19
+f 16 19 17
+f 16 17 20
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e95450a7c9a86fd1d644b846248b1173a72c145
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.16891494 -0.24798608 0.22435701
+v 0.18976809 -0.23791547 -0.42839840
+v 0.16891494 -0.24798608 0.35884431
+v 0.16891494 -0.24795216 -0.42839840
+v 0.27420148 -0.13202152 -0.42839840
+v 0.18976809 -0.23791547 0.35884431
+v 0.16891494 -0.24788435 -0.42933559
+v 0.18948969 -0.23757640 -0.43355295
+v 0.27380377 -0.13185197 -0.43355295
+v 0.18959574 -0.23771203 0.36409259
+v 0.16891494 -0.24768090 0.36409259
+v 0.30433446 -0.00001857 -0.42839840
+v 0.27420148 -0.13202152 0.35884431
+v 0.27396286 -0.13191979 0.36409259
+v 0.16891494 -0.24747746 -0.43355295
+v 0.16891494 -0.24724011 -0.43439642
+v 0.18865451 -0.23655915 -0.43842638
+v 0.27259737 -0.13127553 -0.43842638
+v 0.30257130 -0.00001857 -0.43842638
+v 0.30389699 -0.00001857 -0.43355295
+v 0.18909198 -0.23706777 0.36924717
+v 0.16891494 -0.24679931 0.36924717
+v 0.28177118 0.09841567 -0.42971045
+v 0.28187722 0.09841567 -0.42839840
+v 0.30433446 -0.00001857 0.35884431
+v 0.30406934 -0.00001857 0.36409259
+v 0.30326065 -0.00001857 0.36924717
+v 0.27322045 -0.13154680 0.36924717
+v 0.16891494 -0.24605334 -0.43842638
+v 0.16891494 -0.24364588 -0.44292489
+v 0.18727578 -0.23479596 -0.44292489
+v 0.27060884 -0.13029222 -0.44292489
+v 0.28010079 0.09841567 -0.43842638
+v 0.28143975 0.09841567 -0.43355295
+v 0.30035740 -0.00001857 -0.44292489
+v 0.27200082 -0.13097037 0.37430802
+v 0.18824354 -0.23601663 0.37430802
+v 0.16891494 -0.24557863 0.37355825
+v 0.28187722 0.09841567 0.35884431
+v 0.28161210 0.09841567 0.36409259
+v 0.28100228 0.09841567 0.36802882
+v 0.28079015 0.09841567 0.36924717
+v 0.27976939 0.09841567 0.37308964
+v 0.30189520 -0.00001857 0.37430802
+v 0.16891494 -0.20271921 -0.49615750
+v 0.16891494 -0.20085429 -0.49812561
+v 0.23770514 -0.11445729 -0.49821931
+v 0.27788690 0.09841567 -0.44292489
+v 0.26383457 -0.00001857 -0.49821931
+v 0.24137731 0.09841567 -0.49821931
+v 0.29999945 -0.00001857 0.37927514
+v 0.27029067 -0.13015659 0.37927514
+v 0.16891494 -0.24534127 0.37430802
+v 0.18706368 -0.23452470 0.37927514
+v 0.27943796 0.09841567 0.37430802
+v 0.16891494 -0.20071866 -0.49821931
+v 0.16891494 -0.19766694 -0.49943766
+v 0.23579615 -0.11354178 -0.49953139
+v 0.26171345 -0.00001857 -0.49953139
+v 0.23924296 0.09841567 -0.49953139
+v 0.27754223 0.09841567 0.37927514
+v 0.26651245 -0.00001857 0.45743710
+v 0.24361774 -0.10031775 0.45743710
+v 0.24011791 -0.11561015 0.45743710
+v 0.16891494 -0.20492321 0.45743710
+v 0.16891494 -0.24327290 0.37927514
+v 0.16891494 -0.21180649 0.44441009
+v 0.16891494 -0.19739568 -0.49953139
+v 0.16891494 -0.19275033 -0.50000000
+v 0.23311825 -0.11225329 -0.50000000
+v 0.25873065 -0.00001857 -0.50000000
+v 0.23884524 0.09841567 -0.49962512
+v 0.24405521 0.09841567 0.45743710
+v 0.16891494 -0.18247627 0.45743710
+v 0.16891494 -0.18942736 -0.50000000
+v 0.23628666 0.09841567 -0.50000000
+v 0.22971122 0.09841567 0.45743710
+v 0.16891494 0.09841567 0.45696849
+v 0.23416555 0.09841567 -0.50000000
+v 0.16891494 0.09841567 -0.47169673
+f 1 2 6
+f 1 6 3
+f 1 3 11
+f 1 11 22
+f 1 22 38
+f 1 38 53
+f 1 53 66
+f 1 66 67
+f 1 67 65
+f 1 65 74
+f 1 74 78
+f 1 78 80
+f 1 80 75
+f 1 75 69
+f 1 69 68
+f 1 68 57
+f 1 57 56
+f 1 56 46
+f 1 46 45
+f 1 45 30
+f 1 30 29
+f 1 29 16
+f 1 16 15
+f 1 15 7
+f 1 7 4
+f 1 4 2
+f 2 5 13
+f 2 13 6
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 6 10
+f 3 10 11
+f 5 9 12
+f 5 12 25
+f 5 25 13
+f 6 13 14
+f 6 14 10
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 12
+f 10 14 21
+f 10 21 22
+f 10 22 11
+f 12 20 23
+f 12 23 24
+f 12 24 39
+f 12 39 25
+f 13 25 14
+f 14 26 27
+f 14 27 28
+f 14 28 21
+f 14 25 26
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 32 19
+f 19 33 34
+f 19 34 20
+f 19 32 35
+f 19 35 48
+f 19 48 33
+f 20 34 23
+f 21 28 36
+f 21 36 37
+f 21 37 38
+f 21 38 22
+f 23 34 33
+f 23 33 48
+f 23 48 50
+f 23 50 60
+f 23 60 72
+f 23 72 76
+f 23 76 79
+f 23 79 80
+f 23 80 78
+f 23 78 77
+f 23 77 73
+f 23 73 61
+f 23 61 55
+f 23 55 43
+f 23 43 42
+f 23 42 41
+f 23 41 40
+f 23 40 39
+f 23 39 24
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 26 41 27
+f 27 42 43
+f 27 43 44
+f 27 44 36
+f 27 36 28
+f 27 41 42
+f 30 45 31
+f 31 45 46
+f 31 46 32
+f 32 46 47
+f 32 47 35
+f 35 47 49
+f 35 49 50
+f 35 50 48
+f 36 44 51
+f 36 51 52
+f 36 52 37
+f 37 53 38
+f 37 52 54
+f 37 54 53
+f 43 55 44
+f 44 55 61
+f 44 61 51
+f 46 56 47
+f 47 56 57
+f 47 57 58
+f 47 58 49
+f 49 58 59
+f 49 59 50
+f 50 59 60
+f 51 61 73
+f 51 73 62
+f 51 62 63
+f 51 63 52
+f 52 63 64
+f 52 64 65
+f 52 65 54
+f 53 54 66
+f 54 65 67
+f 54 67 66
+f 57 68 58
+f 58 68 69
+f 58 69 70
+f 58 70 59
+f 59 70 71
+f 59 71 72
+f 59 72 60
+f 62 73 77
+f 62 77 74
+f 62 74 65
+f 62 65 64
+f 62 64 63
+f 69 75 79
+f 69 79 76
+f 69 76 71
+f 69 71 70
+f 71 76 72
+f 74 77 78
+f 75 80 79
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9873123a38376a91be05993113ea739234bb6cc9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_0.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.15777348 0.13762630 0.45704394
+v 0.15777348 0.13762630 0.26515150
+v 0.17339743 0.24582738 0.26515150
+v -0.07666648 0.28771343 0.37929173
+v -0.14525681 0.13762630 0.45704394
+v -0.13954524 0.26212973 0.26515150
+v 0.06534375 0.28628981 0.39353125
+v -0.14109775 0.21989902 0.46064488
+v -0.14525681 0.13762630 0.26515150
+v 0.16583921 0.23013253 0.40960319
+v 0.08866298 0.28663330 0.26515150
+v -0.13770909 0.25831690 0.37929173
+v -0.08006529 0.24931662 0.46049355
+v -0.08604278 0.23142595 0.46212120
+v 0.08828905 0.28585682 0.36806070
+v -0.07850264 0.29152627 0.26515150
+v -0.06536542 0.28638474 0.39331305
+v 0.08992545 0.27410331 0.39425312
+f 1 2 3
+f 5 2 1
+f 8 6 5
+f 9 6 2
+f 9 2 5
+f 9 5 6
+f 10 1 3
+f 12 8 4
+f 12 6 8
+f 13 4 8
+f 13 10 7
+f 13 1 10
+f 14 8 5
+f 14 5 1
+f 14 13 8
+f 14 1 13
+f 15 10 3
+f 15 3 11
+f 16 4 7
+f 16 15 11
+f 16 7 15
+f 16 12 4
+f 16 6 12
+f 16 11 3
+f 16 3 2
+f 16 2 6
+f 17 13 7
+f 17 7 4
+f 17 4 13
+f 18 15 7
+f 18 7 10
+f 18 10 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfaa02e804716d9de76c4ea7507b222317dd4ced
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_1.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.14525681 -0.15025248 0.45704394
+v -0.12593939 -0.13484738 -0.46637422
+v -0.14525681 0.12247479 0.45704394
+v -0.26604789 0.11892046 0.39456552
+v -0.26686556 -0.13848587 -0.43845428
+v -0.13624965 0.11529182 -0.46432045
+v -0.29371559 0.00000000 0.39338942
+v -0.25117054 -0.15013535 -0.44683250
+v -0.26769358 0.11929607 -0.44969080
+v -0.26515846 -0.13712450 0.37844176
+v -0.25342269 0.11949707 -0.46562832
+v -0.29370652 0.04255932 0.36833440
+v -0.29424171 -0.04015614 0.36841890
+v -0.26469230 -0.12746908 0.39323093
+v -0.25384801 -0.14018763 0.39449168
+v -0.24596006 0.07579746 -0.49864670
+v -0.27679735 0.10276419 0.37865531
+v -0.27955223 -0.10086766 -0.43845426
+v -0.27727723 -0.10034838 0.37884058
+v -0.24716941 0.11916686 -0.47265603
+v -0.24377199 -0.08792423 -0.49829887
+v -0.29374915 0.02741752 0.37929173
+v -0.27900435 0.10326792 -0.43845419
+v -0.22681052 -0.09096935 -0.49561516
+v -0.28400244 0.04380266 -0.45072379
+v -0.24821639 0.07285421 -0.49662418
+v -0.29513578 -0.04036021 -0.41666667
+v -0.28026126 0.07325179 -0.44738461
+v -0.25383532 0.04383367 -0.49829887
+v -0.29458793 0.04276049 -0.41666667
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 4 3
+f 10 5 8
+f 11 9 3
+f 11 3 6
+f 14 1 7
+f 15 10 8
+f 15 8 1
+f 15 14 10
+f 15 1 14
+f 16 6 2
+f 16 9 11
+f 18 5 10
+f 19 10 14
+f 19 18 10
+f 19 13 18
+f 19 14 7
+f 19 7 13
+f 20 16 11
+f 20 11 6
+f 20 6 16
+f 21 2 8
+f 21 8 5
+f 21 5 18
+f 22 17 12
+f 22 7 4
+f 22 4 17
+f 22 13 7
+f 22 12 13
+f 23 17 4
+f 23 4 9
+f 23 12 17
+f 24 21 16
+f 24 16 2
+f 24 2 21
+f 25 21 18
+f 26 23 9
+f 26 9 16
+f 27 25 18
+f 27 18 13
+f 27 13 12
+f 28 25 23
+f 28 23 26
+f 29 26 16
+f 29 16 21
+f 29 21 25
+f 29 28 26
+f 29 25 28
+f 30 27 12
+f 30 12 23
+f 30 23 25
+f 30 25 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5f8fb7300cb5c05e35172f3e737d53d63838127
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_10.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.25480342 0.04811425 0.46243643
+v 0.28279284 0.04412795 -0.45199586
+v 0.27637994 0.11842183 0.36840703
+v 0.17292500 0.13762630 0.45704394
+v 0.17292500 0.04671721 -0.35606061
+v 0.24124794 0.13169739 -0.46899805
+v 0.23255159 0.12476226 0.45894388
+v 0.28238035 0.04403380 0.39626840
+v 0.17292500 0.04671721 0.45704394
+v 0.27558688 0.11824081 -0.43845419
+v 0.26450104 0.12737697 0.39370663
+v 0.17292500 0.13762630 -0.35606061
+v 0.24810384 0.04658512 -0.50000000
+v 0.25370486 0.04440528 -0.49829887
+v 0.26660339 0.12838946 -0.44858686
+v 0.24626450 0.11846464 0.43912884
+v 0.27408890 0.08759587 0.39256815
+v 0.24435949 0.07603353 -0.49957470
+v 0.27710488 0.08828426 -0.44707689
+v 0.24744745 0.07328009 -0.49774372
+v 0.25112884 0.12749421 -0.46313190
+f 7 4 1
+f 8 2 3
+f 9 1 4
+f 9 4 5
+f 9 8 1
+f 10 3 2
+f 11 6 4
+f 11 4 7
+f 12 5 4
+f 12 4 6
+f 14 2 8
+f 14 5 13
+f 14 9 5
+f 14 8 9
+f 15 6 11
+f 15 11 3
+f 15 3 10
+f 16 11 7
+f 16 7 1
+f 16 1 11
+f 17 8 3
+f 17 3 11
+f 17 11 1
+f 17 1 8
+f 18 12 6
+f 18 14 13
+f 18 13 5
+f 18 5 12
+f 19 10 2
+f 19 2 14
+f 19 15 10
+f 20 18 15
+f 20 14 18
+f 20 19 14
+f 20 15 19
+f 21 18 6
+f 21 6 15
+f 21 15 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d6edc6c40c7c53163d0246573499e171203ee5a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_11.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.26944030 0.13001418 0.38105173
+v 0.27071005 0.13102678 -0.44186492
+v 0.17947686 0.24098105 -0.43845419
+v 0.15089857 0.24456249 0.39462120
+v 0.15777348 0.13762630 0.45704394
+v 0.17858047 0.23911965 0.37812945
+v 0.21739707 0.20051747 -0.43845419
+v 0.22480154 0.13066474 -0.49829885
+v 0.15556168 0.20879101 -0.49929287
+v 0.20098808 0.18129455 0.43057165
+v 0.26461027 0.14131389 -0.43845419
+v 0.21586098 0.19929247 0.37786040
+v 0.18690624 0.23067072 -0.44687477
+v 0.15161302 0.24604608 -0.44976617
+v 0.16176772 0.14081160 -0.48214628
+v 0.25774255 0.13276846 0.39812523
+v 0.19477785 0.19149358 0.42711569
+v 0.26285612 0.13991500 0.37860177
+v 0.17117502 0.19990539 -0.49617235
+v 0.16492753 0.24223149 -0.44707689
+v 0.17980593 0.14311366 -0.48986975
+v 0.16365173 0.23958229 0.39221620
+v 0.20026538 0.19893833 0.40658623
+v 0.16502603 0.15856153 -0.48891350
+f 6 3 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 11 1 2
+f 11 2 7
+f 12 7 6
+f 12 11 7
+f 13 7 2
+f 13 9 3
+f 13 3 7
+f 14 5 4
+f 14 4 3
+f 15 8 5
+f 15 14 9
+f 15 5 14
+f 16 10 5
+f 16 5 1
+f 17 4 5
+f 17 5 10
+f 18 12 1
+f 18 1 11
+f 18 11 12
+f 19 8 9
+f 19 9 13
+f 19 13 2
+f 19 2 8
+f 20 14 3
+f 20 3 9
+f 20 9 14
+f 21 9 8
+f 21 8 15
+f 22 17 6
+f 22 6 4
+f 22 4 17
+f 23 12 6
+f 23 6 17
+f 23 1 12
+f 23 16 1
+f 23 17 10
+f 23 10 16
+f 24 21 15
+f 24 15 9
+f 24 9 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c5aed39ff0a1a5994c850d2a660a3bb427722f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_12.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.14525681 0.12247479 0.45704394
+v -0.15223018 0.12803586 -0.47448039
+v -0.14017919 0.21799160 -0.49829878
+v -0.13910658 0.26121885 0.36902906
+v -0.26604789 0.11892046 0.39456552
+v -0.13812842 0.22888465 0.43982157
+v -0.23211689 0.11924581 -0.49916059
+v -0.13856894 0.26010242 -0.43953550
+v -0.23976057 0.11546264 0.45999592
+v -0.19690158 0.12741132 -0.49164709
+v -0.13795818 0.24368263 0.40934780
+v -0.18161568 0.23995105 -0.43845419
+v -0.14109775 0.21989902 0.46064488
+v -0.26769358 0.11929607 -0.44969080
+v -0.16706635 0.24120149 -0.44707689
+v -0.15274584 0.21262408 -0.49724490
+v -0.21912378 0.19979324 0.36785495
+v -0.15109438 0.25464933 -0.43845419
+v -0.26563454 0.14002950 -0.43845419
+v -0.21941252 0.13941745 -0.49617235
+v -0.18198808 0.24072434 0.36811564
+v -0.26408007 0.13878983 0.37792305
+v -0.26755176 0.12884617 -0.44740753
+v -0.21842133 0.19923307 -0.43845419
+v -0.15147183 0.25543311 0.36804007
+v -0.16586951 0.23871621 0.39179797
+v -0.16582825 0.20832756 0.45866684
+v -0.26485626 0.12754810 0.39282316
+v -0.23509231 0.17014176 -0.44696484
+v -0.19006811 0.23109101 0.37876312
+v -0.17935467 0.22490363 0.40695299
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 6 3
+f 9 7 1
+f 10 7 3
+f 10 3 2
+f 10 2 7
+f 11 8 4
+f 11 6 8
+f 13 9 1
+f 13 1 6
+f 13 6 11
+f 13 11 4
+f 14 9 5
+f 14 7 9
+f 15 12 8
+f 15 8 3
+f 16 3 7
+f 16 15 3
+f 16 12 15
+f 18 4 8
+f 18 8 12
+f 20 16 7
+f 21 12 17
+f 22 17 19
+f 23 7 14
+f 23 14 5
+f 23 22 19
+f 23 5 22
+f 23 20 7
+f 24 19 17
+f 24 17 12
+f 24 12 16
+f 24 16 20
+f 25 21 4
+f 25 4 18
+f 25 18 12
+f 25 12 21
+f 26 13 4
+f 26 4 21
+f 27 9 13
+f 27 13 26
+f 28 22 5
+f 28 5 9
+f 28 9 22
+f 29 24 20
+f 29 20 23
+f 29 23 19
+f 29 19 24
+f 30 21 17
+f 30 17 22
+f 30 22 9
+f 30 9 27
+f 31 27 26
+f 31 26 21
+f 31 30 27
+f 31 21 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2742c6fa63e72b0c575a4374c8c00455bab98d77
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_13.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.14163366 -0.22395781 0.49999998
+v 0.26941746 -0.12974446 0.38147930
+v 0.24696055 -0.10094668 0.49999998
+v 0.24566235 0.10663393 0.49999998
+v 0.17292500 0.04671721 0.45704394
+v 0.28836862 -0.01257222 0.39894080
+v 0.16623199 -0.21211188 0.49999998
+v 0.21617796 -0.19395132 0.38513845
+v 0.26414570 -0.02565327 0.49999998
+v 0.27381025 0.07583900 0.39920552
+v 0.23661853 -0.12548023 0.49999998
+v 0.14262197 -0.19570703 0.45704394
+v 0.27691106 -0.08917292 0.38543781
+v 0.26359782 0.02805354 0.49999998
+v 0.24598585 0.10670776 0.44576620
+v 0.22354208 -0.18774109 0.38080482
+v 0.13991180 -0.22038232 0.46115924
+v 0.27961653 0.05855449 0.39503499
+v 0.24902832 0.10394396 0.44036224
+v 0.25060838 -0.15485686 0.37929173
+v 0.20268113 -0.16803646 0.49999998
+f 1 3 4
+f 5 1 4
+f 7 3 1
+f 8 7 1
+f 9 3 2
+f 9 4 3
+f 11 2 3
+f 11 3 7
+f 12 1 5
+f 12 5 8
+f 13 9 2
+f 13 6 9
+f 14 9 6
+f 14 4 9
+f 15 5 4
+f 16 8 5
+f 16 5 10
+f 16 7 8
+f 17 12 8
+f 17 8 1
+f 17 1 12
+f 18 6 13
+f 18 14 6
+f 18 10 4
+f 18 4 14
+f 18 13 2
+f 18 16 10
+f 19 10 5
+f 19 5 15
+f 19 15 4
+f 19 4 10
+f 20 2 11
+f 20 18 2
+f 20 16 18
+f 21 11 7
+f 21 7 16
+f 21 20 11
+f 21 16 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e35fdb712927b0ec573a73fc014600015295ba6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_14.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.15099595 -0.23792749 -0.45847979
+v -0.14116640 -0.21751622 -0.49829887
+v -0.13624965 0.11529182 -0.46432045
+v -0.26997776 0.13735592 -0.41666667
+v -0.27129267 -0.13064759 -0.44141060
+v -0.23777543 0.11450667 -0.49818090
+v -0.25643715 -0.15433533 -0.41666667
+v -0.12593939 -0.13484738 -0.46637422
+v -0.19889615 -0.22045429 -0.44267208
+v -0.19690158 0.12741132 -0.49164709
+v -0.29442053 0.01241925 -0.44707689
+v -0.23771174 -0.11447596 -0.49829887
+v -0.15348128 -0.21162589 -0.49823695
+v -0.23978547 -0.17135910 -0.43985584
+v -0.14750856 0.12427050 -0.47147853
+v -0.29290259 0.04237581 -0.43845419
+v -0.29513578 -0.04036021 -0.41666667
+v -0.25383532 0.04383367 -0.49829887
+v -0.29496835 -0.01001897 -0.44707689
+v -0.22064358 -0.13787383 -0.49617235
+v -0.16554677 0.12657256 -0.47920200
+v -0.29458793 0.04276049 -0.41666667
+v -0.24862450 -0.07042204 -0.49686927
+v -0.29345043 -0.03997554 -0.43845422
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 1 7
+f 10 2 6
+f 10 6 4
+f 12 9 5
+f 13 2 1
+f 13 1 9
+f 13 12 2
+f 14 9 7
+f 14 7 5
+f 14 5 9
+f 15 3 2
+f 15 4 3
+f 16 4 6
+f 16 6 11
+f 17 5 7
+f 17 7 4
+f 18 6 2
+f 18 2 12
+f 18 11 6
+f 19 12 5
+f 19 11 18
+f 20 13 9
+f 20 9 12
+f 20 12 13
+f 21 15 2
+f 21 2 10
+f 21 10 4
+f 21 4 15
+f 22 16 11
+f 22 19 17
+f 22 11 19
+f 22 17 4
+f 22 4 16
+f 23 19 18
+f 23 18 12
+f 23 12 19
+f 24 19 5
+f 24 5 17
+f 24 17 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4f8517092eacbae920a45c8b02b84c5cc11e50
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_15.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00625834 -0.29671721 -0.23484849
+v 0.00625834 -0.29671721 -0.41666667
+v 0.00625834 -0.15565058 -0.45908826
+v -0.14525681 -0.16540400 -0.23484849
+v -0.14053243 -0.26165433 -0.23484849
+v 0.00625834 -0.16540400 -0.23484849
+v -0.07840964 -0.28880782 -0.44003210
+v -0.12447609 -0.14883195 -0.47013958
+v -0.09178902 -0.28512798 -0.23484849
+v -0.09314257 -0.24248408 -0.49242429
+v -0.14111433 -0.23255961 -0.46896479
+v -0.12156027 -0.26887219 -0.43845428
+v -0.08014463 -0.27725905 -0.45308399
+v -0.11136470 -0.23370876 -0.49242427
+v -0.09103898 -0.28357047 -0.43845428
+v -0.13753226 -0.25542440 -0.44707689
+v -0.10701096 -0.27012268 -0.44707689
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 8 6 3
+f 8 4 6
+f 9 7 1
+f 9 1 4
+f 9 4 5
+f 10 3 2
+f 11 5 4
+f 11 4 8
+f 12 9 5
+f 13 10 2
+f 13 2 7
+f 13 7 10
+f 14 8 3
+f 14 3 10
+f 14 11 8
+f 15 12 7
+f 15 7 9
+f 15 9 12
+f 16 12 5
+f 16 5 11
+f 16 11 14
+f 16 7 12
+f 16 14 10
+f 17 16 10
+f 17 10 7
+f 17 7 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15dafcd6e9d455549a29bad617e1d1d983b45c34
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_16.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.09291920 0.12880475 -0.45925255
+v 0.15556168 0.20879101 -0.49929287
+v 0.08866301 0.28663337 -0.41666667
+v -0.07850266 0.29152634 -0.41666667
+v -0.14847646 0.18976653 -0.49264704
+v 0.05171288 0.25745610 -0.49790395
+v -0.16323712 0.25072034 -0.41666667
+v 0.15823918 0.24465393 -0.44790366
+v -0.15076688 0.14202043 -0.47824575
+v 0.07336364 0.28632634 -0.44707689
+v -0.06134888 0.25706554 -0.49658727
+v 0.16498056 0.22834953 -0.46142376
+v -0.12886383 0.12455334 -0.46432045
+v 0.08791297 0.28507589 -0.43845419
+v 0.15048056 0.21339147 -0.49774315
+v -0.06594990 0.28894566 -0.44806149
+v -0.14017919 0.21799160 -0.49829878
+v 0.05908359 0.25783292 -0.49708550
+v -0.07760873 0.28967005 -0.43914182
+v -0.14706346 0.24743845 -0.45059300
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 5 2
+f 9 2 1
+f 9 7 5
+f 10 4 3
+f 12 8 1
+f 12 1 2
+f 12 2 8
+f 13 9 1
+f 13 1 7
+f 13 7 9
+f 14 10 3
+f 14 3 8
+f 14 8 10
+f 15 10 8
+f 15 8 2
+f 16 6 11
+f 16 4 10
+f 17 5 7
+f 17 2 5
+f 17 11 6
+f 17 6 2
+f 18 15 2
+f 18 2 6
+f 18 10 15
+f 18 16 10
+f 18 6 16
+f 19 7 4
+f 19 4 16
+f 19 16 11
+f 19 11 17
+f 20 19 17
+f 20 17 7
+f 20 7 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10c68269a2a8842ada7cef2a6846c7a7c8ee132
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_17.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.13861800 -0.25767897 0.37970644
+v -0.13936983 -0.25924015 -0.44042586
+v -0.13538262 -0.14237809 -0.47237795
+v -0.25818164 -0.14364359 0.38175179
+v -0.18260285 -0.23947561 -0.43845428
+v -0.14525681 -0.15025248 0.45704394
+v -0.15208156 -0.25417390 -0.43845428
+v -0.18164554 -0.23748773 0.37850269
+v -0.14448501 -0.22440739 -0.47572484
+v -0.25940724 -0.14462098 -0.44261349
+v -0.13895849 -0.22808299 0.44065393
+v -0.21816332 -0.19650198 0.37770040
+v -0.15115131 -0.25224222 0.37833690
+v -0.14111433 -0.23255961 -0.46896479
+v -0.17154157 -0.21766603 -0.46921390
+v -0.14206210 -0.21937615 0.46098735
+v -0.21965235 -0.19768944 -0.43845428
+v -0.16805356 -0.24072612 -0.44707689
+v -0.16601957 -0.20818194 0.45898004
+v -0.25341524 -0.15499404 -0.43891711
+v -0.19309997 -0.15215733 0.46212120
+v -0.25165008 -0.15358636 0.37923247
+v -0.17432393 -0.19778999 0.45889348
+v -0.24648388 -0.14639786 0.39882530
+f 1 2 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 10 4 3
+f 11 1 3
+f 11 3 6
+f 12 5 8
+f 13 7 1
+f 13 1 8
+f 13 8 5
+f 13 5 7
+f 14 9 3
+f 14 3 2
+f 15 10 3
+f 15 3 9
+f 16 8 1
+f 16 1 11
+f 16 11 6
+f 17 5 12
+f 17 15 5
+f 17 10 15
+f 18 14 2
+f 18 2 5
+f 18 5 15
+f 18 15 9
+f 18 9 14
+f 19 12 8
+f 19 8 16
+f 20 17 12
+f 20 4 10
+f 20 10 17
+f 21 19 16
+f 21 16 6
+f 21 6 4
+f 22 20 12
+f 22 4 20
+f 22 12 19
+f 23 19 21
+f 23 22 19
+f 23 4 22
+f 24 23 21
+f 24 21 4
+f 24 4 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b775cb2477447097157aa30343fc5aba97f1dc8c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00625834 -0.16540400 -0.23484849
+v 0.00625834 -0.16540400 -0.35606061
+v 0.00625834 0.13762630 -0.23484849
+v -0.14525681 0.13762630 -0.23484849
+v -0.14525681 -0.16540400 -0.23484849
+v -0.14525681 0.13762630 -0.34090909
+v 0.00625834 0.13762630 -0.34090909
+v -0.14525681 -0.16540400 -0.35606061
+v -0.14525681 -0.01388885 -0.35606061
+v 0.00625834 -0.01388885 -0.35606061
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 5 6
+f 9 6 7
+f 9 8 6
+f 9 2 8
+f 10 9 7
+f 10 7 2
+f 10 2 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a6bb8c1149f3460e349fec07ca83be3550380f5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_19.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.25541285 -0.15561970 -0.41666667
+v 0.29156996 -0.05529923 -0.43029493
+v 0.29445745 0.04333209 -0.41666667
+v 0.17292500 0.13762630 -0.41666667
+v 0.17858652 -0.15476740 -0.49300752
+v 0.29171833 -0.05533309 -0.41666667
+v 0.23289508 -0.12251087 -0.49617235
+v 0.17292500 -0.15025248 -0.41666667
+v 0.28439412 -0.08742265 -0.41666667
+v 0.29348996 0.01280824 -0.44802008
+v 0.21928011 -0.13888773 -0.49691400
+v 0.19312253 0.14165036 -0.49459136
+v 0.17508432 0.13934830 -0.48686789
+v 0.27749287 -0.08584749 -0.44726537
+v 0.23774532 -0.14153032 -0.46509964
+v 0.26166518 0.01246090 -0.49718351
+v 0.26156768 0.14790183 -0.41666667
+v 0.22480154 0.13066474 -0.49829885
+v 0.29155098 -0.02499186 -0.44707689
+v 0.26207337 -0.01002876 -0.49742842
+v 0.29264055 0.04291739 -0.43873400
+v 0.23771166 0.11447596 -0.49829887
+f 8 5 1
+f 8 1 6
+f 9 6 1
+f 9 2 6
+f 10 6 2
+f 10 3 6
+f 11 1 5
+f 13 8 4
+f 13 5 8
+f 13 12 5
+f 13 4 12
+f 14 2 9
+f 14 9 1
+f 14 1 7
+f 15 11 7
+f 15 7 1
+f 15 1 11
+f 17 12 4
+f 17 6 3
+f 17 8 6
+f 17 4 8
+f 18 11 5
+f 18 5 12
+f 18 12 17
+f 19 10 2
+f 19 2 14
+f 20 7 11
+f 20 16 10
+f 20 10 19
+f 20 19 14
+f 20 14 7
+f 21 17 3
+f 21 3 10
+f 22 16 20
+f 22 18 17
+f 22 17 21
+f 22 21 10
+f 22 10 16
+f 22 20 11
+f 22 11 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f39693738dd8581f56e9bbf86629e018f1f5dc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_2.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.09716742 -0.01388885 -0.35606061
+v 0.29145651 0.05648008 -0.41666667
+v 0.26156768 0.14790183 -0.35606061
+v -0.14525681 0.13762630 -0.34090909
+v -0.14643827 -0.01415851 -0.45685043
+v 0.00625834 -0.01388885 -0.34090909
+v 0.29145651 0.05648008 -0.35606061
+v 0.08774089 -0.01173731 -0.44356944
+v -0.14604526 0.13825507 -0.47524389
+v 0.00625834 0.13762630 -0.34090909
+v -0.10315288 -0.01465360 -0.44717327
+v -0.14525681 -0.01388885 -0.34090909
+v 0.26156768 0.14790183 -0.41666667
+v 0.09722593 0.13774780 -0.46153471
+v -0.14812841 0.07931026 -0.46129775
+v -0.10127145 0.14067710 -0.46254507
+v 0.06686440 -0.01388885 -0.44310359
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 8 2 1
+f 10 3 4
+f 10 4 6
+f 10 7 3
+f 10 6 7
+f 11 1 6
+f 12 6 4
+f 12 11 6
+f 12 5 11
+f 13 3 2
+f 14 8 5
+f 14 5 9
+f 14 2 8
+f 14 13 2
+f 14 9 13
+f 15 9 5
+f 15 4 9
+f 15 12 4
+f 15 5 12
+f 16 9 4
+f 16 4 3
+f 16 13 9
+f 16 3 13
+f 17 8 1
+f 17 1 11
+f 17 11 5
+f 17 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0a96e065c25d7e787f85496a8aa396da3e5c894
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_20.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.25969106 0.04517021 0.49999998
+v -0.08465075 0.21338388 0.45704394
+v -0.24971302 0.04980925 0.49999998
+v -0.08174265 0.25279967 0.49999998
+v -0.22029391 0.14012033 0.45899489
+v -0.08981569 0.23926048 0.49999998
+v -0.16738359 0.21155721 0.49999998
+v -0.23616590 0.04671721 0.45704394
+v -0.23641172 0.12573943 0.49999998
+v -0.09243054 0.24353089 0.45950454
+v -0.22101439 0.06186873 0.45704394
+v -0.25592766 0.04431124 0.46045615
+v -0.17592275 0.20159038 0.48260870
+v -0.10634099 0.24095375 0.48260870
+v -0.08006529 0.24931662 0.46049355
+v -0.15346300 0.21411329 0.45965586
+v -0.24950597 0.07314857 0.45944182
+v -0.17592275 0.20159038 0.49999998
+v -0.23641172 0.12573943 0.48260870
+v -0.16738359 0.21155721 0.48260870
+v -0.23976057 0.11546264 0.45999592
+v -0.24983005 0.08837404 0.48260870
+v -0.24983006 0.08837404 0.49999998
+f 1 3 4
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 4
+f 8 5 2
+f 8 3 1
+f 9 1 7
+f 11 8 2
+f 11 2 3
+f 11 3 8
+f 12 8 1
+f 14 7 4
+f 15 4 2
+f 15 2 10
+f 15 14 4
+f 15 10 14
+f 16 10 2
+f 16 2 5
+f 17 8 12
+f 18 13 9
+f 18 9 7
+f 18 7 13
+f 19 13 5
+f 19 9 13
+f 20 16 5
+f 20 5 13
+f 20 13 7
+f 20 7 14
+f 20 14 10
+f 20 10 16
+f 21 5 8
+f 21 8 17
+f 21 19 5
+f 22 17 12
+f 22 12 1
+f 22 21 17
+f 22 19 21
+f 23 22 1
+f 23 1 9
+f 23 9 19
+f 23 19 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d64c101076a90b512a7ca9ef82c5d912d2bc2f4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.15777348 0.13762630 -0.23484849
+v 0.15777348 0.13762630 -0.35606061
+v 0.17339746 0.24582737 -0.35606060
+v -0.16323712 0.25072034 -0.23484849
+v -0.12886383 0.12455334 -0.46432045
+v 0.17339743 0.24582738 -0.23484849
+v 0.09291920 0.12880475 -0.45925255
+v -0.14525681 0.13762630 -0.23484849
+v -0.16323712 0.25072034 -0.41666667
+v 0.09716742 0.21338388 -0.41666667
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 5 1
+f 8 6 4
+f 8 1 6
+f 9 7 5
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 10 9 3
+f 10 3 7
+f 10 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b05e2af79937a6e264361f044c6c2d748ccb8234
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16583921 0.23013253 0.40960319
+v 0.15498371 0.23789388 -0.45652621
+v 0.17339746 0.24582737 -0.35606060
+v 0.08992545 0.27410331 0.39425312
+v 0.09716742 0.21338388 -0.35606061
+v 0.09075853 0.27583325 -0.44926794
+v 0.11880529 0.27114806 0.36813627
+v 0.11482654 0.25005340 0.41922314
+v 0.14895556 0.25567933 -0.43845419
+v 0.09001657 0.24398950 -0.49242424
+v 0.14808623 0.25387412 0.37796365
+v 0.11843427 0.27037761 -0.43845419
+v 0.10823870 0.23521419 -0.49242424
+v 0.10388493 0.27162806 -0.44707689
+v 0.13819997 0.23450452 -0.46840424
+v 0.15161302 0.24604608 -0.44976617
+v 0.13440623 0.25692977 -0.44707689
+f 1 2 3
+f 5 2 1
+f 7 6 4
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 10 5 4
+f 10 4 6
+f 11 1 3
+f 11 3 7
+f 11 7 4
+f 11 4 1
+f 12 7 3
+f 12 3 9
+f 12 6 7
+f 13 5 10
+f 14 12 9
+f 14 6 12
+f 14 13 10
+f 14 10 6
+f 15 13 2
+f 15 2 5
+f 15 5 13
+f 16 9 2
+f 16 2 13
+f 17 14 9
+f 17 9 16
+f 17 16 13
+f 17 13 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988e4d4ca47bd4c241551d2481d0507dd693a026
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.09075553 -0.27330168 0.39508549
+v 0.19586995 -0.18370197 -0.47250727
+v 0.20217239 -0.18872801 0.41779114
+v 0.09716742 -0.16540400 0.45704394
+v 0.09306857 -0.15689262 -0.46597508
+v 0.14994274 -0.25520390 -0.43845428
+v 0.16570311 -0.24131667 -0.44763741
+v 0.14895102 -0.25314457 0.37871351
+v 0.09132035 -0.27447453 -0.45039465
+v 0.16448179 -0.23878060 0.39304856
+v 0.11845679 -0.26789906 0.37854772
+v 0.09100375 -0.24351408 -0.49242424
+v 0.10484862 -0.27110384 -0.44713918
+v 0.11942145 -0.26990219 -0.43845428
+v 0.10922588 -0.23473877 -0.49242424
+v 0.16907379 -0.23316446 -0.45439745
+f 1 3 4
+f 5 1 4
+f 5 3 2
+f 5 4 3
+f 7 2 3
+f 8 6 7
+f 10 3 1
+f 10 1 8
+f 10 8 7
+f 10 7 3
+f 11 8 1
+f 11 6 8
+f 12 9 1
+f 12 1 5
+f 13 7 6
+f 13 9 12
+f 14 11 1
+f 14 1 9
+f 14 9 13
+f 14 13 6
+f 14 6 11
+f 15 12 5
+f 15 5 2
+f 15 13 12
+f 15 7 13
+f 16 15 2
+f 16 2 7
+f 16 7 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5663477860cf738ddab9edb56610fd9127b2994e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.24868257 0.07702024 0.49999998
+v 0.24824598 0.07692059 0.46209871
+v 0.22380317 0.14502009 0.44155618
+v 0.14064642 0.22443312 0.49999998
+v 0.21837954 0.07702024 0.45704394
+v 0.23538746 0.12702381 0.49999998
+v 0.24300856 0.07918342 0.49999998
+v 0.23001340 0.13482107 0.44501213
+v 0.14262197 0.18308085 0.45704394
+v 0.16524475 0.21258719 0.49999998
+v 0.13894744 0.22090516 0.46081687
+v 0.14871945 0.21089391 0.49999998
+v 0.18817424 0.18622738 0.49999998
+v 0.21022881 0.16142934 0.44243385
+v 0.16524475 0.21258719 0.48260870
+v 0.17205986 0.20061103 0.45896605
+v 0.15131269 0.21511943 0.45982785
+f 5 2 1
+f 6 4 1
+f 6 1 2
+f 7 5 1
+f 7 1 4
+f 8 5 3
+f 8 2 5
+f 8 6 2
+f 8 3 6
+f 9 3 5
+f 10 4 6
+f 11 9 4
+f 12 7 4
+f 12 4 9
+f 12 9 5
+f 12 5 7
+f 13 10 6
+f 13 6 3
+f 14 3 9
+f 14 9 11
+f 14 13 3
+f 14 10 13
+f 15 11 4
+f 15 4 10
+f 15 10 14
+f 16 15 14
+f 17 16 14
+f 17 14 11
+f 17 11 15
+f 17 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88da8e353e467cbb1af10287e75e603b79eefa65
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_25.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.05434772 -0.24995411 0.48882064
+v -0.05434772 -0.24584026 0.46212120
+v -0.05434772 -0.22601006 0.45704394
+v -0.23175284 -0.13158167 0.49999998
+v -0.16834281 -0.21109532 0.48260870
+v -0.20697926 -0.14807417 0.49904794
+v -0.12391109 -0.22829916 0.45992279
+v -0.16834281 -0.21109532 0.49999998
+v -0.07258079 -0.24756048 0.49999998
+v -0.22871115 -0.12915601 0.46065269
+v -0.13784950 -0.22578013 0.48260870
+v -0.15442734 -0.21359039 0.45999846
+v -0.19042958 -0.18339939 0.48260870
+v -0.19071136 -0.13510097 0.45704394
+v -0.13784950 -0.22578013 0.49999998
+v -0.22149647 -0.13855401 0.45923147
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 8 4 5
+f 9 7 2
+f 9 2 1
+f 9 1 6
+f 9 6 4
+f 9 4 8
+f 11 8 5
+f 11 5 7
+f 11 7 9
+f 12 7 5
+f 12 3 7
+f 13 5 4
+f 14 10 4
+f 14 4 3
+f 14 3 12
+f 15 11 9
+f 15 9 8
+f 15 8 11
+f 16 12 5
+f 16 14 12
+f 16 10 14
+f 16 5 13
+f 16 13 4
+f 16 4 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d130fd0332f7a11993ea711221cae01b929bd3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00625834 -0.29671721 0.26515150
+v 0.00625834 -0.29671721 -0.23484849
+v 0.00625834 0.29671718 -0.23484849
+v -0.07850264 0.29152627 0.26515150
+v -0.14053245 -0.26165437 0.26515150
+v 0.00625834 0.29671712 0.26515150
+v -0.09178903 -0.28512798 0.26515150
+v -0.14053243 -0.26165433 -0.23484849
+v -0.09178902 -0.28512798 -0.23484849
+v -0.13954525 0.26212976 -0.23484849
+v -0.13954524 0.26212973 0.26515150
+v -0.07850267 0.29152632 -0.23484849
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 6
+f 9 2 7
+f 9 7 5
+f 9 5 8
+f 10 8 5
+f 11 10 5
+f 11 5 7
+f 11 7 6
+f 11 6 4
+f 12 4 3
+f 12 8 10
+f 12 9 8
+f 12 3 2
+f 12 2 9
+f 12 11 4
+f 12 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ab56662a4f2f54304f51114d94ecfa1c2f13637
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17292500 -0.16540400 0.45704394
+v 0.21857708 -0.20181031 -0.35606061
+v 0.17292500 0.13762630 0.45704394
+v 0.00625834 0.13762630 0.45704394
+v 0.00625834 -0.16540400 -0.35606061
+v 0.00625834 -0.16540400 0.45704394
+v 0.17292500 0.13762630 -0.35606061
+v 0.00625834 0.13762630 -0.35606061
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 6 4 5
+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/can/can_13/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1949417d6a8d250ea38757b4726198b3bea49961
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08965022 -0.28615800 0.26515150
+v 0.08965020 -0.28615799 -0.41666667
+v 0.09162426 -0.15389348 -0.46432045
+v 0.00625834 -0.16540400 0.26515150
+v 0.00625834 -0.29671721 0.26515150
+v 0.09716742 -0.16540400 0.26515150
+v 0.00625834 -0.15565058 -0.45908826
+v 0.00625834 -0.29671721 -0.41666667
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 5 7
+f 8 2 1
+f 8 1 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c82319b0814f9a86c97462961314ee924194777
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09716742 0.21338388 0.26515150
+v 0.09716742 0.21338388 -0.23484849
+v 0.08866300 0.28663335 -0.23484849
+v 0.00625834 0.29671712 0.26515150
+v 0.00625834 0.21338388 -0.23484849
+v 0.08866298 0.28663330 0.26515150
+v 0.00625834 0.21338388 0.26515150
+v 0.00625834 0.29671718 -0.23484849
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+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/can/can_13/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b56f76806fb47b815d3a04ed77aed8e9949246a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_3.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.10468787 -0.25677793 -0.46205226
+v 0.21857708 -0.20181031 -0.35606061
+v 0.09716742 -0.16540400 -0.35606061
+v 0.11235488 0.27522395 -0.35606060
+v 0.15556168 0.20879101 -0.49929287
+v 0.05920769 0.07091424 -0.44411018
+v 0.17858652 -0.15476740 -0.49300752
+v 0.16155152 0.25153208 -0.35606061
+v 0.05926950 -0.06843818 -0.44376636
+v 0.09983375 0.21892055 -0.49521269
+v 0.17508432 0.13934830 -0.48686789
+v 0.17223806 -0.23973512 -0.44581343
+v 0.15823918 0.24465393 -0.44790366
+v 0.10412607 0.25813669 -0.46092554
+v 0.09530761 -0.23729962 -0.49957470
+v 0.16416558 -0.20782096 -0.49617235
+v 0.12080545 -0.22732154 -0.49829887
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 8 4 2
+f 9 1 3
+f 9 3 6
+f 11 7 5
+f 11 2 7
+f 11 8 2
+f 12 2 1
+f 13 4 8
+f 13 11 5
+f 13 8 11
+f 14 10 6
+f 14 6 4
+f 14 4 13
+f 14 13 5
+f 14 5 10
+f 15 9 6
+f 15 6 10
+f 15 1 9
+f 15 12 1
+f 15 10 5
+f 16 7 2
+f 16 2 12
+f 16 15 5
+f 16 5 7
+f 17 16 12
+f 17 12 15
+f 17 15 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39367efa90b55ab137e3f26a215bb40c44b07c8d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15777348 0.13762630 0.26515150
+v 0.15777348 0.13762630 -0.23484849
+v 0.17339743 0.24582738 0.26515150
+v 0.00625834 0.21338388 0.26515150
+v 0.00625834 0.13762630 -0.23484849
+v 0.00625834 0.13762630 0.26515150
+v 0.17339743 0.24582738 -0.23484849
+v 0.00625834 0.21338388 -0.23484849
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 1 2
+f 7 3 1
+f 8 5 4
+f 8 4 3
+f 8 3 7
+f 8 7 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d8360bbeac5bfd32265d84f01bc20c31fc61fc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00625834 -0.16540400 0.45704394
+v 0.00625834 -0.16540400 0.26515150
+v 0.00625834 0.13762630 0.45704394
+v -0.14525681 0.13762630 0.45704394
+v -0.14525681 -0.16540400 0.45704394
+v 0.00625834 0.13762630 0.26515150
+v -0.14525681 0.13762630 0.26515150
+v -0.14525681 -0.16540400 0.26515150
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 4 3
+f 7 3 6
+f 7 6 2
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b4816821a5f5ceaabc6bc91e0dc4335fdc2930e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.23737753 0.12861083 0.44067850
+v 0.25774255 0.13276846 0.39812523
+v 0.13472345 0.22728548 0.49999998
+v -0.06352052 0.26157498 0.49999998
+v -0.14525681 0.13762630 0.45704394
+v 0.08992545 0.27410331 0.39425312
+v 0.14871945 0.21089391 0.49999998
+v 0.25340892 0.12931251 0.41086511
+v 0.18138511 0.22979208 0.39480521
+v 0.07368087 0.25668205 0.49999998
+v -0.15032359 0.23905667 0.40659594
+v 0.20412046 0.13833799 0.46212120
+v -0.08981569 0.23926048 0.49999998
+v 0.25153231 0.14296748 0.39466928
+v 0.19102466 0.21880354 0.39472404
+v -0.07939004 0.27821746 0.39623987
+v -0.14109775 0.21989902 0.46064488
+v -0.08174265 0.25279967 0.49999998
+f 7 3 4
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 6 3
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 2 5
+f 12 7 5
+f 12 5 1
+f 12 1 7
+f 13 7 4
+f 13 5 7
+f 14 2 11
+f 14 7 2
+f 15 9 3
+f 15 3 7
+f 15 7 14
+f 15 14 6
+f 15 6 9
+f 16 4 6
+f 16 14 11
+f 16 6 14
+f 17 11 5
+f 17 5 13
+f 18 16 11
+f 18 4 16
+f 18 11 17
+f 18 17 13
+f 18 13 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f949703d67c2b3da61fefe9b7d8cb31ef5171625
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_5.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.16688678 -0.24377460 0.38030869
+v 0.28161708 -0.08678881 -0.44077594
+v 0.29141109 -0.00980842 0.39353684
+v 0.17292500 0.04671721 0.45704394
+v 0.16275136 0.04439515 -0.46205397
+v 0.25500002 -0.06078531 0.44940764
+v 0.27691515 -0.11601866 0.36849158
+v 0.16761750 -0.24529196 -0.44107001
+v 0.29445745 0.04333209 -0.41666667
+v 0.26911426 -0.01163579 0.44256437
+v 0.16946201 -0.23397061 0.39804256
+v 0.29171833 -0.05533309 -0.41666667
+v 0.27454957 -0.08517569 0.39277371
+v 0.21275680 -0.14576850 -0.49829887
+v 0.16554357 -0.20497205 -0.49829887
+v 0.23190388 -0.18232649 -0.43845428
+v 0.29040996 0.04240827 0.37907832
+v 0.24868257 -0.01388885 0.45704394
+v 0.26393444 -0.13824959 0.37912089
+v 0.27613478 -0.11584055 -0.43845427
+v 0.29084237 -0.05513317 0.36829818
+v 0.29088985 -0.03999248 0.37926366
+v 0.24600866 -0.08557789 -0.49242424
+v 0.18045494 -0.24048673 -0.43849774
+v 0.18802188 -0.22903509 -0.44707689
+v 0.28238035 0.04403380 0.39626840
+v 0.18584952 -0.22730267 0.39184409
+v 0.26571679 -0.13967097 -0.43878445
+v 0.26616574 -0.12817858 -0.44913119
+v 0.29095044 0.01222862 0.39333127
+v 0.17944521 -0.23839003 0.37887946
+v 0.23044766 -0.18116518 0.37758885
+v 0.24851090 -0.15318417 -0.44707689
+v 0.24272167 -0.09997918 -0.49242424
+v 0.27756070 -0.01010539 0.42442053
+f 5 1 4
+f 9 5 4
+f 11 6 4
+f 11 4 1
+f 12 2 9
+f 13 6 7
+f 15 8 1
+f 15 1 5
+f 15 5 14
+f 17 3 9
+f 18 4 6
+f 18 6 10
+f 19 7 6
+f 20 12 7
+f 20 2 12
+f 21 7 12
+f 21 12 9
+f 21 9 3
+f 22 13 7
+f 22 3 6
+f 22 6 13
+f 22 21 3
+f 22 7 21
+f 23 9 2
+f 23 14 5
+f 23 5 9
+f 24 1 8
+f 24 8 15
+f 25 15 14
+f 25 24 15
+f 25 16 24
+f 26 17 9
+f 26 9 4
+f 26 18 10
+f 26 4 18
+f 27 19 6
+f 27 6 11
+f 28 16 25
+f 28 20 7
+f 28 7 19
+f 29 2 20
+f 29 20 28
+f 29 28 14
+f 30 26 10
+f 30 3 17
+f 30 17 26
+f 31 27 11
+f 31 11 1
+f 31 1 24
+f 32 28 19
+f 32 16 28
+f 32 19 27
+f 32 27 31
+f 32 31 24
+f 32 24 16
+f 33 28 25
+f 33 25 14
+f 33 14 28
+f 34 29 14
+f 34 14 23
+f 34 23 2
+f 34 2 29
+f 35 30 10
+f 35 3 30
+f 35 10 6
+f 35 6 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97516a6eb7238dd7a98bc0faaa0b8e7fadcb594
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_6.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.09716742 0.21338388 -0.23484849
+v 0.09716742 0.21338388 -0.41666667
+v 0.08866301 0.28663337 -0.41666667
+v -0.07850267 0.29152632 -0.23484849
+v -0.15380484 0.23113406 -0.46411309
+v 0.08866300 0.28663335 -0.23484849
+v -0.07730273 0.19812556 -0.48104064
+v -0.16323712 0.25072034 -0.23484849
+v -0.07850266 0.29152634 -0.41666667
+v -0.07913661 0.24738818 -0.49829878
+v -0.13654505 0.25589977 -0.44707689
+v -0.09733429 0.23856209 -0.49833346
+v -0.08414242 0.24263134 -0.49958066
+v -0.07958282 0.27861778 -0.45195727
+v -0.10808883 0.27488623 -0.43933866
+v -0.09311110 0.27524709 -0.44870180
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 9 8 4
+f 10 3 2
+f 11 5 8
+f 12 7 5
+f 12 11 10
+f 12 5 11
+f 13 10 2
+f 13 2 7
+f 13 12 10
+f 13 7 12
+f 14 9 3
+f 14 3 10
+f 15 11 8
+f 15 8 9
+f 15 9 14
+f 15 10 11
+f 16 15 14
+f 16 14 10
+f 16 10 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd59662ba410bcf0907c30d67a695d0906aa37f0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.18153866 -0.18839204 0.46031451
+v -0.14525681 -0.15025248 0.45704394
+v -0.24971302 0.04980925 0.49999998
+v -0.23976057 0.11546264 0.45999592
+v -0.25384801 -0.14018763 0.39449168
+v -0.14525681 0.12247479 0.45704394
+v -0.21317431 -0.14093163 0.49999998
+v -0.19839668 -0.20183586 0.40579197
+v -0.28290943 0.04355318 0.39532864
+v -0.26427614 -0.02508165 0.49999998
+v -0.23764283 -0.12419585 0.49999998
+v -0.25969106 0.04517021 0.49999998
+v -0.26300543 0.12168427 0.39996947
+v -0.28337008 -0.04113298 0.39553424
+v -0.21312494 -0.18941541 0.39712470
+v -0.26701530 0.01308065 0.49999998
+v -0.24679358 0.11798403 0.43818910
+v -0.26881170 0.10439976 0.39579893
+v -0.25037797 -0.08597378 0.49999998
+v -0.26927235 -0.10197956 0.39600451
+f 6 4 3
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 6 2
+f 10 7 3
+f 11 7 10
+f 11 8 1
+f 11 1 7
+f 12 3 4
+f 12 10 3
+f 13 12 4
+f 14 9 5
+f 15 11 5
+f 15 8 11
+f 15 13 6
+f 15 6 8
+f 16 12 9
+f 16 10 12
+f 16 14 10
+f 16 9 14
+f 17 13 4
+f 17 4 6
+f 17 6 13
+f 18 9 12
+f 18 12 13
+f 18 13 15
+f 18 15 5
+f 18 5 9
+f 19 11 10
+f 19 10 14
+f 20 19 14
+f 20 14 5
+f 20 5 11
+f 20 11 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bffcea964bea5da0deab1d6ba08151c9d68c12
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_8.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.08965020 -0.28615799 -0.41666667
+v 0.10002933 -0.21680135 -0.49430581
+v 0.09716742 -0.01388885 -0.35606061
+v -0.14525681 -0.01388885 -0.35606061
+v -0.14116640 -0.21751622 -0.49829887
+v -0.14525681 -0.16540400 -0.35606061
+v 0.09716742 -0.16540400 -0.35606061
+v 0.05981904 -0.25683479 -0.49807746
+v -0.14643827 -0.01415851 -0.45685043
+v -0.07948986 -0.29105096 -0.41666667
+v 0.09028462 -0.24202079 -0.49829703
+v 0.08774089 -0.01173731 -0.44356944
+v -0.15237838 -0.25594961 -0.41666667
+v 0.07435085 -0.28585096 -0.44707689
+v -0.06208432 -0.25606737 -0.49757922
+v 0.08890015 -0.28460048 -0.43845428
+v 0.09898985 -0.07594824 -0.45198288
+v -0.15134249 -0.18540867 -0.49191611
+v -0.07648967 -0.28482096 -0.44707689
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 10 7 6
+f 10 1 7
+f 11 8 5
+f 11 5 2
+f 12 2 9
+f 12 9 4
+f 12 4 3
+f 13 6 4
+f 13 4 9
+f 13 10 6
+f 14 1 10
+f 14 8 11
+f 15 5 8
+f 16 11 2
+f 16 2 1
+f 16 14 11
+f 16 1 14
+f 17 12 3
+f 17 3 2
+f 17 2 12
+f 18 13 9
+f 18 5 13
+f 18 9 2
+f 18 2 5
+f 19 14 10
+f 19 10 13
+f 19 13 5
+f 19 5 15
+f 19 15 8
+f 19 8 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f8865078996ddb6fcc26a626f5665a7052a95db
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.07302213 -0.28309190 0.39249649
+v 0.21805456 -0.18029634 0.40133428
+v 0.13571069 -0.22681016 0.49999998
+v -0.14525681 -0.16540400 0.45704394
+v -0.14525681 -0.16540400 0.26515150
+v 0.17292500 -0.16540400 0.45704394
+v -0.07680691 -0.25517671 0.49999998
+v 0.18221518 -0.22899039 0.39563758
+v 0.19768953 -0.17613871 0.44388754
+v 0.14970668 -0.21041857 0.49999998
+v 0.09716742 -0.16540400 0.26515150
+v 0.07466810 -0.25620671 0.49999998
+v -0.09178903 -0.28512798 0.26515150
+v 0.08796256 -0.28265355 0.37838193
+v 0.20938730 -0.17338443 0.42681403
+v 0.20563410 -0.20069440 0.39442238
+v -0.11325117 -0.23762607 0.49999998
+v -0.07523991 -0.28222584 0.39207827
+v 0.08965022 -0.28615800 0.26515150
+v -0.14053245 -0.26165437 0.26515150
+v -0.09016288 -0.28175126 0.37800515
+v -0.13621301 -0.25268498 0.39244632
+v -0.13627634 -0.22251340 0.45893390
+v -0.12065708 -0.26699671 0.37817111
+f 10 6 4
+f 10 9 6
+f 10 3 8
+f 10 7 3
+f 11 5 4
+f 11 4 6
+f 12 3 7
+f 14 8 3
+f 14 12 1
+f 14 3 12
+f 15 6 9
+f 15 11 6
+f 15 2 11
+f 15 10 2
+f 15 9 10
+f 16 10 8
+f 16 2 10
+f 17 10 4
+f 17 7 10
+f 18 13 1
+f 18 12 7
+f 18 1 12
+f 19 14 1
+f 19 1 13
+f 19 8 14
+f 19 16 8
+f 19 11 2
+f 19 2 16
+f 19 5 11
+f 20 4 5
+f 20 19 13
+f 20 5 19
+f 21 18 7
+f 21 7 17
+f 21 20 13
+f 21 13 18
+f 22 4 20
+f 23 22 17
+f 23 17 4
+f 23 4 22
+f 24 21 17
+f 24 17 22
+f 24 22 20
+f 24 20 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_13/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..24d95f0d9ec3c952c0c4989da37290280219eb40
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/model.xml
@@ -0,0 +1,55 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_13/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_13/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_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/can/can_13/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_13/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8bd78eb9aa73ac8c605166f1fea3cf2e3c1437a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_13/visual/model_normalized_0.obj
@@ -0,0 +1,3180 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.05508007 -0.06906815 -0.44310359
+v 0.01965782 -0.08612667 -0.44310359
+v -0.01965782 -0.08612667 -0.44310359
+v -0.05508007 -0.06906815 -0.44310359
+v -0.07959302 -0.03832999 -0.44310359
+v -0.08834153 0.00000000 -0.44310359
+v -0.07959293 0.03832999 -0.44310359
+v -0.05508007 0.06906824 -0.44310359
+v -0.01965782 0.08612667 -0.44310359
+v 0.01965782 0.08612667 -0.44310359
+v 0.05508007 0.06906824 -0.44310359
+v 0.07959293 0.03832999 -0.44310359
+v 0.08834153 0.00000000 -0.44310359
+v 0.07959302 -0.03832990 -0.44310359
+v 0.23924444 0.11521405 -0.49319531
+v 0.23924444 0.11521405 -0.48260870
+v 0.26554121 0.00000000 -0.48260870
+v 0.26554121 0.00000000 -0.49319531
+v 0.16556229 0.20760862 -0.49319531
+v 0.16556229 0.20760862 -0.48260870
+v 0.23924444 0.11521405 -0.48260870
+v 0.23924444 0.11521405 -0.49319531
+v 0.05908850 0.25888365 -0.49319531
+v 0.05908850 0.25888365 -0.48260870
+v 0.16556229 0.20760862 -0.48260870
+v 0.16556229 0.20760862 -0.49319531
+v -0.05908850 0.25888365 -0.49319531
+v -0.05908850 0.25888365 -0.48260870
+v 0.05908850 0.25888365 -0.48260870
+v 0.05908850 0.25888365 -0.49319531
+v -0.16556229 0.20760862 -0.49319531
+v -0.16556229 0.20760862 -0.48260870
+v -0.05908850 0.25888365 -0.48260870
+v -0.05908850 0.25888365 -0.49319531
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15be7585a151c2bd817f69cf30fb764ddc8466da
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v -0.21060842 0.08720697 0.47446054
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+v -0.21404493 0.00026795 0.47416466
+v -0.21408956 0.00000017 0.47416466
+v -0.19779964 -0.08189567 0.47416466
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+v -0.16115852 -0.16115835 0.50000000
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86bc0a9d4e17f4d4fd95fea7370a88fdc088742a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.27758974 -0.43792275
+v -0.10618835 -0.25644988 -0.43792275
+v -0.09434134 -0.22786488 -0.49990463
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+v 0.17439018 -0.17439027 -0.49990463
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+v 0.19623651 -0.19623661 0.35773405
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+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1aba074017f38c535ece4a09c6e128988e556f9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_0.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.21508693 -0.16814705 0.34090909
+v -0.20149860 -0.15906762 -0.45522014
+v -0.19425627 0.02758973 0.34090909
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+v -0.25648828 -0.10608349 -0.43796667
+v -0.23696228 -0.06578647 0.40828215
+v -0.22911695 -0.14714985 -0.43796667
+v -0.20518176 0.02976297 -0.49060879
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+v -0.25411078 -0.10525609 0.36246148
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+v -0.19910413 -0.09686163 -0.49869515
+v -0.26969971 0.03966493 -0.43796680
+v -0.24119998 0.06120281 -0.46304071
+v -0.21458774 -0.14756567 0.37994621
+v -0.23937337 -0.09915165 0.39169870
+v -0.25460733 -0.06025481 0.37795793
+v -0.24168408 0.02496841 -0.49999990
+v -0.26866138 -0.04488500 0.34090909
+v -0.26360775 0.05661851 -0.44078288
+v -0.23928627 -0.12866935 0.36118779
+v -0.26969976 0.03966494 0.34090909
+v -0.24354492 -0.01561363 -0.49999988
+v -0.26866143 -0.04488500 -0.43796674
+v -0.24460443 -0.06127894 0.39591850
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+f 24 19 22
+f 25 22 17
+f 25 6 22
+f 25 17 10
+f 25 16 6
+f 25 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b033887d51ff31e2eeecb97d02b4f639c42e5bdc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01786494 0.19425639 0.34090909
+v 0.01786494 0.19425638 -0.48527217
+v 0.01573545 0.27445975 0.34090909
+v -0.03966485 0.26969994 0.34090910
+v -0.12915072 0.21019827 -0.46513072
+v -0.14344564 0.23159215 0.34090908
+v 0.01573540 0.27445958 -0.43796688
+v -0.03966479 0.26969975 -0.43796688
+v -0.10845008 0.25497516 -0.43796688
+v -0.10845021 0.25497534 0.34090910
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 7 3 2
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 4 7
+f 9 8 5
+f 9 5 6
+f 10 9 6
+f 10 4 8
+f 10 8 9
+f 10 6 1
+f 10 1 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f3207cd4cdf987c84f0ddf286f1d24ba9f58d2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_10.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.09008379 -0.25765018 0.36150577
+v 0.20740884 -0.17963842 -0.41666664
+v 0.18382374 -0.16387938 0.41081069
+v 0.01786494 -0.15422845 0.40151515
+v 0.01537060 -0.26290069 -0.45001062
+v 0.10877403 -0.15422845 -0.48527210
+v 0.01636220 -0.25273423 0.39739327
+v 0.14367763 -0.22934694 0.36104971
+v 0.09047044 -0.25959401 -0.43796667
+v 0.01786494 -0.15422845 -0.48527210
+v 0.08987827 -0.24146543 0.39124507
+v 0.01533808 -0.26273714 0.37943270
+v 0.15713288 -0.21165678 0.37456742
+v 0.16211713 -0.21911621 -0.43796667
+v 0.09034877 -0.22867931 -0.49999982
+v 0.11170302 -0.24199676 0.37459120
+v 0.14464316 -0.23079192 -0.43796667
+v 0.01747455 -0.24317488 -0.49999982
+v 0.11406593 -0.17729986 -0.49306761
+v 0.10335913 -0.22188205 -0.49999982
+v 0.15907222 -0.19940769 0.39158686
+v 0.16674378 -0.21088898 -0.44247495
+v 0.14211524 -0.21185715 0.38984788
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 9 8 1
+f 10 4 6
+f 11 3 7
+f 12 11 7
+f 12 1 11
+f 12 9 1
+f 12 5 9
+f 12 7 4
+f 12 10 5
+f 12 4 10
+f 13 8 2
+f 13 2 3
+f 14 2 8
+f 16 11 1
+f 16 1 8
+f 16 8 13
+f 17 14 8
+f 17 8 9
+f 18 15 9
+f 18 9 5
+f 18 5 10
+f 19 6 2
+f 19 10 6
+f 19 18 10
+f 20 14 17
+f 20 17 9
+f 20 9 15
+f 20 19 2
+f 20 15 18
+f 20 18 19
+f 21 16 13
+f 21 13 3
+f 22 20 2
+f 22 2 14
+f 22 14 20
+f 23 21 3
+f 23 3 11
+f 23 11 16
+f 23 16 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1217c0d9832dad4fd642fb3456db9d2a2e1dcaf4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_11.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.12721666 -0.24243591 -0.41666664
+v 0.20740883 -0.17963841 -0.35606058
+v 0.10877403 0.13365033 -0.35606059
+v 0.21691457 0.16541183 -0.35606060
+v 0.17519177 -0.12780866 -0.49692957
+v 0.10877403 -0.15422845 -0.35606059
+v 0.15925681 -0.18453243 -0.49999982
+v 0.20327727 0.15629965 -0.45528230
+v 0.10335913 -0.22188205 -0.49999982
+v 0.16911621 -0.21443958 -0.41666665
+v 0.10877403 0.13365033 -0.41666665
+v 0.10810593 -0.22898614 -0.46098213
+v 0.10877403 0.08819579 -0.48527216
+v 0.16254110 -0.20459923 -0.45046117
+v 0.16938010 0.08819579 -0.48527217
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 8 4 2
+f 8 2 5
+f 9 6 3
+f 10 7 2
+f 10 2 1
+f 11 3 4
+f 11 4 8
+f 11 9 3
+f 12 9 1
+f 12 1 6
+f 12 6 9
+f 13 7 9
+f 13 11 8
+f 13 9 11
+f 14 9 7
+f 14 7 10
+f 14 10 1
+f 14 1 9
+f 15 13 8
+f 15 8 5
+f 15 5 7
+f 15 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e68dcf3a0b1ef7058848755be0da9ca67027c2f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_12.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.12414031 -0.22327779 -0.45658827
+v -0.11708126 -0.21271317 -0.49999982
+v -0.11849869 -0.09362239 -0.48527211
+v -0.26764476 -0.01739357 -0.44468171
+v -0.21707006 -0.16437582 -0.43843794
+v -0.24354492 -0.01561363 -0.49999988
+v -0.17488631 -0.20852118 -0.43977753
+v -0.22455930 -0.01786481 -0.49999988
+v -0.24739814 -0.11893801 -0.43846647
+v -0.19453314 -0.14428953 -0.49999982
+v -0.26022549 -0.01591778 -0.45266793
+v -0.26153233 -0.07678379 -0.43877852
+v -0.13803101 -0.19871500 -0.49999982
+v -0.22488369 -0.09886674 -0.49999982
+v -0.23774667 -0.04476331 -0.49999986
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 7 2 1
+f 8 3 2
+f 8 2 6
+f 10 7 5
+f 11 8 6
+f 11 6 4
+f 11 4 3
+f 11 3 8
+f 12 4 6
+f 12 7 4
+f 12 9 5
+f 12 5 7
+f 13 2 7
+f 13 7 10
+f 13 10 6
+f 13 6 2
+f 14 9 12
+f 14 10 5
+f 14 5 9
+f 15 14 12
+f 15 12 6
+f 15 6 10
+f 15 10 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..097191418f9b8a1d851d8fc45b55ddd2b0602d72
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_13.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.11108007 -0.24918630 0.36406668
+v -0.11008217 -0.21738981 -0.47727271
+v -0.11849870 -0.15422846 -0.48527209
+v -0.21458774 -0.14756567 0.37994621
+v -0.21044213 -0.17509869 -0.43796667
+v -0.14216406 -0.18964622 0.42430907
+v -0.11294251 -0.25197365 -0.43796667
+v -0.20894631 -0.17409922 0.36116402
+v -0.12755614 -0.20571408 -0.47727271
+v -0.22075921 -0.15168931 -0.44264062
+v -0.11495874 -0.22468812 0.39810556
+v -0.20233866 -0.14950501 0.39696565
+v -0.19125616 -0.18755447 0.37468174
+v -0.16802584 -0.21340527 0.36054118
+v -0.16884018 -0.21462401 -0.43796667
+v -0.18342044 -0.18346602 0.39107834
+v -0.12259598 -0.24374523 0.36056495
+f 1 2 3
+f 7 2 1
+f 9 3 2
+f 9 2 7
+f 10 4 3
+f 10 9 5
+f 10 3 9
+f 10 8 4
+f 10 5 8
+f 11 6 1
+f 11 1 3
+f 11 3 6
+f 12 6 3
+f 12 3 4
+f 13 12 4
+f 13 4 8
+f 14 13 8
+f 14 8 5
+f 15 9 7
+f 15 5 9
+f 15 14 5
+f 15 7 14
+f 16 6 12
+f 16 12 13
+f 16 13 14
+f 16 1 6
+f 17 14 7
+f 17 7 1
+f 17 16 14
+f 17 1 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..470bd36eb08b1379cd2580be3cccaaadc1bb2a2a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_14.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.22410293 -0.10344138 0.41097255
+v -0.11849869 -0.01786482 0.40151515
+v -0.11849870 -0.01786482 0.47877026
+v -0.15484266 0.10738374 0.49999991
+v -0.23462743 0.09995070 0.39824363
+v -0.11849869 0.10334730 0.47877021
+v -0.22499799 -0.01493826 0.49999993
+v -0.20314013 -0.08943448 0.45808752
+v -0.24235066 -0.07598215 0.39468885
+v -0.11849869 0.10334730 0.40151515
+v -0.18818438 -0.01967088 0.49999994
+v -0.20747947 0.09193490 0.49999991
+v -0.21061629 -0.08723998 0.47445934
+v -0.23627582 -0.09293913 0.39964104
+v -0.24315785 0.07071610 0.39512924
+v -0.22313729 0.02429305 0.49999991
+f 6 3 2
+f 6 4 3
+f 8 1 2
+f 8 2 3
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 9
+f 11 3 4
+f 12 4 5
+f 12 11 4
+f 12 7 11
+f 13 1 8
+f 13 11 7
+f 13 8 3
+f 13 3 11
+f 14 9 2
+f 14 2 1
+f 14 1 13
+f 14 13 7
+f 14 7 9
+f 15 9 7
+f 15 10 9
+f 15 5 10
+f 15 12 5
+f 16 15 7
+f 16 7 12
+f 16 12 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c24acef6e704d2dfa0ca39385cf6b3fdc740c9e8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_15.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.12860939 0.14066019 0.49999991
+v 0.12392555 0.13365033 0.40151515
+v 0.11559118 0.22723767 0.39348770
+v -0.07071601 0.24315805 0.39512929
+v -0.22938673 0.09644898 0.41002237
+v 0.01493840 0.22499821 0.49999991
+v -0.11849869 0.10334730 0.47877021
+v -0.21109548 0.15495714 0.37769870
+v 0.11316058 0.19329700 0.49999991
+v 0.07598229 0.24235079 0.39468886
+v -0.11849869 0.10334730 0.40151515
+v 0.01786494 0.11849881 0.47877021
+v -0.17712888 0.13735767 0.49999991
+v -0.18732873 0.18732905 0.38101851
+v 0.08724012 0.21061650 0.49999991
+v 0.01786494 0.11849882 0.40151515
+v -0.23462743 0.09995070 0.39824363
+v -0.20280282 0.09893400 0.49999991
+v -0.09193480 0.20747962 0.49999991
+v -0.21653655 0.14344122 0.38120042
+v -0.02429295 0.22313749 0.49999991
+v -0.13735757 0.17712904 0.49999991
+v -0.11146652 0.22918652 0.39474192
+f 1 2 3
+f 8 3 2
+f 9 6 1
+f 9 1 3
+f 10 4 6
+f 11 7 5
+f 12 2 1
+f 13 1 6
+f 14 4 10
+f 14 8 13
+f 14 10 3
+f 14 3 8
+f 15 9 3
+f 15 3 10
+f 15 10 6
+f 15 6 9
+f 16 2 12
+f 16 12 7
+f 16 7 11
+f 17 11 5
+f 18 12 1
+f 18 7 12
+f 18 1 13
+f 18 5 7
+f 18 17 5
+f 18 13 8
+f 19 13 6
+f 20 16 11
+f 20 8 2
+f 20 2 16
+f 20 11 17
+f 20 18 8
+f 20 17 18
+f 21 19 6
+f 21 6 4
+f 21 4 19
+f 22 19 14
+f 22 14 13
+f 22 13 19
+f 23 19 4
+f 23 4 14
+f 23 14 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5db8c5486a2cf456b2485574ff593771754d47a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_16.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.19533028 -0.15494608 0.40220636
+v -0.21508693 -0.16814705 0.34090909
+v -0.23859107 0.13297085 0.34090908
+v -0.21360231 0.11627391 0.41396573
+v -0.26731905 0.00000013 0.37662677
+v -0.26686400 -0.04452747 0.36122700
+v -0.25067927 -0.04432196 0.39096631
+v -0.26767123 0.03926143 0.36166740
+v -0.20934704 -0.14406395 0.39172495
+v -0.26866138 -0.04488500 0.34090909
+v -0.25148648 0.03905591 0.39140670
+v -0.22761906 0.10539177 0.40348433
+v -0.22444020 -0.15414888 0.34090909
+v -0.26969976 0.03966494 0.34090909
+v -0.24794434 0.11897268 0.34090909
+v -0.25541454 0.05498877 0.37839832
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 7 5 6
+f 9 2 1
+f 9 7 6
+f 9 1 7
+f 10 6 5
+f 11 7 4
+f 11 5 7
+f 11 8 5
+f 12 4 3
+f 12 11 4
+f 13 9 6
+f 13 2 9
+f 13 6 10
+f 13 10 3
+f 13 3 2
+f 14 3 10
+f 14 10 5
+f 14 5 8
+f 15 12 3
+f 15 8 12
+f 15 14 8
+f 15 3 14
+f 16 12 8
+f 16 8 11
+f 16 11 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2db7258dce65941a745c1e0de68fea3d5252098d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_17.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.11849869 0.10334730 0.40151515
+v -0.11849869 0.10334731 -0.48527216
+v -0.11146652 0.22918652 0.39474192
+v -0.11302888 0.24667630 0.36594374
+v -0.20659393 0.12171497 0.41920643
+v -0.11439414 0.24871957 -0.43997169
+v -0.18575457 0.10779057 -0.49539424
+v -0.16841229 0.19340550 0.39121644
+v -0.11849869 0.19425640 -0.49999995
+v -0.17134685 0.21294890 -0.43796682
+v -0.16848649 0.17836505 -0.49999990
+v -0.16997466 0.21089528 0.36241825
+v -0.12592404 0.24329944 -0.43796686
+v -0.12454479 0.24123523 0.36244202
+v -0.15301768 0.22334472 0.36067927
+f 1 2 3
+f 5 1 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 3 4
+f 9 6 2
+f 9 2 7
+f 10 7 5
+f 11 9 7
+f 11 7 10
+f 11 6 9
+f 12 10 5
+f 12 5 8
+f 13 4 6
+f 13 11 10
+f 13 6 11
+f 14 4 13
+f 15 13 10
+f 15 10 12
+f 15 14 13
+f 15 4 14
+f 15 12 8
+f 15 8 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff2d61b1172119df5829eb95147520150efc519d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.21653655 0.14344122 0.38120042
+v -0.17620760 0.20507202 -0.44203022
+v -0.19318955 0.15821302 -0.46301510
+v -0.17191401 0.19864620 0.37943770
+v -0.19530883 0.19530914 0.36033362
+v -0.19551143 0.15976443 0.39692252
+v -0.23162360 0.14339815 -0.43796680
+v -0.18342992 0.19320513 0.37593597
+v -0.19628544 0.19628548 -0.43796680
+v -0.22878563 0.14150188 0.36418097
+v -0.19320497 0.18343003 0.37593595
+v -0.22334456 0.15301779 0.36067925
+f 3 2 4
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 8 6 4
+f 8 4 5
+f 9 2 3
+f 9 3 7
+f 9 7 5
+f 9 5 2
+f 10 7 1
+f 10 1 6
+f 11 8 5
+f 11 6 8
+f 11 10 6
+f 12 5 7
+f 12 7 10
+f 12 11 5
+f 12 10 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec8608e894b840f42ac2b284b2886982905cdb66
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.04576863 -0.24822671 0.39493399
+v 0.10212645 -0.23518874 0.39511237
+v 0.07509849 -0.21303128 0.47445934
+v 0.01786494 0.13365033 0.47877021
+v 0.01786494 0.13365033 0.40151515
+v 0.10877403 0.13365033 0.47877020
+v 0.01595115 -0.22036473 0.45687187
+v 0.10017878 -0.20197082 0.47445934
+v 0.10877404 -0.09362240 0.47877029
+v 0.10877403 0.13365033 0.40151515
+v 0.01636220 -0.25273423 0.39739327
+v 0.01786494 -0.09362239 0.47877028
+v 0.01492704 -0.23036764 0.43891130
+v 0.01513256 -0.24655239 0.40917200
+f 1 2 3
+f 5 2 1
+f 8 3 2
+f 9 6 4
+f 9 3 8
+f 9 8 2
+f 10 2 5
+f 10 5 4
+f 10 4 6
+f 10 9 2
+f 10 6 9
+f 11 1 3
+f 11 5 1
+f 12 7 3
+f 12 4 7
+f 12 9 4
+f 12 3 9
+f 13 7 4
+f 13 4 5
+f 13 3 7
+f 14 13 5
+f 14 5 11
+f 14 11 3
+f 14 3 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2abc60c8495c395298e6f69264c877471677bcf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_2.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.19470587 -0.14084755 0.41781414
+v 0.27466622 -0.01469692 -0.43796678
+v 0.27354737 0.00904777 0.36191255
+v 0.19121364 0.14823902 0.41556661
+v 0.16938006 0.05789274 -0.48527215
+v 0.24497437 0.12341731 -0.43796680
+v 0.25354157 0.01109603 0.39783369
+v 0.25765023 -0.09008364 0.36150574
+v 0.19617647 -0.14183015 -0.47000234
+v 0.26063223 0.08525020 -0.43796680
+v 0.24374525 0.12259605 0.36056491
+v 0.20327727 0.15629965 -0.45528230
+v 0.27274014 -0.01431381 0.36147213
+v 0.22974775 -0.11364222 0.39161062
+v 0.22971744 0.08512850 -0.47727271
+v 0.24946681 -0.11669415 -0.43796667
+v 0.27570450 0.00947686 -0.43796680
+v 0.25845742 0.08481759 0.36194614
+v 0.25597593 -0.05944757 0.37574376
+v 0.23861653 -0.10441663 -0.45469231
+v 0.21738961 0.11008210 -0.47727271
+v 0.24587897 0.10887023 -0.44570505
+v 0.25959395 -0.09047026 -0.43796669
+v 0.24199684 -0.11170288 0.37459118
+v 0.23169654 0.10951776 0.39286482
+v 0.22914076 0.08802763 -0.47727271
+v 0.24731993 -0.10244346 -0.44820972
+v 0.24394561 0.10757841 0.37584538
+v 0.24227270 0.08461207 0.39168546
+f 5 1 4
+f 7 4 1
+f 9 1 5
+f 11 10 6
+f 12 5 4
+f 12 11 6
+f 12 4 11
+f 13 3 7
+f 14 7 1
+f 15 9 5
+f 16 1 9
+f 17 10 3
+f 17 15 10
+f 17 2 15
+f 17 13 2
+f 17 3 13
+f 18 3 10
+f 18 10 11
+f 19 13 7
+f 19 8 13
+f 19 14 8
+f 19 7 14
+f 20 15 2
+f 20 9 15
+f 21 5 12
+f 21 12 6
+f 22 6 10
+f 23 8 16
+f 23 13 8
+f 23 2 13
+f 24 16 8
+f 24 8 14
+f 24 14 1
+f 24 1 16
+f 25 11 4
+f 26 22 10
+f 26 10 15
+f 26 21 6
+f 26 6 22
+f 26 15 5
+f 26 5 21
+f 27 20 2
+f 27 2 23
+f 27 23 16
+f 27 16 9
+f 27 9 20
+f 28 18 11
+f 28 11 25
+f 29 25 4
+f 29 4 7
+f 29 28 25
+f 29 18 28
+f 29 7 3
+f 29 3 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e1c636de3daea0b14fe5917bf1a0d0dd7135bb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_20.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01636220 -0.25273423 0.39739327
+v -0.15232467 -0.16712811 0.50000000
+v -0.22442132 -0.01783738 0.49999993
+v 0.01786494 -0.01786482 0.40151515
+v -0.22723755 -0.11559105 0.39348770
+v -0.06987821 -0.21406973 0.50000000
+v 0.01863261 -0.18839081 0.50000000
+v -0.21061629 -0.08723998 0.50000000
+v -0.10951768 -0.23169650 0.39286485
+v -0.23990248 -0.02393055 0.41815293
+v 0.01679912 -0.22462776 0.50000000
+v 0.01786494 -0.01786482 0.47877026
+v -0.16294629 -0.15858323 0.50000000
+v -0.23627582 -0.09293913 0.39964104
+v -0.05520555 -0.24678018 0.39414477
+v -0.10690188 -0.19747867 0.50000000
+v -0.21899622 -0.01675826 0.45908602
+v -0.18818438 -0.01967088 0.49999994
+v -0.15494754 -0.20135654 0.39284108
+v -0.19689759 -0.16102093 0.39346393
+f 7 1 4
+f 7 2 6
+f 8 2 7
+f 9 5 4
+f 11 7 6
+f 11 1 7
+f 12 7 4
+f 13 2 8
+f 14 8 3
+f 14 5 8
+f 14 3 10
+f 14 10 4
+f 14 4 5
+f 15 9 4
+f 15 4 1
+f 15 6 9
+f 15 11 6
+f 15 1 11
+f 16 9 6
+f 16 6 2
+f 17 10 3
+f 17 4 10
+f 17 12 4
+f 17 3 12
+f 18 12 3
+f 18 7 12
+f 18 8 7
+f 18 3 8
+f 19 2 13
+f 19 16 2
+f 19 9 16
+f 19 5 9
+f 20 19 13
+f 20 5 19
+f 20 13 8
+f 20 8 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a186ef0d7a465765485fae1af291aab2496dfa83
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_21.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.10756752 -0.22818035 0.40035307
+v 0.26273724 -0.01533794 0.37943270
+v 0.21406981 0.06987832 0.49999991
+v 0.12103225 0.22022929 0.39872840
+v 0.14756579 0.21458785 0.37994621
+v 0.12015966 0.18862035 0.49999991
+v 0.18329612 -0.12812749 0.50000000
+v 0.18857372 -0.18857358 0.37779175
+v 0.13604988 0.22002892 0.38344793
+v 0.21904674 0.14149238 0.37932334
+v 0.10877403 0.13365033 0.47877020
+v 0.21303140 -0.07509837 0.49999998
+v 0.13059933 -0.21729821 0.39334961
+v 0.10877403 0.13365033 0.40151515
+v 0.26354447 0.01007190 0.37987312
+v 0.17603867 0.19669734 0.37818346
+v 0.11753052 0.21498859 0.41050714
+v 0.10877404 -0.09362240 0.47877029
+v 0.24764732 -0.09110776 0.37946630
+v 0.17162039 -0.14560145 0.50000000
+v 0.10056406 -0.21769895 0.42391054
+v 0.23169654 0.10951776 0.39286482
+v 0.16712823 0.15232479 0.49999991
+v 0.21709795 -0.14561684 0.37806914
+v 0.15422858 -0.15422845 0.50000000
+v 0.10250340 -0.20544986 0.44092998
+v 0.19747878 0.10690200 0.49999991
+v 0.15858337 0.16294645 0.49999991
+v 0.18870681 0.18692227 0.37929959
+f 9 5 1
+f 9 6 5
+f 9 4 6
+f 12 6 7
+f 13 1 5
+f 13 5 8
+f 14 9 1
+f 14 4 9
+f 15 2 10
+f 15 12 2
+f 15 3 12
+f 16 8 5
+f 16 5 6
+f 16 10 2
+f 17 11 6
+f 17 6 4
+f 17 14 11
+f 17 4 14
+f 18 6 11
+f 19 2 12
+f 19 12 7
+f 20 13 8
+f 20 8 7
+f 20 1 13
+f 21 14 1
+f 21 11 14
+f 22 15 10
+f 22 3 15
+f 24 16 2
+f 24 8 16
+f 24 2 19
+f 24 19 7
+f 24 7 8
+f 25 6 18
+f 25 21 1
+f 25 1 20
+f 25 20 7
+f 25 7 6
+f 26 18 11
+f 26 11 21
+f 26 25 18
+f 26 21 25
+f 27 22 10
+f 27 3 22
+f 27 23 12
+f 27 12 3
+f 28 16 6
+f 28 6 12
+f 28 12 23
+f 29 10 16
+f 29 28 23
+f 29 16 28
+f 29 27 10
+f 29 23 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf4028e1e4b3d931583b519afd2d4dcb77557035
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.13254816 0.21478822 0.39522667
+v 0.13604988 0.22002892 0.38344793
+v 0.01512118 0.27137163 0.36368627
+v -0.03926134 0.26767136 0.36166742
+v -0.14344564 0.23159215 0.34090908
+v -0.12778972 0.20816140 0.41046403
+v 0.10213592 0.24492782 0.37996998
+v 0.12624769 0.24308342 0.34090907
+v -0.03905582 0.25148663 0.39140673
+v -0.10758781 0.25368468 0.36070304
+v 0.13060881 0.22703730 0.37820723
+v 0.11224952 0.25243670 0.34090908
+v 0.00000000 0.26731914 0.37662677
+v 0.10888257 0.21709468 0.41621325
+v -0.03966485 0.26969994 0.34090910
+v -0.08439511 0.25090720 0.37593908
+v 0.09915167 0.23937355 0.39169870
+v 0.04432209 0.25067938 0.39096630
+v -0.10845021 0.25497534 0.34090910
+v 0.01573545 0.27445975 0.34090909
+v -0.10602545 0.23619489 0.38950121
+f 5 2 1
+f 6 5 1
+f 8 2 5
+f 10 5 6
+f 11 2 8
+f 11 7 1
+f 11 1 2
+f 12 3 7
+f 12 11 8
+f 12 7 11
+f 13 3 4
+f 14 9 6
+f 14 6 1
+f 14 1 7
+f 15 10 4
+f 16 4 10
+f 16 13 4
+f 16 9 13
+f 17 7 3
+f 17 3 13
+f 17 14 7
+f 18 13 9
+f 18 9 14
+f 18 17 13
+f 18 14 17
+f 19 15 5
+f 19 5 10
+f 19 10 15
+f 20 15 4
+f 20 4 3
+f 20 3 12
+f 20 12 8
+f 20 8 5
+f 20 5 15
+f 21 16 10
+f 21 10 6
+f 21 6 9
+f 21 9 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c32d558aaed0c0274cb39ba26bd6e0311791380
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_23.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.19617647 -0.14183015 -0.47000234
+v 0.26726383 -0.04654135 -0.43907273
+v 0.24121714 -0.12130581 -0.44250342
+v 0.19889090 0.17857553 -0.44606718
+v 0.22971744 0.08512850 -0.49999990
+v 0.22162293 0.15836524 -0.43796680
+v 0.20852121 0.17488639 -0.43977741
+v 0.16938006 0.08819577 -0.48527217
+v 0.22867915 -0.09034857 -0.49999982
+v 0.26628303 0.05607118 -0.43812551
+v 0.19403820 0.14503004 -0.49999990
+v 0.24478975 0.00935517 -0.49999990
+v 0.21488298 -0.11383382 -0.49999982
+v 0.19871483 0.13803096 -0.49999990
+v 0.19260113 0.17437285 -0.45405340
+v 0.24375146 -0.01457524 -0.49999989
+v 0.17519177 -0.12780866 -0.49692957
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 3 6
+f 8 1 4
+f 9 2 3
+f 10 6 2
+f 10 5 6
+f 11 7 6
+f 11 4 7
+f 12 10 2
+f 12 5 10
+f 12 11 5
+f 13 9 3
+f 13 3 1
+f 13 11 12
+f 14 11 6
+f 14 6 5
+f 14 5 11
+f 15 11 8
+f 15 8 4
+f 15 4 11
+f 16 12 2
+f 16 2 9
+f 16 13 12
+f 16 9 13
+f 17 13 1
+f 17 1 8
+f 17 8 11
+f 17 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6372d2191b5b7cda4f8915f887b70a6496e0dbb8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_24.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01679912 -0.22462776 0.50000000
+v 0.16810163 -0.15337421 0.44614691
+v 0.16100987 -0.09815351 0.50000000
+v 0.01786494 -0.09362238 0.47877028
+v 0.01595115 -0.22036473 0.45687187
+v 0.15422856 -0.09362238 0.47877031
+v 0.01863261 -0.18839081 0.50000000
+v 0.16119871 -0.16119859 0.50000000
+v 0.10794447 -0.19844147 0.44617069
+v 0.16694375 -0.15260054 0.50000000
+v 0.07509849 -0.21303128 0.47445934
+v 0.16360455 -0.16360436 0.44251333
+v 0.12812761 -0.18329600 0.50000000
+v 0.13097629 -0.18755934 0.43916723
+v 0.07509849 -0.21303128 0.50000000
+f 5 1 4
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 3 1
+f 10 2 3
+f 10 3 8
+f 11 1 5
+f 11 5 9
+f 12 10 8
+f 12 2 10
+f 12 4 2
+f 13 8 1
+f 14 9 5
+f 14 5 4
+f 14 4 12
+f 14 12 8
+f 14 8 13
+f 15 13 1
+f 15 1 11
+f 15 14 13
+f 15 11 9
+f 15 9 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a15908c041b650985b033ab711d898decccb0e8b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.14216406 -0.18964622 0.42430907
+v -0.11849870 -0.15422846 -0.48527209
+v -0.11849869 0.10334730 0.40151515
+v -0.21360231 0.11627391 0.41396573
+v -0.20149860 -0.15906762 -0.45522014
+v -0.18575457 0.10779057 -0.49539424
+v -0.19533028 -0.15494608 0.40220636
+v -0.11849869 0.10334731 -0.48527216
+v -0.19626400 0.10468883 -0.49999990
+v -0.19425627 -0.13907693 -0.49999982
+v -0.15679041 -0.14441481 -0.49294159
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 6 4
+f 8 4 3
+f 9 5 4
+f 9 4 6
+f 9 6 8
+f 10 2 5
+f 10 5 9
+f 11 8 2
+f 11 2 10
+f 11 10 9
+f 11 9 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a80975564cdebfc664cb772ac1c0e8eedc878a2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18382374 -0.16387938 0.41081069
+v 0.20740883 -0.17963841 -0.35606058
+v 0.21691457 0.16541183 -0.35606060
+v 0.01786494 0.13365033 0.40151515
+v 0.01786494 -0.15422845 -0.35606059
+v 0.19121364 0.14823902 0.41556661
+v 0.01786494 -0.15422845 0.40151515
+v 0.01786494 0.13365033 -0.35606059
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+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/can/can_15/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e432b9b32a65ba256fc153caf861befee21bda83
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01786494 -0.01786482 0.47877026
+v 0.01786494 -0.01786481 -0.48527213
+v 0.01786494 0.11849882 -0.48527216
+v -0.11849869 0.11849881 0.47877020
+v -0.11849870 -0.01786482 0.47877026
+v 0.01786494 0.11849881 0.47877021
+v -0.11849869 0.11849882 -0.48527216
+v -0.11849869 -0.01786481 -0.48527212
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 5 4
+f 7 6 3
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd045e70bce54648134328978c19916963452317
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01786494 0.11849882 0.40151515
+v 0.01786494 0.11849882 -0.41666665
+v 0.02618446 0.23608154 0.42433473
+v 0.01786494 0.19425639 -0.41666665
+v -0.14344552 0.23159197 -0.41666666
+v -0.11849869 0.11849882 -0.41666665
+v -0.12778972 0.20816140 0.41046403
+v -0.11849869 0.11849882 0.40151515
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 5 3 4
+f 6 5 2
+f 6 2 1
+f 7 3 5
+f 8 1 3
+f 8 3 7
+f 8 6 1
+f 8 7 5
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10446b5b39e8401b47aa52c5901b6ab86c5e9e40
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10877403 -0.15422845 -0.35606059
+v 0.10877403 -0.15422845 -0.48527210
+v 0.10877403 0.13365033 -0.48527217
+v 0.01786494 0.13365033 -0.35606059
+v 0.01786494 -0.15422845 -0.35606059
+v 0.10877403 0.13365033 -0.35606059
+v 0.01786494 -0.15422845 -0.48527210
+v 0.01786494 0.13365033 -0.48527216
+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/can/can_15/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d7debf3db168b03cceabf951436374b09dd5ba
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_3.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.26470046 0.06479787 -0.41666665
+v 0.24387525 0.06065548 -0.46038334
+v 0.19520175 0.19126204 -0.44186450
+v 0.09315957 0.25253507 -0.44472197
+v 0.10877403 0.05789276 -0.41666665
+v 0.16176345 0.18285729 -0.49999991
+v 0.23562110 0.13741548 -0.41666665
+v 0.20571391 0.12755607 -0.49999990
+v 0.11893809 0.24739821 -0.43846640
+v 0.10877403 0.05789275 -0.48527215
+v 0.22921896 0.13313771 -0.44609569
+v 0.09138706 0.22847251 -0.49999998
+v 0.16437589 0.21707012 -0.43843786
+v 0.10877403 0.13365033 -0.41666665
+v 0.21483464 0.08819579 -0.49999990
+v 0.09886668 0.22488354 -0.49999998
+v 0.09362251 0.13365032 -0.48527217
+v 0.09168378 0.24511580 -0.45270819
+f 5 2 1
+f 7 5 1
+f 8 6 3
+f 8 1 2
+f 10 2 5
+f 11 8 3
+f 11 3 7
+f 11 7 1
+f 11 1 8
+f 12 4 9
+f 13 3 6
+f 13 9 7
+f 13 7 3
+f 14 9 4
+f 14 4 5
+f 14 5 7
+f 14 7 9
+f 15 8 2
+f 15 2 10
+f 15 10 12
+f 16 12 9
+f 16 6 8
+f 16 15 12
+f 16 8 15
+f 16 13 6
+f 16 9 13
+f 17 12 10
+f 17 10 5
+f 18 17 5
+f 18 5 4
+f 18 4 12
+f 18 12 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..217c22f1cd4bc0537ae27a44f82c111d59d03f9c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.19425627 0.02758973 0.34090909
+v -0.20518176 0.02976297 -0.49060879
+v -0.19626400 0.10468883 -0.49999990
+v -0.23859107 0.13297085 0.34090908
+v -0.27029220 0.03668658 0.34090909
+v -0.22455929 0.02758973 -0.49999990
+v -0.22271369 0.10211411 -0.49999990
+v -0.24794434 0.11897268 0.34090909
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 6 3 2
+f 7 6 5
+f 7 4 3
+f 7 3 6
+f 8 7 5
+f 8 4 7
+f 8 5 1
+f 8 1 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24dffbf3d3c0a364cd7538f84fa0b7c5aca42321
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.06701623 0.24314424 0.39650341
+v 0.06652065 0.24065274 -0.46251212
+v 0.06193636 0.26306053 -0.44025427
+v 0.01512118 0.27137163 0.36368627
+v 0.02197797 0.24523702 -0.46693947
+v 0.04452761 0.26686411 0.36122699
+v 0.02290658 0.24990551 0.40019233
+v 0.01573540 0.27445958 -0.43796688
+v 0.06025495 0.25460745 0.37795792
+v 0.01614530 0.26136873 0.38164684
+v 0.04488509 0.26866134 -0.43796688
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 4 6
+f 9 1 3
+f 9 3 6
+f 9 7 1
+f 10 5 7
+f 10 8 5
+f 10 4 8
+f 10 7 9
+f 10 9 6
+f 10 6 4
+f 11 8 6
+f 11 6 3
+f 11 3 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28629a6646920f389a1f72dd9ecefadbac861bdd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.23673688 0.12803712 0.36580561
+v 0.23884927 0.12944857 -0.43980593
+v 0.17409933 0.20894641 0.36116402
+v 0.02733188 0.27215309 0.34090908
+v 0.01786494 0.13365033 -0.48527216
+v 0.10608358 0.25648818 -0.43796688
+v 0.02618446 0.23608154 0.42433473
+v 0.21340531 0.16802593 0.36054115
+v 0.17509865 0.21044201 -0.43796682
+v 0.10525611 0.25411096 0.36246149
+v 0.01786494 0.22455942 -0.49999998
+v 0.01786494 0.13365033 0.40151515
+v 0.23129581 0.13955303 0.36230389
+v 0.20523037 0.13735688 0.40508521
+v 0.21462385 0.16884012 -0.43796680
+v 0.12866946 0.23928638 0.36118779
+v 0.06025495 0.25460745 0.37795792
+v 0.06193636 0.26306053 -0.44025427
+v 0.17536341 0.17297890 -0.49999990
+v 0.22448781 0.12997647 0.38282506
+v 0.18755458 0.19125627 0.37468174
+v 0.23329865 0.14089128 -0.43796680
+v 0.09362251 0.22455942 -0.49999998
+v 0.19968312 0.13365033 -0.49999990
+v 0.18890717 0.17190463 0.39458005
+v 0.18703912 0.15550493 -0.49999990
+v 0.09800043 0.23111143 0.40573185
+v 0.13254816 0.21478822 0.39522667
+f 5 2 1
+f 9 3 8
+f 10 6 4
+f 12 5 1
+f 12 11 5
+f 12 7 4
+f 12 4 11
+f 13 8 1
+f 13 1 2
+f 14 7 12
+f 15 9 8
+f 16 6 10
+f 16 9 6
+f 16 3 9
+f 17 10 4
+f 17 4 7
+f 17 7 10
+f 18 11 4
+f 18 4 6
+f 19 6 9
+f 19 9 15
+f 20 14 12
+f 20 12 1
+f 20 1 8
+f 21 8 3
+f 21 16 10
+f 21 3 16
+f 22 13 2
+f 22 19 15
+f 22 15 8
+f 22 8 13
+f 23 18 6
+f 23 11 18
+f 23 6 19
+f 24 2 5
+f 24 5 11
+f 24 11 23
+f 25 8 21
+f 25 20 8
+f 25 14 20
+f 26 19 22
+f 26 22 2
+f 26 2 24
+f 26 24 23
+f 26 23 19
+f 27 7 14
+f 27 14 25
+f 27 10 7
+f 27 21 10
+f 28 27 25
+f 28 25 21
+f 28 21 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c340534d8bd95e2df85a5aa44db1d6b101f52f1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_5.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.26622393 0.05713890 -0.28030302
+v -0.18575457 0.10779057 -0.49539424
+v -0.17910475 0.10334730 -0.28030302
+v -0.21291708 0.17139451 -0.28030302
+v -0.25497505 0.10845022 -0.43796680
+v -0.17910475 0.14880185 -0.49999990
+v -0.22455929 0.02758973 -0.49999990
+v -0.25497507 0.10845024 -0.28030301
+v -0.22542105 0.13925374 -0.44584227
+v -0.26666394 0.02692339 -0.44373446
+v -0.22739034 0.09511502 -0.49999990
+v -0.26449392 0.06583626 -0.28030302
+v -0.25924467 0.02544760 -0.45172068
+v -0.19703978 0.14053781 -0.49999990
+v -0.24168408 0.02496841 -0.49999990
+v -0.23878495 0.03954325 -0.49999990
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 7 6 2
+f 8 4 5
+f 8 1 3
+f 8 3 4
+f 9 5 4
+f 9 4 6
+f 10 1 5
+f 11 6 7
+f 12 8 5
+f 12 5 1
+f 12 1 8
+f 13 7 1
+f 13 1 10
+f 14 9 6
+f 14 6 11
+f 14 11 5
+f 14 5 9
+f 15 10 5
+f 15 11 7
+f 15 13 10
+f 15 7 13
+f 16 15 5
+f 16 5 11
+f 16 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e093f4cbd0f3273b81038caa5cdf024280bd76
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_6.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01786494 0.11849882 -0.41666665
+v 0.09362251 0.22455942 -0.49999998
+v 0.07678392 0.26153243 -0.43877849
+v -0.07146594 0.26207978 -0.43930709
+v -0.19236314 0.14753690 -0.49999990
+v -0.03954309 0.23878491 -0.49999998
+v -0.14344552 0.23159197 -0.41666666
+v 0.10094340 0.23551588 -0.45945129
+v 0.01786494 0.11849882 -0.48527216
+v 0.04476341 0.23774653 -0.49999998
+v -0.09511484 0.22739039 -0.49999998
+v 0.01786494 0.19425639 -0.41666665
+v -0.22208050 0.14714557 -0.44414583
+v 0.09315957 0.25253507 -0.44472197
+v -0.17910475 0.14880185 -0.49999990
+v 0.09138706 0.22847251 -0.49999998
+v -0.11439414 0.24871957 -0.43997169
+v -0.11849869 0.11849882 -0.41666665
+v -0.18882081 0.20127318 -0.43796680
+v -0.21839135 0.15983208 -0.43994314
+v -0.11849869 0.11849882 -0.48527216
+v -0.14339801 0.23162371 -0.43796685
+v -0.17836496 0.16848664 -0.49999990
+v -0.20127307 0.18882096 -0.43796680
+v -0.21579073 0.14294289 -0.45213203
+v -0.12306369 0.20871558 -0.49999995
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 9 2 1
+f 10 6 3
+f 11 4 6
+f 11 2 5
+f 12 3 7
+f 14 1 8
+f 14 12 1
+f 14 3 12
+f 15 9 5
+f 15 5 2
+f 15 2 9
+f 16 10 3
+f 16 6 10
+f 16 11 6
+f 16 2 11
+f 16 3 14
+f 16 14 8
+f 16 8 2
+f 17 7 4
+f 17 4 11
+f 18 12 7
+f 18 1 12
+f 18 9 1
+f 20 18 7
+f 20 13 18
+f 20 5 13
+f 21 5 9
+f 21 9 18
+f 22 17 11
+f 22 11 19
+f 22 19 7
+f 22 7 17
+f 23 11 5
+f 24 20 7
+f 24 7 19
+f 24 19 23
+f 24 23 5
+f 24 5 20
+f 25 21 18
+f 25 18 13
+f 25 13 5
+f 25 5 21
+f 26 23 19
+f 26 19 11
+f 26 11 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7d257d8ddab045ff3d3ab00423ffdd9d32be565
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.16257395 -0.20464840 0.37980812
+v 0.23492738 -0.11710314 -0.45048963
+v 0.20044149 -0.19006581 -0.43796667
+v 0.23498846 -0.11714394 0.37983188
+v 0.17519177 -0.12780866 -0.49692957
+v 0.23079201 -0.14464300 -0.43796667
+v 0.19900708 -0.18910737 0.36102593
+v 0.19994657 -0.14434927 0.40603540
+v 0.21020635 -0.12083290 -0.49999982
+v 0.16254110 -0.20459923 -0.45046117
+v 0.19006598 -0.20044142 -0.43796667
+v 0.22934703 -0.14367749 0.36104969
+v 0.17408985 -0.19920733 0.37630640
+v 0.16625590 -0.17985579 -0.49999982
+v 0.18910749 -0.19900696 0.36102593
+v 0.17440836 -0.17440849 -0.49999982
+f 6 2 4
+f 7 3 6
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 9 2 6
+f 11 3 7
+f 11 1 10
+f 12 7 6
+f 12 6 4
+f 12 8 7
+f 12 4 8
+f 13 8 1
+f 13 7 8
+f 14 10 1
+f 14 1 5
+f 14 5 9
+f 14 11 10
+f 15 11 7
+f 15 1 11
+f 15 13 1
+f 15 7 13
+f 16 14 9
+f 16 3 11
+f 16 11 14
+f 16 9 6
+f 16 6 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..448a977e0c27c752595a40fce4cfcfa16cdfc6a2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_8.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01431396 -0.27274005 0.36147214
+v 0.01457543 -0.24375155 -0.49999982
+v 0.01786494 -0.01786482 0.40151515
+v -0.11849869 -0.01786482 0.40151515
+v -0.10887018 -0.24587896 -0.44570520
+v 0.01786494 -0.01786481 -0.48527213
+v -0.00884215 -0.25736254 0.39165186
+v -0.00947681 -0.27570467 -0.43796667
+v -0.11849869 -0.01786481 -0.48527212
+v 0.01983689 -0.20959664 -0.49218009
+v 0.01410844 -0.25655531 0.39121144
+v -0.10951768 -0.23169650 0.39286485
+v -0.08512846 -0.22971767 -0.49999982
+v 0.01469710 -0.27466628 -0.43796667
+v -0.08481751 -0.25845741 0.36194619
+v -0.12288647 -0.17594675 -0.49554632
+v -0.08525015 -0.26063246 -0.43796667
+v -0.00935512 -0.24478990 -0.49999982
+v -0.11008217 -0.21738981 -0.49999982
+v -0.00904767 -0.27354729 0.36191256
+v -0.10757834 -0.24394559 0.37584541
+v -0.08461199 -0.24227266 0.39168549
+f 9 4 3
+f 9 3 6
+f 10 2 6
+f 10 6 3
+f 10 3 1
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 7 3
+f 12 3 4
+f 14 1 8
+f 14 10 1
+f 14 2 10
+f 16 12 4
+f 16 4 9
+f 17 5 13
+f 17 15 5
+f 18 13 2
+f 18 17 13
+f 18 8 17
+f 18 14 8
+f 18 2 14
+f 19 9 6
+f 19 6 2
+f 19 2 13
+f 19 16 9
+f 19 13 5
+f 19 5 16
+f 20 8 1
+f 20 1 7
+f 20 17 8
+f 20 15 17
+f 21 5 15
+f 21 16 5
+f 21 12 16
+f 22 21 15
+f 22 7 12
+f 22 12 21
+f 22 20 7
+f 22 15 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e5a703a52a8fd4a9163400a57763f753d9bb1b7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/collision/model_normalized_collision_9.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.24541162 0.05601289 0.39635889
+v -0.17910475 0.10334730 -0.28030302
+v -0.23776946 0.06052042 0.40872254
+v -0.19027073 0.15626271 0.40870126
+v -0.25497507 0.10845024 -0.28030301
+v -0.20659393 0.12171497 0.41920643
+v -0.26622393 0.05713890 -0.28030302
+v -0.25368451 0.10758792 0.36070301
+v -0.21291708 0.17139451 -0.28030302
+v -0.25090700 0.08439519 0.37593903
+v -0.23619474 0.10602554 0.38950120
+v -0.26449392 0.06583626 -0.28030302
+v -0.22354492 0.13800016 0.37595972
+v -0.25541454 0.05498877 0.37839832
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 7 2 1
+f 9 4 2
+f 9 5 8
+f 10 3 8
+f 11 8 3
+f 11 3 6
+f 11 6 4
+f 11 4 8
+f 12 8 5
+f 12 7 8
+f 12 5 9
+f 12 9 2
+f 12 2 7
+f 13 9 8
+f 13 8 4
+f 13 4 9
+f 14 10 8
+f 14 8 7
+f 14 7 1
+f 14 1 3
+f 14 3 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_15/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..adc4a17d6df442e8163673918d5238a16711bbf5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/model.xml
@@ -0,0 +1,27 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_15/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_15/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_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/can/can_15/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_15/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bde5a6d9a2b0e51cdf6ba64bcfb69727a0493fd1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_15/visual/model_normalized_0.obj
@@ -0,0 +1,1064 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.00000000 0.27758955 -0.43796686
+v 0.00000000 0.27758973 0.35780221
+v 0.10622892 0.25645953 0.35780221
+v 0.10622892 0.25645927 -0.43796686
+v 0.19628553 0.19628566 0.35780221
+v 0.19628553 0.19628540 -0.43796678
+v 0.25645931 0.10622905 0.35780221
+v 0.25645931 0.10622888 -0.43796678
+v 0.27758959 0.00000013 0.35780230
+v 0.27758959 -0.00000013 -0.43796678
+v 0.25645931 -0.10622888 0.35780230
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce9957b0b3f5a928895ba2ae0a3971df5333a6d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a6ccb7e704e83eb9bcdc0786f802b61d0bc3af5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_0.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.15272620 -0.12000090 0.49999998
+v -0.15272621 -0.12000089 -0.49999990
+v -0.15272621 -0.01394029 0.47858127
+v -0.18473522 0.11350805 0.40151515
+v -0.21625340 -0.01150752 0.46834883
+v -0.15524247 -0.01444080 -0.49661852
+v -0.20126995 -0.08336846 0.49421742
+v -0.18917496 0.09622676 0.44807280
+v -0.18473510 0.11350798 -0.41666667
+v -0.20904440 -0.04037659 -0.48401938
+v -0.18395671 -0.11049672 0.49351726
+v -0.18796827 -0.04522576 0.49999993
+v -0.19978850 0.08307066 -0.48551683
+v -0.19480472 -0.09246967 -0.48297509
+v -0.20165512 -0.07222363 0.49607760
+v -0.21578993 0.01383778 0.46834883
+v -0.18302924 0.09212032 -0.49999996
+v -0.19471130 -0.08065212 -0.49864092
+v -0.18259924 -0.10958966 -0.48447758
+v -0.19898469 0.08253357 0.44439443
+v -0.20865148 0.04272088 -0.48384950
+v -0.21029165 -0.00000015 -0.49971016
+v -0.17244962 -0.11293182 -0.49999990
+v -0.20927838 0.04284558 0.42889578
+v -0.19559774 0.07344119 -0.49990800
+v -0.19000527 0.08665763 -0.49999996
+f 1 2 3
+f 6 3 2
+f 8 3 4
+f 9 4 3
+f 9 3 6
+f 10 7 5
+f 11 2 1
+f 11 1 7
+f 12 1 3
+f 12 3 8
+f 13 4 9
+f 14 11 7
+f 14 7 10
+f 15 7 1
+f 15 1 12
+f 15 5 7
+f 16 12 8
+f 16 15 12
+f 16 5 15
+f 17 13 9
+f 17 9 6
+f 17 6 2
+f 18 14 10
+f 19 2 11
+f 19 11 14
+f 20 16 8
+f 20 8 4
+f 20 4 13
+f 21 16 13
+f 22 18 10
+f 22 10 5
+f 22 5 16
+f 22 16 21
+f 23 2 19
+f 23 18 22
+f 23 17 2
+f 23 19 14
+f 23 14 18
+f 24 20 13
+f 24 13 16
+f 24 16 20
+f 25 22 21
+f 25 21 13
+f 26 25 13
+f 26 13 17
+f 26 17 23
+f 26 23 22
+f 26 22 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c552e03ff01d932c7f3413af3c20ce2d26d50f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_1.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.08485684 -0.20003969 0.42986705
+v -0.08401902 -0.19878580 -0.48624082
+v -0.09212015 -0.12000088 0.47858133
+v -0.17524829 -0.11480184 0.49853820
+v -0.15453286 -0.15453266 0.49351730
+v -0.17244962 -0.11293182 -0.49999990
+v -0.09520669 -0.19285348 -0.48321529
+v -0.09049743 -0.19332991 0.46515569
+v -0.14765330 -0.12673521 0.49999999
+v -0.09359040 -0.12220128 -0.49627331
+v -0.16446142 -0.13789732 -0.48295457
+v -0.14123909 -0.16341528 0.49351730
+v -0.13014797 -0.16949209 0.49466585
+v -0.08777658 -0.18925786 -0.49999988
+v -0.17162687 -0.12753361 0.49433187
+v -0.14063430 -0.16251016 -0.48319478
+v -0.16586574 -0.12368414 -0.49882229
+v -0.12642114 -0.16391448 -0.49906248
+v -0.09825145 -0.18225877 -0.49999988
+f 1 2 3
+f 6 4 3
+f 7 2 1
+f 8 1 3
+f 9 3 4
+f 10 6 3
+f 10 3 2
+f 12 7 1
+f 13 9 4
+f 13 4 5
+f 13 5 12
+f 13 3 9
+f 13 8 3
+f 13 12 1
+f 13 1 8
+f 14 10 2
+f 14 6 10
+f 14 2 7
+f 15 11 5
+f 15 5 4
+f 15 4 6
+f 15 6 11
+f 16 5 11
+f 16 12 5
+f 16 7 12
+f 17 16 11
+f 17 11 6
+f 18 17 6
+f 18 16 17
+f 18 14 7
+f 18 7 16
+f 19 18 6
+f 19 6 14
+f 19 14 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faabd55d18b2922b8ff07d0d762ebead29dd92e0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_10.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.09212013 0.09212031 0.47858125
+v -0.09425976 0.09532248 -0.49112767
+v -0.08551141 0.20344177 -0.47515591
+v -0.08775234 0.19164404 0.49998317
+v -0.14653443 0.12841005 0.49999988
+v -0.08499121 0.20266323 0.41475163
+v -0.13914361 0.09316863 -0.49951694
+v -0.10018166 0.16479128 0.49913531
+v -0.12956902 0.17104808 0.49365941
+v -0.13757470 0.09212031 0.47858123
+v -0.08665743 0.19000540 -0.49999999
+v -0.11217138 0.18283803 0.49351716
+v -0.09556797 0.19581664 0.41352274
+v -0.12547257 0.16491731 -0.49833848
+v -0.09598628 0.19644268 -0.47515591
+v -0.09716493 0.18305513 -0.49986151
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 10 7 1
+f 10 1 5
+f 10 5 7
+f 11 3 2
+f 11 2 7
+f 12 9 4
+f 12 4 6
+f 13 6 3
+f 13 12 6
+f 13 9 12
+f 14 7 5
+f 14 5 9
+f 15 13 3
+f 15 9 13
+f 15 14 9
+f 15 3 11
+f 15 11 14
+f 16 14 11
+f 16 11 7
+f 16 7 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c4ae49690b39d6a5e11e93218470242abf8e9b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.18302924 -0.07454635 0.49999993
+v -0.15272621 -0.01394029 0.40151515
+v -0.15272621 -0.01394029 0.47858127
+v -0.16479108 0.10018180 0.49913531
+v -0.21679897 -0.02065750 0.40151515
+v -0.19920773 -0.07776445 0.44943150
+v -0.21289081 0.02841262 0.49351723
+v -0.18473522 0.11350805 0.40151515
+v -0.20165512 -0.07222363 0.49607760
+v -0.20137553 0.08413107 0.49368801
+v -0.21335428 -0.02608237 0.49351723
+v -0.20099617 -0.07209255 0.44509257
+v -0.19408850 0.09950988 0.40151515
+v -0.21289081 0.02841262 0.46834883
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 1 4
+f 8 4 2
+f 8 2 5
+f 9 6 1
+f 9 1 7
+f 10 7 4
+f 10 4 8
+f 11 9 7
+f 11 7 5
+f 11 5 9
+f 12 9 5
+f 12 5 6
+f 12 6 9
+f 13 10 8
+f 13 8 5
+f 14 13 5
+f 14 5 7
+f 14 7 10
+f 14 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb59ea4c7115b326e09c75b5d55dcf4636b0e2bd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_12.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.17311367 0.11741637 0.49887211
+v 0.17058288 0.11572537 -0.49999997
+v 0.15453283 0.15453303 0.49351716
+v 0.11480199 0.17524844 0.49853816
+v 0.12058888 0.12330308 -0.49999997
+v 0.13789731 0.16446135 -0.48295444
+v 0.16251006 0.14063431 -0.48319465
+v 0.13209177 0.14051836 0.49491675
+v 0.12753373 0.17162700 0.49433185
+v 0.11293178 0.17244947 -0.49999998
+v 0.16341545 0.14123925 0.49351718
+v 0.16391438 0.12642113 -0.49906238
+v 0.12368414 0.16586567 -0.49882215
+f 1 3 4
+f 5 2 1
+f 7 1 2
+f 7 6 3
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 4 3
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 10 2 5
+f 11 7 3
+f 11 3 1
+f 11 1 7
+f 12 7 2
+f 12 2 10
+f 13 12 10
+f 13 10 6
+f 13 6 7
+f 13 7 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31342cc4fb8389d1bf9b0d3706641b96512a7c35
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_13.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.15858144 -0.11038013 0.49999997
+v 0.21036300 -0.04112067 0.46834883
+v 0.19981985 0.08471000 0.49469437
+v 0.13515258 0.09212034 0.47858125
+v 0.13515258 -0.10484940 0.47858130
+v 0.19820064 0.08362808 0.44468845
+v 0.16913830 0.09458100 0.49999991
+v 0.21036300 -0.04112067 0.49351723
+v 0.19020824 -0.10114072 0.46834885
+v 0.20989954 0.04345093 0.46834883
+v 0.19329577 0.09047467 0.44652763
+v 0.18704569 -0.09902759 0.49745568
+v 0.20989954 0.04345093 0.49351723
+v 0.20890770 0.03111594 0.44666499
+f 5 1 4
+f 7 4 1
+f 9 1 5
+f 9 2 8
+f 10 6 3
+f 11 6 5
+f 11 5 4
+f 11 4 7
+f 11 7 3
+f 11 3 6
+f 12 7 1
+f 12 9 8
+f 12 1 9
+f 13 3 7
+f 13 12 8
+f 13 7 12
+f 13 10 3
+f 13 8 2
+f 13 2 10
+f 14 2 9
+f 14 10 2
+f 14 6 10
+f 14 9 5
+f 14 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87c5e69156b2b995e08fbbc0835c47482fbc0cb9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.04112083 -0.21036286 0.49351730
+v 0.08843486 -0.19386800 0.46448334
+v 0.09625879 -0.09408164 0.47853534
+v -0.09188949 -0.08954372 0.47503911
+v -0.13076422 -0.17041438 0.46834890
+v 0.01394046 -0.08969787 0.47322731
+v -0.14765330 -0.12673521 0.49999999
+v 0.08718777 -0.19200159 0.50000000
+v -0.04345076 -0.20989942 0.46834890
+v 0.08987771 -0.08981789 0.47506450
+v -0.09707361 -0.09300768 0.47858128
+v -0.13729411 -0.11981340 0.47858132
+v 0.09290635 -0.17025702 0.50000000
+v -0.04345076 -0.20989940 0.49351730
+v -0.09581630 -0.19376584 0.46834890
+v 0.04112084 -0.21036287 0.46834890
+v -0.13014797 -0.16949209 0.49466585
+v -0.09581630 -0.19376583 0.49351730
+f 6 5 4
+f 6 2 5
+f 8 1 2
+f 10 3 2
+f 10 2 6
+f 10 6 4
+f 11 7 3
+f 11 4 7
+f 11 10 4
+f 11 3 10
+f 12 7 4
+f 12 4 5
+f 12 5 7
+f 13 8 2
+f 13 2 3
+f 13 3 7
+f 13 7 8
+f 14 8 7
+f 14 1 8
+f 14 9 1
+f 15 5 2
+f 15 2 9
+f 16 9 2
+f 16 2 1
+f 16 1 9
+f 17 7 5
+f 18 14 7
+f 18 7 17
+f 18 15 9
+f 18 9 14
+f 18 17 5
+f 18 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a0a2646a3c20c7467d857419b2c2eae1d42267
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.09212015 -0.12000090 -0.41666667
+v -0.09359040 -0.12220128 -0.49627331
+v -0.09425976 0.09532248 -0.49112767
+v -0.19408838 0.09950980 -0.41666667
+v -0.17185606 -0.13278305 -0.41666666
+v -0.18302924 0.09212032 -0.49999996
+v -0.09212015 0.09212032 -0.41666667
+v -0.21679902 -0.02065751 -0.44696969
+v -0.21343633 0.03756260 -0.41666667
+v -0.15272621 -0.12000089 -0.49999990
+v -0.18302924 -0.01394029 -0.49999993
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 7 2 3
+f 9 8 5
+f 9 5 4
+f 9 4 6
+f 9 6 8
+f 10 6 2
+f 10 2 5
+f 10 5 8
+f 11 10 8
+f 11 8 6
+f 11 6 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8984209a7ab8d72727828eaa76ccb6f862f1ecb7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.12162593 -0.17931090 0.14393941
+v 0.01394046 -0.13515241 0.00757576
+v 0.01394046 -0.01394029 0.14393939
+v -0.15272621 -0.01394029 0.14393939
+v -0.17185600 -0.13278301 0.00757576
+v 0.01394046 -0.13515241 0.14393939
+v -0.12162595 -0.17931092 0.00757577
+v -0.17185598 -0.13278300 0.14393940
+v 0.01394046 -0.01394029 0.00757576
+v -0.15272621 -0.01394029 0.00757576
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 6 1
+f 7 2 6
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 3 2
+f 9 4 3
+f 10 5 4
+f 10 4 9
+f 10 9 2
+f 10 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0295139817f1e4f3844086285a455d4c1873909f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12000106 0.09212030 0.47858125
+v 0.12000107 0.09212032 -0.41666667
+v 0.13278302 0.17185592 -0.41666667
+v -0.09652309 0.15931585 0.48781433
+v -0.09212015 0.09212032 -0.41666667
+v 0.10926142 0.15932921 0.49999987
+v -0.09212013 0.09212031 0.47858125
+v -0.11350777 0.18473521 -0.41666668
+v 0.12673538 0.14765347 0.49999987
+v 0.12000107 0.15272638 0.49999987
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 1 3
+f 9 7 1
+f 9 6 4
+f 9 4 7
+f 10 9 3
+f 10 3 6
+f 10 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de12bf36a3905d47ff7431c977a5e84ce396404
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09212014 -0.12000091 0.47858133
+v -0.09212015 -0.12000090 0.14393939
+v -0.09212013 0.09212031 0.47858125
+v -0.15931565 0.09652323 0.48781435
+v -0.17185598 -0.13278300 0.14393940
+v -0.18473518 0.11350803 0.14393939
+v -0.14765330 -0.12673521 0.49999999
+v -0.09212015 0.09212032 0.14393939
+v -0.15932903 -0.10926125 0.49999997
+v -0.15272620 -0.12000090 0.49999998
+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 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 5
+f 9 7 4
+f 9 4 6
+f 10 9 5
+f 10 5 7
+f 10 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..316f9794cf56af7326e752487bf726c4cbeb28b2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15943278 -0.15137590 -0.41666666
+v 0.18043004 -0.11995126 -0.41666666
+v -0.09212015 -0.08969787 -0.41666667
+v 0.13515258 -0.13515241 -0.49999989
+v 0.13686670 -0.09084320 -0.49877107
+v -0.12162601 -0.17931101 -0.41666665
+v -0.09322663 -0.13680838 -0.49906974
+v -0.09538049 -0.09187635 -0.49082882
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 4
+f 7 4 6
+f 8 7 6
+f 8 6 3
+f 8 3 5
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e0138f85a4c0ff2b9ab4d87221c9702eacbe08
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_2.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.07454651 0.15272637 0.47858121
+v 0.10135839 0.19285318 -0.44696971
+v 0.07222379 0.20165527 0.49607756
+v -0.08422254 0.20151283 0.46834876
+v -0.02935529 0.14187338 -0.49422974
+v 0.00000000 0.21029163 -0.49971009
+v -0.09212016 0.15272639 0.47858120
+v 0.08131260 0.17800403 0.49999987
+v 0.07454652 0.18302941 -0.49999999
+v 0.04111001 0.21273090 0.40151516
+v -0.11350777 0.18473521 -0.41666668
+v 0.04522593 0.18796846 0.49999987
+v 0.01394046 0.15383067 0.49139707
+v 0.07110344 0.19602293 -0.49999999
+v -0.09212015 0.18302941 -0.49999999
+v 0.04037670 0.20904431 -0.48401928
+v -0.02825799 0.21211449 0.42932732
+v -0.08307046 0.19978863 -0.48551682
+v 0.05737065 0.20315532 0.49755462
+v 0.04147654 0.15689878 0.49139707
+v -0.07344098 0.19559775 -0.49990796
+v -0.04272068 0.20865150 -0.48384944
+v -0.08665743 0.19000540 -0.49999999
+f 7 5 1
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 9 1 5
+f 10 3 2
+f 11 7 4
+f 11 5 7
+f 12 4 7
+f 13 7 1
+f 13 12 7
+f 13 8 12
+f 14 2 9
+f 15 9 5
+f 15 14 9
+f 15 5 11
+f 16 10 2
+f 16 6 10
+f 16 14 6
+f 16 2 14
+f 17 10 6
+f 18 11 4
+f 18 15 11
+f 19 4 12
+f 19 17 4
+f 19 3 10
+f 19 10 17
+f 19 12 8
+f 19 8 3
+f 20 13 1
+f 20 1 8
+f 20 8 13
+f 22 17 6
+f 22 21 18
+f 22 6 21
+f 22 18 4
+f 22 4 17
+f 23 15 18
+f 23 18 21
+f 23 14 15
+f 23 21 6
+f 23 6 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11dfa14e5a9279d6fd44614ba2d52f87f0c428d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_20.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.17466937 0.11683745 0.49786573
+v -0.13757469 0.12242335 -0.49999997
+v -0.14653443 0.12841005 0.49999988
+v -0.13319046 0.16131642 0.49995460
+v -0.16609202 0.14140929 -0.47515589
+v -0.17133045 0.11460647 -0.49999997
+v -0.15453283 0.15453301 0.49351716
+v -0.13093420 0.17309122 -0.47515590
+v -0.16546696 0.14099163 0.41351439
+v -0.13041469 0.17231371 0.41474330
+v -0.14259256 0.15271182 -0.49984097
+v -0.14140908 0.16609213 -0.47515590
+v -0.17104790 0.12956918 0.49365944
+v -0.13208022 0.15965484 -0.49999998
+v -0.15359598 0.15359586 -0.48369155
+v -0.14099146 0.16546712 0.41351440
+v -0.16491718 0.12547278 -0.49833849
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 7 1 4
+f 9 7 5
+f 10 4 2
+f 10 7 4
+f 12 5 7
+f 13 9 5
+f 13 5 1
+f 13 1 7
+f 13 7 9
+f 14 10 2
+f 14 8 10
+f 14 2 6
+f 14 6 11
+f 14 12 8
+f 15 5 12
+f 15 14 11
+f 15 12 14
+f 16 10 8
+f 16 8 12
+f 16 12 7
+f 16 7 10
+f 17 15 11
+f 17 11 6
+f 17 6 5
+f 17 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0fd790e0bfadd300ef3ca7b7d488716f632c309
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.21616122 -0.01197097 0.46834883
+v 0.20817043 -0.01038151 -0.49984027
+v 0.19425768 0.08099349 -0.49908289
+v 0.13515258 0.09212034 0.47858125
+v 0.13515258 -0.01394029 0.47858127
+v 0.19333010 0.09049762 0.46515566
+v 0.20927594 0.05847840 -0.47515587
+v 0.13854745 -0.01461557 -0.49279259
+v 0.13680853 0.09322679 -0.49906989
+v 0.21279866 0.02887608 0.46834883
+v 0.20777753 0.01272580 -0.49967038
+v 0.19820064 0.08362808 0.44468845
+v 0.13515258 -0.01394029 0.38636364
+v 0.20846897 0.05831788 0.41398966
+f 5 1 4
+f 7 1 2
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 4 6
+f 9 2 8
+f 10 6 4
+f 10 4 1
+f 10 1 7
+f 11 7 2
+f 11 3 7
+f 11 9 3
+f 11 2 9
+f 12 7 3
+f 12 3 6
+f 12 6 10
+f 13 9 8
+f 13 8 5
+f 13 5 4
+f 13 4 9
+f 14 12 10
+f 14 10 7
+f 14 7 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4967e9c295247be4f6ba34cb1e2a5a49bde87b2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.13757470 0.09212031 0.47858123
+v -0.13914361 0.09316863 -0.49951694
+v -0.13757469 0.12242335 -0.49999997
+v -0.14653443 0.12841005 0.49999988
+v -0.20266306 0.08499138 0.41475164
+v -0.19000527 0.08665763 -0.49999996
+v -0.19164390 0.08775252 0.49998318
+v -0.18165069 0.11137831 -0.48399380
+v -0.16479108 0.10018180 0.49913531
+v -0.18283785 0.11217154 0.49351720
+v -0.20344166 0.08551162 -0.47515588
+v -0.17133045 0.11460647 -0.49999997
+v -0.19644257 0.09598649 -0.47515588
+v -0.19581647 0.09556815 0.41352273
+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 9 7 1
+f 9 1 4
+f 9 4 7
+f 10 7 4
+f 10 5 7
+f 10 4 8
+f 11 6 5
+f 12 8 4
+f 12 4 3
+f 12 3 6
+f 12 11 8
+f 12 6 11
+f 13 10 8
+f 13 8 11
+f 14 13 11
+f 14 11 5
+f 14 5 10
+f 14 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e18388bb433be256e3976608d575609b1b1366
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12000107 0.15272638 0.49999987
+v 0.13278302 0.17185592 -0.41666667
+v 0.11049688 0.18395691 0.49351716
+v 0.07222379 0.20165527 0.49607756
+v 0.05655316 0.14675641 0.49139707
+v 0.09431180 0.19756157 -0.41666666
+v 0.08336872 0.20127007 0.49421738
+v 0.07315877 0.20635575 -0.41666666
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 3 6
+f 8 5 4
+f 8 7 6
+f 8 4 7
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d0860559774a226a937203813111090e8edc9f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.19981985 0.08471000 0.49469437
+v 0.19878569 0.08401901 -0.48624069
+v 0.18209027 0.11329041 0.49351720
+v 0.14578683 0.12952892 0.49999988
+v 0.12000106 0.09212030 0.47858125
+v 0.18064788 0.11232666 -0.48471766
+v 0.19285337 0.09520667 -0.48321517
+v 0.16362016 0.10101782 0.49826003
+v 0.12058888 0.12330308 -0.49999997
+v 0.19376600 0.09581645 0.49351722
+v 0.12000106 0.12242333 0.47858121
+v 0.17058288 0.11572537 -0.49999997
+v 0.12220143 0.09359055 -0.49627346
+v 0.18925769 0.08777652 -0.49999996
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 1 2
+f 7 6 3
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 10 7 3
+f 10 3 1
+f 10 1 7
+f 11 9 5
+f 11 5 4
+f 11 4 9
+f 12 9 4
+f 12 4 6
+f 12 7 2
+f 12 6 7
+f 13 2 5
+f 13 5 9
+f 14 12 2
+f 14 2 13
+f 14 13 9
+f 14 9 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a65d20ad9534da543142fbcb4642838ef7b871c3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.18704569 -0.09902759 0.49745568
+v 0.19438570 -0.08051728 -0.49945605
+v 0.19488486 -0.09414164 0.49351724
+v 0.20193861 -0.05761029 0.49874173
+v 0.19575864 -0.05939483 -0.49999992
+v 0.19380192 -0.09341803 -0.48369894
+v 0.18752876 -0.09935035 -0.48822695
+v 0.19575864 -0.05939484 0.49999993
+v 0.19883002 -0.05699195 -0.49999992
+v 0.19037683 -0.08610186 -0.49999991
+f 1 3 4
+f 6 4 3
+f 7 1 5
+f 7 6 3
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 9 6 2
+f 10 7 5
+f 10 2 6
+f 10 6 7
+f 10 9 2
+f 10 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98251d206289c92cd1901feb92dfe26ff380f22d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.20592370 -0.05840297 0.46740323
+v 0.20613985 -0.05543215 -0.48381080
+v 0.20892233 -0.05598562 0.41405865
+v 0.21616122 -0.01197097 0.46834883
+v 0.19575864 -0.01394029 -0.49999993
+v 0.21351158 -0.01144393 -0.48699806
+v 0.21326211 -0.02654582 0.46834883
+v 0.19575864 -0.05939483 -0.49999992
+v 0.20933461 -0.01664071 0.46278110
+v 0.20063728 -0.06036526 0.46278110
+v 0.19883002 -0.05699195 -0.49999992
+v 0.20752736 -0.01326741 -0.49999993
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 1
+f 9 4 5
+f 10 8 1
+f 10 5 8
+f 10 9 5
+f 10 1 4
+f 10 4 9
+f 11 2 8
+f 12 5 6
+f 12 6 2
+f 12 2 11
+f 12 11 8
+f 12 8 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4644e990a281abb61bcf4e331e75ca57e025206b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15137601 -0.15943248 0.40151516
+v 0.15943271 -0.15137585 0.14393940
+v 0.17931099 0.12162603 0.40151514
+v -0.09212015 0.09212032 0.40151515
+v -0.12162593 -0.17931090 0.14393941
+v -0.12162589 -0.17931084 0.40151517
+v 0.17931095 0.12162600 0.14393939
+v -0.09212015 0.09212032 0.14393939
+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 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/can/can_16/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6905d9533f2e730b74444e6a6db15758dd56e61
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09212015 -0.12000090 0.00757576
+v -0.09212015 -0.12000090 -0.41666667
+v -0.09212015 0.09212032 0.00757576
+v -0.18473516 0.11350802 0.00757575
+v -0.17185606 -0.13278305 -0.41666666
+v -0.09212015 0.09212032 -0.41666667
+v -0.17185600 -0.13278301 0.00757576
+v -0.18473510 0.11350798 -0.41666667
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+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/can/can_16/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a250565010025a6f15c541d172d573ac5f0519c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15943271 -0.15137585 0.14393940
+v 0.15943278 -0.15137590 -0.35606060
+v 0.13515258 -0.01394029 0.14393939
+v 0.01394046 -0.01394029 0.14393939
+v 0.01394046 -0.13515241 -0.35606061
+v 0.01394046 -0.13515241 0.14393939
+v 0.13515258 -0.01394029 -0.35606061
+v 0.01394046 -0.01394029 -0.35606061
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea44e848782413076ae54f928fc8e9474da14f41
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08843486 -0.19386800 0.46448334
+v 0.15137601 -0.15943248 0.40151516
+v 0.13515258 0.09212030 0.47858125
+v -0.09212013 0.09212031 0.47858125
+v -0.09362953 -0.19801743 0.40151515
+v 0.17931099 0.12162603 0.40151514
+v 0.13569677 -0.13596685 0.49185448
+v 0.09195504 -0.19913632 0.40151515
+v -0.09049743 -0.19332991 0.46515569
+v -0.09212015 0.09212032 0.40151515
+v -0.01140034 0.02819859 0.49139714
+v -0.09611804 0.01741968 0.47858127
+v 0.01210445 0.02608279 0.49139714
+v -0.01636257 -0.01394029 0.49139714
+f 6 4 3
+f 7 1 2
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 6 2
+f 8 5 6
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 6 5
+f 10 4 6
+f 11 3 4
+f 12 5 9
+f 12 10 5
+f 12 4 10
+f 13 11 7
+f 13 7 3
+f 13 3 11
+f 14 9 7
+f 14 7 11
+f 14 12 9
+f 14 11 4
+f 14 4 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9731f722fb62e53503ed79de374dbd2833cc350a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13515258 -0.01394029 0.00757576
+v 0.17931088 0.12162596 -0.35606061
+v 0.17931093 0.12162599 0.00757575
+v 0.01394046 0.09212032 0.00757576
+v 0.01394046 -0.01394029 -0.35606061
+v 0.13515258 -0.01394029 -0.35606061
+v 0.01394046 -0.01394029 0.00757576
+v 0.01394046 0.09212032 -0.35606061
+f 1 3 4
+f 6 5 2
+f 6 1 5
+f 6 2 3
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 2 5
+f 8 3 2
+f 8 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db1d6bf5ee6ae63587dbab1e883277738b527fbc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13515258 -0.01394029 0.14393939
+v 0.17931093 0.12162599 0.00757575
+v 0.17931095 0.12162600 0.14393939
+v -0.18473518 0.11350803 0.14393939
+v -0.15272621 -0.01394029 0.00757576
+v 0.13515258 -0.01394029 0.00757576
+v -0.15272621 -0.01394029 0.14393939
+v -0.18473516 0.11350802 0.00757575
+f 1 3 4
+f 3 2 4
+f 6 5 2
+f 6 1 5
+f 6 2 3
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6bb8eb471215b5dc1c46c65bd1cdb0fa13e8662
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_4.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.05761046 -0.20193849 0.49874176
+v 0.13515258 -0.13515241 -0.49999989
+v 0.13832913 -0.13990645 0.50000000
+v -0.03163187 -0.13564881 0.47531939
+v -0.08099350 -0.19425778 -0.49908301
+v 0.05939500 -0.19575847 0.50000000
+v 0.09341824 -0.19380183 -0.48369897
+v -0.08534143 -0.20076493 0.46834890
+v -0.09322663 -0.13680838 -0.49906974
+v 0.12811270 -0.17007103 0.49533825
+v 0.08051719 -0.19438579 -0.49945611
+v 0.01197115 -0.21616111 0.46834890
+v 0.01038171 -0.20817049 -0.49984035
+v -0.12162589 -0.17931084 0.40151517
+v 0.09414180 -0.19488471 0.49351730
+v 0.12463269 -0.16486283 -0.49954616
+v -0.05847830 -0.20927613 -0.47515579
+v -0.02887592 -0.21279854 0.46834890
+v 0.05543235 -0.20613989 -0.48381088
+v -0.09049743 -0.19332991 0.46515569
+v 0.02654599 -0.21326199 0.46834890
+v -0.01272568 -0.20777766 -0.49967053
+v -0.05831772 -0.20846885 0.41398967
+v 0.05598579 -0.20892222 0.41405866
+f 3 2 4
+f 6 3 4
+f 8 6 4
+f 8 1 6
+f 9 4 2
+f 10 6 1
+f 10 3 6
+f 10 2 3
+f 13 9 2
+f 13 2 11
+f 14 4 9
+f 14 9 5
+f 15 10 1
+f 15 7 10
+f 16 10 7
+f 16 2 10
+f 16 11 2
+f 16 7 11
+f 17 13 12
+f 17 14 5
+f 17 8 14
+f 18 12 1
+f 18 1 8
+f 18 17 12
+f 19 13 11
+f 19 11 7
+f 19 12 13
+f 20 14 8
+f 20 8 4
+f 20 4 14
+f 21 15 1
+f 21 1 12
+f 22 17 5
+f 22 13 17
+f 22 5 9
+f 22 9 13
+f 23 18 8
+f 23 8 17
+f 23 17 18
+f 24 19 7
+f 24 7 15
+f 24 15 21
+f 24 21 12
+f 24 12 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c1d0b7a68852135d7f30eae66d7460803f9e463
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_5.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.12000107 0.09212032 -0.41666667
+v 0.12220143 0.09359055 -0.49627346
+v 0.09431180 0.19756157 -0.41666666
+v -0.09950960 0.19408849 -0.41666667
+v -0.09425976 0.09532248 -0.49112767
+v 0.07110344 0.19602293 -0.49999999
+v 0.11178576 0.18588585 -0.41666666
+v -0.09212015 0.09212032 -0.41666667
+v 0.07315877 0.20635575 -0.41666666
+v -0.09212015 0.18302941 -0.49999999
+v 0.09246968 0.19480465 -0.48297497
+v 0.11293178 0.17244947 -0.49999998
+v 0.08065210 0.19471125 -0.49864080
+v 0.10958967 0.18259916 -0.48447747
+f 7 1 2
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 4 5
+f 8 1 3
+f 8 3 4
+f 9 6 4
+f 9 4 3
+f 10 5 4
+f 10 4 6
+f 10 2 5
+f 11 3 7
+f 11 9 3
+f 12 10 6
+f 12 2 10
+f 12 7 2
+f 13 6 9
+f 13 9 11
+f 13 12 6
+f 13 11 12
+f 14 12 11
+f 14 11 7
+f 14 7 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7af495cbdf0bc044dd9df58a875499910850c91f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_6.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.15943278 -0.15137590 -0.35606060
+v 0.15943278 -0.15137590 -0.41666666
+v 0.17931088 0.12162596 -0.35606061
+v 0.01394046 0.09212032 -0.35606061
+v 0.01394046 -0.13515241 -0.41666667
+v 0.01394046 -0.13515241 -0.35606061
+v 0.13680853 0.09322679 -0.49906989
+v 0.13686670 -0.09084320 -0.49877107
+v 0.01394046 0.09212032 -0.48742813
+v 0.01394046 -0.08969787 -0.48742807
+v 0.09187651 0.09538063 -0.49082896
+f 1 2 3
+f 1 3 4
+f 6 1 4
+f 6 5 2
+f 6 2 1
+f 8 7 3
+f 8 3 2
+f 9 4 3
+f 9 6 4
+f 10 8 2
+f 10 2 5
+f 10 5 6
+f 10 6 9
+f 10 9 7
+f 10 7 8
+f 11 9 3
+f 11 3 7
+f 11 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b782bbd65b3ddf4861ba0af31cb4462cd8419d22
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12811270 -0.17007103 0.49533825
+v 0.19575864 -0.01394029 -0.49999993
+v 0.20933461 -0.01664071 0.46278110
+v 0.13515258 -0.01394029 0.47858127
+v 0.12765821 -0.16939084 -0.48670396
+v 0.18704569 -0.09902759 0.49745568
+v 0.13854745 -0.01461557 -0.49279259
+v 0.15190168 -0.11604077 0.49585832
+v 0.16453434 -0.13956446 0.49351729
+v 0.17706842 -0.10751250 -0.49804364
+v 0.13956460 -0.16453416 0.49351730
+v 0.13152488 -0.16002621 -0.49999989
+v 0.16345863 -0.13884568 -0.48367841
+v 0.14931185 -0.14931190 -0.49770468
+v 0.13884587 -0.16345852 -0.48367844
+v 0.18320914 -0.11161561 0.49351726
+f 3 2 4
+f 5 1 4
+f 6 3 4
+f 7 5 4
+f 7 4 2
+f 8 6 4
+f 8 4 1
+f 8 1 6
+f 9 6 1
+f 10 2 3
+f 10 3 6
+f 11 9 1
+f 11 1 5
+f 12 7 2
+f 12 2 10
+f 12 5 7
+f 14 12 10
+f 14 10 13
+f 15 11 5
+f 15 14 13
+f 15 5 12
+f 15 12 14
+f 15 13 9
+f 15 9 11
+f 16 13 10
+f 16 10 6
+f 16 6 9
+f 16 9 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..714e2cc1d2a20d9d4461b0d4a3eff6a09a1f0d8a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.12162595 -0.17931092 0.00757577
+v 0.01394046 -0.08969787 -0.48742807
+v 0.01394046 -0.13515241 0.00757576
+v -0.09212015 0.09212032 0.00757576
+v -0.09239125 0.09252605 -0.49034019
+v 0.01394046 0.09212032 0.00757576
+v -0.12162601 -0.17931101 -0.41666665
+v 0.01394046 0.09212032 -0.48742813
+v 0.01394046 -0.13515241 -0.41666667
+v -0.09258406 -0.09000784 -0.49004134
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 7 3 1
+f 7 1 5
+f 8 2 5
+f 8 5 6
+f 9 7 2
+f 9 3 7
+f 9 6 3
+f 9 8 6
+f 9 2 8
+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/can/can_16/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a0be31f533251989c524a1cf6b59624a5c00b1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/collision/model_normalized_collision_9.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01394046 0.15383067 0.49139707
+v 0.06438221 0.20810177 0.40151514
+v 0.05737065 0.20315532 0.49755462
+v -0.02841246 0.21289102 0.49351716
+v -0.03151409 0.15272638 0.40151515
+v 0.02608254 0.21335448 0.49351716
+v -0.10018166 0.16479128 0.49913531
+v 0.05980077 0.18506934 0.49999987
+v 0.01394046 0.15272638 0.40151515
+v -0.02886509 0.21516656 0.40151516
+v -0.09212016 0.15272639 0.47858120
+v 0.04111001 0.21273090 0.40151516
+v -0.08413090 0.20137569 0.49368798
+v -0.08422254 0.20151283 0.46834876
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 5 2
+f 9 8 1
+f 9 2 8
+f 10 2 5
+f 10 4 6
+f 11 1 7
+f 11 9 1
+f 11 5 9
+f 12 10 6
+f 12 6 2
+f 12 2 10
+f 13 7 4
+f 13 4 10
+f 14 10 5
+f 14 5 11
+f 14 11 7
+f 14 13 10
+f 14 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_16/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4f1d570ff5ce586e8a156182ffaf69d063e5ac56
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/model.xml
@@ -0,0 +1,29 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_16/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b47d39603e9b2615c0fb9d4353d5bb597e9db061
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/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 30.99652200
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd8c62b2c2602d908744741407e13717bc442d7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/visual/model_normalized_0.obj
@@ -0,0 +1,2519 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.00000001 -0.11809475 -0.48742807
+v -0.04519286 -0.10910531 -0.48742807
+v 0.04519287 -0.10910533 -0.48742807
+v 0.00000000 0.11809450 -0.48742814
+v 0.04519286 0.10910506 -0.48742813
+v -0.04519285 0.10910506 -0.48742813
+v -0.00017100 -0.11639297 0.47322737
+v 0.02617283 -0.11168656 0.47322737
+v -0.03415755 -0.11032112 0.47322731
+v -0.00017100 -0.01873192 0.47322731
+v -0.03415761 -0.02270864 0.47322731
+v 0.02617281 -0.02181436 0.47322731
+v -0.00784183 -0.00907292 0.49139714
+v 0.00783396 -0.00907292 0.49139714
+v -0.00118200 0.03057405 0.49139714
+v -0.00118209 -0.05514382 0.49139714
+v 0.02552867 -0.04941444 0.49139714
+v 0.04790987 0.01096030 0.49139714
+v 0.06494045 0.00986375 0.49139714
+v 0.05179540 0.10754637 0.49139714
+v 0.00274002 0.16303212 0.49139707
+v -0.02412129 0.16080720 0.49139707
+v -0.02024834 0.15383067 0.49139707
+v 0.05340081 0.13308554 0.49139707
+v 0.05457869 0.12538041 0.49139707
+v 0.06046983 0.13495164 0.49139707
+v -0.02496061 0.08837658 0.49139714
+v -0.00118203 0.05928018 0.49139714
+v 0.02259635 0.08837659 0.49139714
+v 0.01713449 0.05563680 0.49139714
+v 0.02259633 0.15383067 0.49139707
+v 0.02418946 0.16125546 0.49139707
+v -0.05319853 0.13303695 0.49139707
+v -0.06053637 0.13331578 0.49139707
+v -0.05458681 0.12538043 0.49139707
+v 0.01743411 0.01915666 0.49139714
+v 0.01334257 0.02528007 0.49139714
+v 0.01887085 0.00834688 0.49139714
+v -0.01727872 0.05665278 0.49139714
+v -0.01744199 0.01915665 0.49139714
+v -0.01887875 0.00834688 0.49139714
+v -0.01268311 0.02627879 0.49139714
+v -0.04791776 0.01096031 0.49139714
+v -0.05180347 0.10754634 0.49139714
+v -0.06501985 0.00786645 0.49139714
+v -0.02570914 -0.05026511 0.49139714
+v -0.01058483 0.01069155 0.49406404
+v -0.00977911 0.00664092 0.49406404
+v -0.00977911 0.01474218 0.49406404
+v 0.01058480 0.01069155 0.49406404
+v 0.00977908 0.01474218 0.49406404
+v 0.00977908 0.00664091 0.49406404
+v 0.08453786 0.20409229 -0.47515591
+v 0.15620556 0.15620546 -0.47515589
+v 0.14861010 0.14860998 -0.49999998
+v 0.08042721 0.19416832 -0.49999999
+v 0.12221600 0.12221588 -0.49999997
+v 0.06614283 0.15968277 -0.49999998
+v 0.15620565 -0.15620568 -0.47515580
+v 0.08453789 -0.20409257 -0.47515579
+v 0.08042722 -0.19416858 -0.49999988
+v 0.14861015 -0.14861020 -0.49999989
+v -0.20409244 -0.08453789 -0.47515582
+v -0.22090803 -0.00000015 -0.47515585
+v -0.21016636 -0.00000015 -0.49999993
+v -0.19416845 -0.08042726 -0.49999991
+v -0.08453784 0.20409229 -0.47515591
+v 0.00000000 0.22090792 -0.47515591
+v 0.00000000 0.21016628 -0.50000000
+v -0.08042719 0.19416832 -0.49999999
+v 0.22090803 -0.00000008 -0.47515585
+v 0.20409244 -0.08453794 -0.47515582
+v 0.19416845 -0.08042729 -0.49999991
+v 0.21016638 -0.00000010 -0.49999993
+v -0.08453787 -0.20409256 -0.47515579
+v -0.15620558 -0.15620568 -0.47515580
+v -0.14861011 -0.14861020 -0.49999989
+v -0.08042721 -0.19416855 -0.49999988
+v -0.20409239 0.08453773 -0.47515587
+v -0.15620556 0.15620543 -0.47515589
+v -0.14861005 0.14860996 -0.49999998
+v -0.19416840 0.08042707 -0.49999996
+v 0.20409242 0.08453773 -0.47515587
+v 0.19416843 0.08042708 -0.49999996
+v 0.00000001 -0.22090819 -0.47515578
+v 0.00000001 -0.21016657 -0.49999987
+v 0.12221603 -0.12221611 -0.49999990
+v 0.06614285 -0.15968303 -0.49999989
+v 0.08350553 -0.08350561 -0.48742808
+v -0.12221600 -0.12221611 -0.49999990
+v -0.06614283 -0.15968300 -0.49999989
+v 0.15968288 0.06614270 -0.49999996
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+v 0.17283950 -0.00000010 -0.49999993
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+v -0.12221596 0.12221586 -0.49999997
+v -0.06614281 0.15968277 -0.49999998
+v 0.00000000 0.17283940 -0.49999999
+v 0.00000001 -0.17283966 -0.49999988
+v 0.08350551 0.08350539 -0.48742813
+v -0.08350551 -0.08350562 -0.48742808
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+v -0.10910520 -0.04519294 -0.48742809
+v 0.11809461 -0.00000010 -0.48742810
+v -0.10910517 0.04519273 -0.48742812
+v -0.11809459 -0.00000012 -0.48742810
+v 0.10910521 -0.04519296 -0.48742809
+v -0.08350550 0.08350537 -0.48742813
+v -0.15036255 -0.15036235 0.46278116
+v -0.08137562 -0.19645794 0.46278116
+v -0.08363258 -0.20190675 0.46834890
+v -0.15453286 -0.15453267 0.46834890
+v 0.00000001 -0.21854232 0.46834890
+v 0.08363259 -0.20190675 0.46834890
+v 0.08363259 -0.20190674 0.49351730
+v 0.00000001 -0.21854230 0.49351730
+v 0.19645809 0.08137580 0.46278110
+v 0.15036252 0.15036266 0.46278103
+v 0.15453283 0.15453301 0.46834877
+v 0.20190689 0.08363275 0.46834883
+v -0.19645812 -0.08137538 0.46278110
+v -0.20190692 -0.08363231 0.46834883
+v 0.21264469 0.00000019 0.46278110
+v 0.21854242 0.00000019 0.46834883
+v -0.19645806 0.08137577 0.46278110
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+v -0.21854241 0.00000014 0.46834883
+v -0.20190686 0.08363273 0.46834883
+v 0.19645811 -0.08137540 0.46278110
+v 0.20190692 -0.08363238 0.46834883
+v -0.15036250 0.15036267 0.46278103
+v -0.15453283 0.15453299 0.46834877
+v 0.15036257 -0.15036235 0.46278116
+v 0.15453293 -0.15453266 0.46834890
+v -0.08137560 0.19645823 0.46278103
+v -0.08363257 0.20190704 0.46834877
+v 0.08137564 -0.19645797 0.46278116
+v 0.00000000 0.21264487 0.46278103
+v 0.00000000 0.21854259 0.46834877
+v 0.00000001 -0.21264459 0.46278116
+v 0.08137562 0.19645826 0.46278103
+v 0.08363257 0.20190706 0.46834877
+v -0.15453283 0.15453301 0.49351716
+v -0.20190686 0.08363274 0.49351723
+v -0.19600942 0.08118994 0.49999993
+v -0.15001910 0.15001931 0.49999987
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+v -0.08363258 -0.20190674 0.49351730
+v 0.15453283 0.15453303 0.49351716
+v -0.15453286 -0.15453266 0.49351730
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_16/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_16/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f484c8f9dcf09669bb2858bd4d083cb27f42fb65
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_16/visual/model_normalized_1.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.22090803 -0.00000015 -0.47515585
+v -0.22090803 0.00000012 0.40847621
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+v 0.20409242 0.08453773 -0.47515587
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+vt 0.65703500 0.74415800
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+f 3/3/3 2/2/2 40/40/40
+f 3/3/3 40/40/40 47/47/47
+f 29/29/29 27/27/27 50/50/50
+f 29/29/29 50/50/50 45/45/45
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b02f3c743d642d0bddbc13e5b1150ab585ec9b5f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
+v 0.04319239 0.20989701 0.45156026
+v 0.04499883 0.20484948 0.49499667
+v 0.04499883 0.20985597 0.45156026
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+v 0.04499883 0.20210001 0.50174040
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+v 0.05497530 0.20353630 0.49499667
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+v -0.04499463 0.20484948 0.49499667
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+v 0.05497530 0.19495958 0.50301570
+v -0.04499463 0.20210001 0.50174040
+v 0.06466437 0.19504166 0.50177103
+v 0.06113361 0.20062268 0.50062323
+v 0.06191366 0.20107409 0.49499667
+v 0.05620696 0.20850176 0.45156026
+v 0.05206036 0.20940456 0.45156026
+v -0.05213828 0.20940456 0.45156026
+v -0.05497110 0.20361838 0.49499667
+v -0.05497110 0.20156652 0.50137824
+v 0.19497424 0.02498500 0.50352579
+v 0.19497424 0.04496994 0.50340849
+v 0.12497478 0.15498972 0.50293410
+v -0.04499463 0.19495958 0.50334728
+v -0.10497659 0.00495902 0.50366867
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea51fdc9d213017e92bf7ac8c2cb576d2337e74
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,847 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..267ef742dd6e377cf8514b1bf42f8c67e3c20e83
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b0d6e0c84135605d2d18cb4c444e8fee1c375b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5271c9c6face36f3aa3ca12c858e849119a3f75d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_4.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a822bf595ecee60f23783850df59399f2500c443
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/collision_mesh_collision_5.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71097348779c33e61af13fea286272a6edd45a60
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_0.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.12644755 0.20579083 0.38561236
+v 0.12592900 0.17458963 -0.46998814
+v 0.07469129 0.25548199 -0.41666667
+v 0.00578768 0.25872976 0.26515151
+v 0.00578768 0.17644431 0.26515151
+v 0.07469133 0.25548207 0.26515152
+v 0.11849634 0.22232197 -0.44920764
+v 0.14652877 0.20585359 0.33097610
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+v 0.00578768 0.17644431 -0.41666667
+v 0.10178672 0.23477475 0.36577988
+v 0.10397936 0.23857251 -0.44023262
+v 0.00578768 0.25872966 -0.41666667
+v 0.11747657 0.22055566 0.37340825
+v 0.07530563 0.24139455 0.37787527
+v 0.07677845 0.24394556 -0.45201595
+v 0.08786745 0.23690906 0.37435224
+v 0.12012910 0.20999847 -0.45734078
+v 0.08137848 0.17615545 -0.47613819
+v 0.07622188 0.22783003 -0.46182959
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+f 20 19 13
+f 20 13 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997f5fa18f66c0f5a42f3db96a94bd58b7e007b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_1.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.08767366 -0.24732117 -0.41666667
+v 0.13697331 -0.20852655 -0.45201595
+v 0.14215131 -0.08113145 -0.41666667
+v -0.24420635 0.06875139 -0.39807514
+v -0.14561438 -0.11777296 -0.49624174
+v 0.14144695 -0.21627509 -0.41666667
+v -0.06401422 -0.23748257 -0.45999523
+v 0.14543201 -0.08302555 -0.49724975
+v 0.11696172 -0.23041167 -0.44023258
+v -0.10836575 -0.23557209 -0.41666667
+v 0.07242081 -0.17138811 -0.49624174
+v -0.21318278 0.04008067 -0.47026719
+v 0.08347191 0.04119303 -0.46737414
+v 0.07295347 -0.24806826 -0.44907363
+v -0.09044132 -0.24592076 -0.41666667
+v -0.24021489 -0.10069287 -0.41666666
+v -0.10567609 -0.23091345 -0.44731709
+v -0.07518848 -0.16998769 -0.49624174
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7efa6d46df1303b81f132b42ba6dbca1d866432b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_10.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.25922629 -0.00573017 0.34166811
+v 0.25822579 -0.00537388 0.26515151
+v 0.17267314 0.13412693 0.41262854
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+v -0.11542444 0.11583825 0.26515151
+v 0.23568762 0.10860734 0.26515151
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+v -0.18898774 0.11768701 0.40675856
+v -0.17603050 -0.00537387 0.26515151
+v 0.23568762 0.10860734 0.34090909
+v 0.24603630 0.09068291 0.34090909
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+f 14 3 1
+f 14 1 10
+f 14 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d651e0cee88e9e3edf3f01e07058df8d50c6ce82
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.21472553 0.09678413 0.39620605
+v -0.17511466 0.10015797 -0.47367558
+v -0.18898774 0.11768701 0.40675856
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+v -0.24339899 0.09584330 -0.44023262
+v -0.17912185 0.14792607 0.40394317
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+v -0.18134055 0.18150223 0.37643718
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+v -0.21127293 0.10994229 -0.46016845
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+f 22 13 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a42200afe2df08ae833a8535651a645638022ac6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.18471393 -0.13159937 0.40833533
+v -0.17603050 -0.08113145 0.26515151
+v -0.18898774 0.11768701 0.40675856
+v -0.19947876 -0.12262838 0.39613123
+v -0.21295667 -0.14790535 0.34090909
+v -0.23508249 -0.07148646 0.38839415
+v -0.25142885 -0.07217631 0.36637718
+v -0.25536639 -0.07444964 0.26515151
+v -0.24992010 0.07570903 0.36590692
+v -0.22053244 -0.13478374 0.34090909
+v -0.23397583 0.07525133 0.38752496
+v -0.22716342 0.11222672 0.27501908
+v -0.23559239 0.09133616 0.37364314
+v -0.24339901 0.09584332 0.26515151
+v -0.22210793 0.09229864 0.39010400
+v -0.25374767 0.07791888 0.26515151
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 5 4
+f 7 4 6
+f 8 2 5
+f 9 8 7
+f 10 8 5
+f 10 5 7
+f 10 7 8
+f 11 9 7
+f 11 7 6
+f 11 6 3
+f 12 3 2
+f 13 9 11
+f 13 3 12
+f 14 12 2
+f 14 2 8
+f 14 13 12
+f 14 9 13
+f 15 13 11
+f 15 11 3
+f 15 3 13
+f 16 14 8
+f 16 8 9
+f 16 9 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73cf3ac9f816b28f92caf85b2837563c97af8394
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_13.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.07224280 0.03470990 -0.46445998
+v 0.12987994 0.11750110 -0.49851050
+v 0.13420918 0.21475016 -0.41807295
+v -0.03966687 0.25872965 -0.41666667
+v -0.11910950 0.12222094 -0.49624174
+v 0.07192674 0.25069367 -0.44751429
+v 0.12699980 0.11583825 -0.41666667
+v -0.11614865 0.04049879 -0.47342291
+v 0.12592900 0.17458963 -0.46998814
+v 0.07469129 0.25548199 -0.41666667
+v -0.03966687 0.25134128 -0.44996295
+v 0.08347191 0.04119303 -0.46737414
+v -0.13955105 0.21823273 -0.41666667
+v -0.10526153 0.03421313 -0.47069223
+v 0.11801456 0.14572992 -0.49624174
+v -0.10941860 0.15089038 -0.49624174
+v -0.03966687 0.18534324 -0.49624174
+v 0.05943843 0.17954889 -0.49624174
+v -0.09149417 0.16123908 -0.49624174
+f 7 2 3
+f 8 5 2
+f 9 6 3
+f 9 3 2
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 11 4 6
+f 12 7 1
+f 12 2 7
+f 13 5 8
+f 13 4 11
+f 13 7 4
+f 14 1 7
+f 14 13 8
+f 14 7 13
+f 14 12 1
+f 14 8 2
+f 14 2 12
+f 15 9 2
+f 15 6 9
+f 16 13 11
+f 16 5 13
+f 16 2 5
+f 17 11 6
+f 18 17 6
+f 18 6 15
+f 18 15 2
+f 18 2 17
+f 19 16 11
+f 19 11 17
+f 19 17 2
+f 19 2 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd5eeb53ed8b8fd224e9ec3a6052768be2c7041f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_14.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.05266091 -0.18964929 0.49241161
+v 0.14569878 -0.12863411 0.46210298
+v 0.15075750 0.12080704 0.49238003
+v -0.03966687 0.20000788 0.49798967
+v -0.19699056 -0.06058576 0.45707543
+v 0.14581555 -0.12870153 0.49240541
+v -0.12403972 -0.16071943 0.45600712
+v -0.18936021 -0.07133189 0.49798968
+v -0.06377113 0.19601076 0.45632280
+v 0.12916143 -0.14548156 0.49240500
+v 0.05259349 -0.18953251 0.46210918
+v -0.11180875 -0.16577797 0.49798973
+v -0.14810570 -0.14760210 0.45456812
+v 0.13887260 0.11394528 0.46151046
+v -0.03966687 0.20029448 0.45910317
+v -0.19430236 0.06343751 0.49798967
+v 0.12909401 -0.14536478 0.46210257
+v 0.00578768 -0.19061245 0.49240902
+v -0.14634315 -0.14583955 0.49798973
+v -0.16247457 0.12316326 0.45480017
+v -0.09324136 0.17941681 0.45554379
+v 0.00578768 -0.19047762 0.46210659
+v -0.19566243 0.06422275 0.45635816
+v -0.16048345 0.12201369 0.49798967
+v -0.06297762 0.19463638 0.49798967
+v -0.09226568 0.17772689 0.49798967
+f 6 3 4
+f 6 2 3
+f 11 10 1
+f 12 6 4
+f 12 10 6
+f 12 1 10
+f 13 8 5
+f 13 7 12
+f 13 11 7
+f 14 3 2
+f 14 2 13
+f 15 9 4
+f 15 4 3
+f 15 14 9
+f 15 3 14
+f 16 5 8
+f 17 10 11
+f 17 2 6
+f 17 6 10
+f 17 13 2
+f 17 11 13
+f 18 11 1
+f 18 1 12
+f 19 13 12
+f 19 8 13
+f 19 16 8
+f 19 12 4
+f 21 14 13
+f 21 9 14
+f 21 13 20
+f 22 18 12
+f 22 12 7
+f 22 7 11
+f 22 11 18
+f 23 20 13
+f 23 13 5
+f 23 5 16
+f 23 16 20
+f 24 20 16
+f 24 16 19
+f 25 4 9
+f 25 9 21
+f 25 19 4
+f 26 21 20
+f 26 20 24
+f 26 25 21
+f 26 24 19
+f 26 19 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be5e63981d4ae0ddfaf48f6bbc7463fcf78c22f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_15.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00578768 0.17644431 -0.35606061
+v 0.00578768 0.17644431 -0.41666667
+v 0.00578768 0.25872967 -0.35606061
+v -0.07745897 0.25408169 -0.35606060
+v -0.19821648 0.17410185 -0.41666667
+v -0.17302689 0.15955866 -0.46547552
+v -0.17844474 0.19577740 -0.35606061
+v -0.11511261 0.16075268 -0.47515133
+v -0.07499010 0.24980550 -0.44673550
+v -0.16812928 0.19306204 -0.45012221
+v -0.06220611 0.17814857 -0.49624174
+v 0.00578768 0.25872966 -0.41666667
+v -0.13603507 0.22026268 -0.44023264
+v -0.16946569 0.18022525 -0.45822814
+v -0.06791048 0.17287730 -0.49690276
+v -0.03966687 0.25134128 -0.44996295
+v -0.03966687 0.17560459 -0.50000000
+v -0.09346876 0.22526523 -0.45753376
+v -0.03966687 0.18534324 -0.49624174
+f 1 3 4
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 8 2 1
+f 8 1 6
+f 12 9 4
+f 12 4 3
+f 12 1 2
+f 12 3 1
+f 13 7 4
+f 13 4 9
+f 13 9 10
+f 13 10 5
+f 13 5 7
+f 14 6 5
+f 14 5 10
+f 15 8 6
+f 15 14 11
+f 15 6 14
+f 16 9 12
+f 17 12 2
+f 17 15 11
+f 17 2 8
+f 17 8 15
+f 18 14 10
+f 18 10 9
+f 18 9 11
+f 18 11 14
+f 19 11 9
+f 19 9 16
+f 19 17 11
+f 19 16 12
+f 19 12 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a671af9ffb47a8a0b8e98d50fe99b870682361
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.08993655 -0.22093759 0.39231859
+v 0.11146936 -0.20168725 0.40099966
+v 0.07319223 -0.18787577 0.49798972
+v -0.09876704 -0.13912527 0.49059435
+v -0.11000726 -0.20811224 0.39414563
+v 0.08154525 -0.14173751 0.49059435
+v 0.10698386 -0.20906967 0.39489761
+v 0.08885545 -0.15439912 0.45349251
+v -0.08039813 -0.22446563 0.39508961
+v 0.08196137 -0.17276128 0.49798971
+v 0.11028991 -0.19635779 0.41425514
+v -0.11727060 -0.17537632 0.42617356
+v 0.05791155 -0.21643389 0.42317238
+v -0.07595988 -0.18647531 0.49798973
+v -0.12057787 -0.15066351 0.49798973
+v -0.06014733 -0.21563340 0.42263000
+v -0.10524796 -0.16956584 0.49798973
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 8 4 6
+f 9 5 1
+f 11 7 2
+f 11 3 7
+f 11 10 3
+f 11 6 10
+f 11 8 6
+f 11 2 8
+f 12 4 8
+f 12 8 2
+f 12 2 5
+f 13 9 1
+f 13 1 3
+f 14 5 9
+f 15 10 6
+f 15 6 4
+f 15 4 12
+f 15 12 5
+f 15 14 3
+f 15 3 10
+f 16 13 3
+f 16 3 14
+f 16 14 9
+f 16 9 13
+f 17 15 5
+f 17 5 14
+f 17 14 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..384804e561c2f18e0d899aede6d6b31a44ad59c6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.11542444 0.08553522 0.49059435
+v -0.11542444 0.10068673 0.34090909
+v -0.11542444 0.08553522 0.40151515
+v -0.10793814 0.22408374 0.37617930
+v -0.21921102 0.08422231 0.39972907
+v -0.11019011 0.16737820 0.49798967
+v -0.17844479 0.19577748 0.31060606
+v -0.21310896 0.08069929 0.41008788
+v -0.11330787 0.23338436 0.31060606
+v -0.21408998 0.13369909 0.34819606
+v -0.18134055 0.18150223 0.37643718
+v -0.19531475 0.07917353 0.44101888
+v -0.13587246 0.21998101 0.35073986
+v -0.19550321 0.15503991 0.37785723
+v -0.16227845 0.10149471 0.49798967
+v -0.16881765 0.09011860 0.49238346
+v -0.13760887 0.22069010 0.31268074
+v -0.12049995 0.21959825 0.37265627
+v -0.14634337 0.14650507 0.49798967
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 8 5 2
+f 8 2 3
+f 9 4 2
+f 9 2 7
+f 10 7 2
+f 10 2 5
+f 11 7 10
+f 12 8 3
+f 12 3 1
+f 13 4 9
+f 13 7 11
+f 14 11 10
+f 14 10 5
+f 15 1 6
+f 16 5 8
+f 16 8 12
+f 16 15 5
+f 16 12 1
+f 16 1 15
+f 17 13 9
+f 17 9 7
+f 17 7 13
+f 18 13 11
+f 18 6 4
+f 18 4 13
+f 19 15 6
+f 19 11 14
+f 19 14 5
+f 19 5 15
+f 19 18 11
+f 19 6 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..587cf33143c838440869c0413fe8c30b0d0dc1b9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_18.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.22316978 -0.12962336 -0.41666667
+v 0.25421572 -0.07585003 -0.41666667
+v 0.23568758 0.10860732 -0.41666667
+v 0.08294801 0.11826789 -0.47798509
+v 0.13866314 -0.12457210 -0.49713866
+v 0.07363394 -0.07347213 -0.46914316
+v 0.24843133 -0.07251042 -0.44902898
+v 0.07585594 0.10598408 -0.47522914
+v 0.15652434 -0.13488423 -0.47311922
+v 0.24740462 0.07632139 -0.44812881
+v 0.11634183 0.12362130 -0.49624174
+v 0.08258885 -0.08173396 -0.47172495
+v 0.20688601 -0.12022196 -0.45881052
+v 0.24603626 0.09068288 -0.41666667
+v 0.17010314 0.07543002 -0.49624174
+v 0.23113804 0.10598064 -0.44715114
+v 0.17172186 -0.07196085 -0.49624174
+v 0.23780028 0.06437254 -0.45983420
+v 0.14940578 0.11127888 -0.49624174
+v 0.24603626 0.09068288 -0.44023262
+v 0.14446378 -0.11917339 -0.49624174
+v 0.23724291 -0.06328193 -0.46031349
+v 0.22208241 0.09434858 -0.45888560
+f 6 1 3
+f 7 2 1
+f 8 6 3
+f 8 3 4
+f 9 1 6
+f 10 2 7
+f 11 8 4
+f 11 5 6
+f 11 6 8
+f 11 4 3
+f 12 9 6
+f 12 6 5
+f 12 5 9
+f 13 7 1
+f 13 1 9
+f 13 9 5
+f 14 2 10
+f 14 1 2
+f 14 3 1
+f 16 11 3
+f 17 5 15
+f 18 10 7
+f 18 17 15
+f 19 15 5
+f 19 5 11
+f 19 11 16
+f 19 18 15
+f 20 14 10
+f 20 10 16
+f 20 16 3
+f 20 3 14
+f 21 13 5
+f 21 5 17
+f 22 7 13
+f 22 21 17
+f 22 13 21
+f 22 18 7
+f 22 17 18
+f 23 16 10
+f 23 10 18
+f 23 19 16
+f 23 18 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c75d8fcedceb9beec2ccf4d77ea684358b48eb3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_19.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16589360 0.11205040 0.49798967
+v 0.20093977 0.11478885 0.40008755
+v 0.07626810 0.22791008 0.39433612
+v -0.07929150 0.22695268 0.39358415
+v -0.03966687 0.11583825 0.40151515
+v 0.19196878 0.13991248 0.39304150
+v -0.03966687 0.20000788 0.49798967
+v 0.19483771 0.11126583 0.41044635
+v 0.17561537 0.16952159 0.39209750
+v 0.07157360 0.18947593 0.49798967
+v -0.03966687 0.11583825 0.49059435
+v 0.13548634 0.19520328 0.39244814
+v 0.14600110 0.14650518 0.49798967
+v -0.03966688 0.19130295 0.49798967
+v -0.12684260 0.18106960 0.41704836
+v -0.10934630 0.20921880 0.39736808
+v -0.11605131 0.16237856 0.46270759
+f 6 5 4
+f 6 2 5
+f 6 1 2
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 9 6 4
+f 9 1 6
+f 10 7 1
+f 10 3 7
+f 11 8 1
+f 11 5 8
+f 12 9 4
+f 12 4 3
+f 12 3 10
+f 13 10 1
+f 13 1 9
+f 13 12 10
+f 13 9 12
+f 14 11 1
+f 14 1 7
+f 16 4 5
+f 16 5 15
+f 16 7 4
+f 17 15 5
+f 17 5 11
+f 17 11 14
+f 17 14 7
+f 17 16 15
+f 17 7 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ce722b6bd90b0ff1b47cec60dc9fd4144824baf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_2.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.07631003 -0.25388197 -0.35606061
+v 0.25822579 -0.00537388 -0.41666667
+v 0.24603626 0.09068288 -0.35606061
+v -0.13955105 0.21823273 -0.35606061
+v -0.10836575 -0.23557209 -0.41666667
+v 0.13420918 0.21475016 -0.41807295
+v 0.25822579 -0.00537388 -0.35606061
+v 0.07631003 -0.25388197 -0.41666667
+v -0.10836575 -0.23557208 -0.35606061
+v 0.24603626 0.09068288 -0.41666667
+v 0.14814699 0.21307233 -0.35606061
+v -0.13955105 0.21823273 -0.41666667
+v -0.09044132 -0.24592076 -0.41666667
+v 0.23568758 0.10860732 -0.41666667
+v -0.09044131 -0.24592075 -0.35606061
+v 0.23568758 0.10860732 -0.35606061
+f 7 2 3
+f 7 3 1
+f 8 7 1
+f 8 2 7
+f 8 6 2
+f 9 4 5
+f 9 1 3
+f 9 3 4
+f 10 3 2
+f 10 2 6
+f 11 6 4
+f 12 6 5
+f 12 5 4
+f 12 4 6
+f 13 8 1
+f 13 5 6
+f 13 6 8
+f 14 10 6
+f 14 6 11
+f 15 13 1
+f 15 1 9
+f 15 9 5
+f 15 5 13
+f 16 14 11
+f 16 3 10
+f 16 10 14
+f 16 11 4
+f 16 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb874db11621aa4c1a3ba0dfa5bb293660212cf2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_20.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.22180663 0.10934088 0.37752464
+v 0.22415112 0.11069447 -0.45201595
+v 0.20186861 0.16718345 -0.44023262
+v 0.11952281 0.22409984 0.36717529
+v 0.12987994 0.11750110 -0.49851050
+v 0.18461435 0.18112094 0.37211362
+v 0.21877809 0.13789538 -0.44023262
+v 0.14940578 0.11127888 -0.49624174
+v 0.14357767 0.15459081 0.42698497
+v 0.12190379 0.22822383 -0.44023262
+v 0.21502462 0.13572832 0.36559017
+v 0.20847817 0.11039342 -0.46147723
+v 0.20832217 0.11030336 0.39398551
+v 0.12292453 0.19968877 0.39597116
+v 0.12457536 0.14194204 -0.49624174
+v 0.16255550 0.20475356 -0.44023262
+v 0.21732113 0.12190269 0.37400162
+v 0.19823456 0.16508533 0.36507942
+v 0.17704242 0.17034551 -0.45958005
+v 0.17541873 0.17592281 0.38764246
+v 0.12224279 0.19850796 -0.46347259
+v 0.13526591 0.13576985 -0.49624174
+v 0.16240689 0.20449617 0.35063601
+v 0.18649979 0.18220950 -0.44786677
+v 0.14708569 0.20420226 0.37246426
+v 0.16615000 0.18067640 -0.45898378
+v 0.13114373 0.21798468 0.36526912
+v 0.14815562 0.20605542 -0.44822991
+v 0.17781487 0.18978885 -0.44725225
+v 0.13617396 0.19639428 -0.45993239
+f 7 1 2
+f 7 2 3
+f 11 1 7
+f 12 2 1
+f 12 1 8
+f 13 8 1
+f 13 5 8
+f 13 9 5
+f 14 5 9
+f 15 14 4
+f 15 5 14
+f 17 11 6
+f 17 1 11
+f 17 13 1
+f 17 6 13
+f 18 11 7
+f 18 7 3
+f 18 3 6
+f 18 6 11
+f 19 2 12
+f 20 13 6
+f 20 9 13
+f 20 14 9
+f 21 15 4
+f 21 4 10
+f 22 8 5
+f 22 5 15
+f 22 15 21
+f 22 19 12
+f 22 12 8
+f 23 6 3
+f 23 16 10
+f 23 10 4
+f 24 3 2
+f 24 2 19
+f 24 23 3
+f 24 16 23
+f 25 20 6
+f 25 4 14
+f 25 14 20
+f 26 22 21
+f 26 19 22
+f 26 24 19
+f 27 23 4
+f 27 6 23
+f 27 25 6
+f 27 4 25
+f 28 21 10
+f 29 16 24
+f 29 24 26
+f 29 26 28
+f 29 28 10
+f 29 10 16
+f 30 28 26
+f 30 26 21
+f 30 21 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b7e363aad1a4b31a3e78a4352694890a6a0b81
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_21.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.04358402 -0.00636038 0.49476499
+v 0.05130347 -0.00564500 0.48188084
+v 0.05169006 0.04629638 0.48571343
+v -0.03880154 0.03179642 0.49476493
+v -0.03966687 -0.00537387 0.40151515
+v 0.00578768 -0.00537387 0.40151515
+v -0.03054364 -0.00360092 0.49630440
+v -0.03966687 0.04008067 0.40151515
+v 0.00578768 0.04008067 0.40151515
+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 8 6 5
+f 9 3 2
+f 9 2 6
+f 9 8 3
+f 9 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0af489b9240186223191868ca16d395baa6042fb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.21295667 -0.14790535 0.34090909
+v -0.17419955 -0.12552889 -0.47008132
+v -0.17603050 -0.08113145 0.34090909
+v -0.24118454 -0.07500948 0.37803534
+v -0.24382997 -0.07653683 -0.45201595
+v -0.19947876 -0.12262838 0.39613123
+v -0.22209735 -0.11819177 -0.44937347
+v -0.23463878 -0.10153332 0.36586641
+v -0.17576538 -0.08097837 -0.47623139
+v -0.21293525 -0.08494295 0.40670031
+v -0.20968075 -0.11977077 -0.45750170
+v -0.23420247 -0.10128141 -0.44670244
+v -0.20877534 -0.11986954 0.38877594
+v -0.22751232 -0.07586356 -0.46199046
+v -0.22770008 -0.07597196 0.39449620
+v -0.23669905 -0.08757130 0.37451231
+v -0.22034564 -0.11718042 0.37356832
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 8 4 5
+f 9 3 2
+f 10 6 3
+f 11 7 5
+f 11 2 7
+f 12 7 1
+f 12 5 7
+f 12 8 5
+f 12 1 8
+f 13 6 10
+f 13 1 6
+f 14 9 2
+f 14 5 4
+f 14 11 5
+f 14 2 11
+f 15 10 3
+f 15 13 10
+f 15 4 13
+f 15 14 4
+f 15 3 9
+f 15 9 14
+f 16 13 4
+f 16 4 8
+f 16 8 13
+f 17 13 8
+f 17 8 1
+f 17 1 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b017f3cd89c40fbcb7cc257d49e2d0b1bc92131f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.11542444 0.10068673 0.34090909
+v -0.11542444 0.10068673 -0.35606061
+v -0.11330787 0.23338436 0.31060606
+v -0.22930592 0.10789225 -0.36248254
+v -0.11330783 0.23338430 -0.35606061
+v -0.21408998 0.13369909 0.34819606
+v -0.12018802 0.22322394 0.33324992
+v -0.17188394 0.19956529 -0.35606061
+v -0.17844479 0.19577749 0.34090909
+v -0.13760887 0.22069010 0.31268074
+f 2 1 4
+f 5 2 4
+f 5 1 2
+f 5 3 1
+f 6 4 1
+f 7 1 3
+f 8 5 4
+f 9 6 1
+f 9 1 7
+f 9 7 3
+f 9 8 4
+f 9 4 6
+f 10 9 3
+f 10 3 5
+f 10 5 8
+f 10 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d77d324f3d6c49d2e04d6bdbd4193001cebf3f3f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00578766 -0.24753105 0.37587594
+v 0.00578767 -0.25806411 0.26515151
+v 0.00578768 -0.00537387 0.26515151
+v -0.11542444 -0.00537387 0.40151515
+v -0.10611798 -0.23167882 0.36618752
+v 0.00578768 -0.00537387 0.40151515
+v -0.09028807 -0.24565533 0.35066972
+v -0.07591264 -0.23184803 0.38898755
+v -0.11542444 -0.00537387 0.26515151
+v -0.07495017 -0.24533249 0.37252669
+v -0.10552177 -0.21549464 0.38804357
+v 0.00578767 -0.23569229 0.39328079
+v -0.10836571 -0.23557201 0.26515151
+v -0.09044127 -0.24592068 0.26515151
+f 6 3 4
+f 6 2 3
+f 9 4 3
+f 10 7 2
+f 10 2 1
+f 10 5 7
+f 11 8 4
+f 11 4 5
+f 11 10 8
+f 11 5 10
+f 12 6 4
+f 12 4 8
+f 12 1 2
+f 12 2 6
+f 12 10 1
+f 12 8 10
+f 13 5 4
+f 13 4 9
+f 13 7 5
+f 14 2 7
+f 14 7 13
+f 14 3 2
+f 14 13 9
+f 14 9 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5e82114087c95faf17453d6202578fa235d69d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.25822579 -0.00537388 0.26515151
+v 0.25822579 -0.00537388 -0.35606061
+v 0.23568762 0.10860734 0.26515151
+v 0.00578768 0.11583825 0.26515151
+v 0.00578768 -0.00537387 0.26515151
+v 0.00578768 0.11583825 -0.35606061
+v 0.24603630 0.09068290 0.26515151
+v 0.23568758 0.10860732 -0.35606061
+v 0.00578768 -0.00537387 -0.35606061
+v 0.24603626 0.09068288 -0.35606061
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 5 1
+f 7 3 4
+f 7 4 5
+f 8 6 3
+f 8 2 6
+f 8 3 7
+f 9 6 2
+f 9 5 6
+f 9 2 1
+f 9 1 5
+f 10 8 7
+f 10 7 2
+f 10 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c6b8d166fcd12ddcf5fa37c1670f952ec5df069
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00578767 -0.25806411 0.26515151
+v 0.00578767 -0.25806419 -0.35606061
+v 0.00578768 0.25872973 0.00757576
+v -0.07745900 0.25408174 0.26515151
+v -0.10836575 -0.23557208 -0.35606061
+v 0.00578768 0.25872976 0.26515151
+v -0.09044127 -0.24592068 0.26515151
+v 0.00578768 0.25872967 -0.35606061
+v -0.09044131 -0.24592075 -0.35606061
+v -0.10674706 0.23717224 0.26515152
+v -0.10836571 -0.23557201 0.26515151
+v -0.10674703 0.23717219 -0.35606060
+v -0.07745897 0.25408169 -0.35606060
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 3 2
+f 9 2 7
+f 9 8 2
+f 10 6 4
+f 10 1 6
+f 11 10 5
+f 11 7 1
+f 11 1 10
+f 11 9 7
+f 11 5 9
+f 12 5 10
+f 12 9 5
+f 13 8 9
+f 13 9 12
+f 13 3 8
+f 13 6 3
+f 13 4 6
+f 13 12 10
+f 13 10 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a6b391a9d44389d06fa4e6711bfafc2e4b18e1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15583985 -0.14742835 0.41967362
+v 0.16662923 -0.19004489 -0.33478814
+v 0.14215131 -0.00537387 -0.35606061
+v 0.00578768 -0.00537387 0.40151515
+v 0.00578768 -0.14173751 0.40151515
+v 0.14215131 -0.00537387 0.40151515
+v 0.00578768 -0.14173751 -0.35606061
+v 0.00578768 -0.00537387 -0.35606061
+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 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/can/can_17/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95807b431fba7117c1e81e2ae19d530b3e3f9f3a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.11542444 -0.00537387 0.26515151
+v -0.11542444 -0.00537387 -0.35606061
+v -0.11542444 0.10068673 0.26515151
+v -0.24339901 0.09584332 0.26515151
+v -0.25856788 -0.00537386 -0.35606061
+v -0.25856787 -0.00537387 0.26515151
+v -0.11542444 0.10068673 -0.35606061
+v -0.25374767 0.07791888 0.26515151
+v -0.24339899 0.09584330 -0.35606061
+v -0.25374765 0.07791886 -0.35606061
+f 1 2 3
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 5 6
+f 8 6 1
+f 8 1 3
+f 8 3 4
+f 9 4 7
+f 10 5 8
+f 10 8 4
+f 10 4 9
+f 10 9 7
+f 10 7 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..505b9c94c6355f133755bf18174f7ee9a08760c3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00578768 0.11583825 0.40151515
+v 0.14814699 0.21307233 -0.35606061
+v 0.14357767 0.15459081 0.42698497
+v 0.00419068 0.21326795 0.42188373
+v 0.00578768 0.17644431 -0.35606061
+v 0.13189551 0.18492394 0.40817527
+v 0.12699980 0.11583825 -0.35606061
+v 0.00578768 0.11583825 -0.35606061
+f 1 3 4
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 2
+f 8 2 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca49847d10715edfd12edf2855c09d836ef05cf1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_3.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.07192678 -0.24628997 0.37327871
+v 0.15600240 -0.14973440 -0.47106921
+v 0.13951215 -0.13935003 0.46213758
+v 0.08154525 -0.14173751 0.49059435
+v 0.00578768 -0.14173751 -0.35606061
+v 0.07975304 -0.18408787 0.49798971
+v 0.13265241 -0.21619404 0.36608364
+v 0.00578767 -0.25806419 -0.35606061
+v 0.08154525 -0.14173751 -0.41666667
+v 0.00578768 -0.14173751 0.40151515
+v 0.12917385 -0.14550308 0.49798968
+v 0.08555933 -0.24365905 0.36519898
+v 0.11696171 -0.23041167 -0.41666667
+v 0.07631003 -0.25388197 -0.41666667
+v 0.09597757 -0.14049183 0.49059435
+v 0.00578766 -0.24753105 0.37587594
+v 0.08852218 -0.16897339 0.49798971
+v 0.12040471 -0.16061756 0.49798969
+v 0.13697331 -0.20852655 -0.45201595
+v 0.11682250 -0.23017055 0.35056588
+v 0.11952307 -0.21969656 -0.45076696
+v 0.00578767 -0.23569229 0.39328079
+v 0.13227193 -0.21553505 -0.44711827
+v 0.12419082 -0.21262979 -0.45397233
+f 7 2 3
+f 9 5 3
+f 9 3 2
+f 10 3 5
+f 10 6 4
+f 11 7 3
+f 12 7 6
+f 12 6 1
+f 14 8 5
+f 14 12 1
+f 14 1 8
+f 15 10 4
+f 15 3 10
+f 15 11 3
+f 15 4 11
+f 16 8 1
+f 16 1 6
+f 16 10 5
+f 16 5 8
+f 17 11 4
+f 17 4 6
+f 18 6 7
+f 18 7 11
+f 18 17 6
+f 18 11 17
+f 19 2 7
+f 20 13 7
+f 20 7 12
+f 20 14 13
+f 20 12 14
+f 21 14 5
+f 21 5 9
+f 22 16 6
+f 22 6 10
+f 22 10 16
+f 23 19 7
+f 23 7 13
+f 23 21 19
+f 23 13 14
+f 23 14 21
+f 24 21 9
+f 24 9 2
+f 24 2 19
+f 24 19 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e8713909678065ffa73eb4ec8d9ca77804063d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.12091117 -0.13608928 0.45349251
+v -0.11542444 -0.12658599 -0.35606061
+v -0.11542444 -0.00537387 0.40151515
+v -0.22119747 -0.00802114 0.40860156
+v -0.19760877 -0.15839401 -0.34087299
+v -0.17603050 -0.00537387 -0.35606061
+v -0.18471393 -0.13159937 0.40833533
+v -0.11542444 -0.00537387 -0.35606061
+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/can/can_17/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..270da58c452773ed133cb99e9edcdf60bf3fdaee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.17603050 -0.08113145 0.26515151
+v -0.17603050 -0.08113145 -0.35606061
+v -0.17603050 -0.00537387 0.26515151
+v -0.25856787 -0.00537387 0.26515151
+v -0.25536642 -0.07444967 -0.35606061
+v -0.25536639 -0.07444964 0.26515151
+v -0.17603050 -0.00537387 -0.35606061
+v -0.25856788 -0.00537386 -0.35606061
+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 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/can/can_17/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1996f824abfa68306c45e27cc57eaeda2f0bfb37
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_4.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.10904479 -0.22159670 0.37768476
+v -0.11045293 -0.22403567 -0.45201595
+v -0.11710773 -0.12950153 -0.49839909
+v -0.22396386 -0.11926940 0.36726184
+v -0.16694192 -0.20175317 -0.44023262
+v -0.12091117 -0.13608928 0.45349251
+v -0.11103735 -0.14929035 -0.49624174
+v -0.13765384 -0.21866263 -0.44023262
+v -0.18082487 -0.18440444 0.37227377
+v -0.22810826 -0.12166217 -0.44023262
+v -0.14182650 -0.12433376 -0.49624174
+v -0.11003513 -0.20816051 -0.46163825
+v -0.11000726 -0.20811224 0.39414563
+v -0.16998722 -0.17672476 -0.45974106
+v -0.19947876 -0.12262838 0.39613123
+v -0.13547500 -0.21488877 0.36567677
+v -0.20436023 -0.16215351 0.35072255
+v -0.19819025 -0.12188447 -0.46363348
+v -0.13560802 -0.13510448 -0.49624174
+v -0.17567720 -0.17517369 0.38781025
+v -0.18190496 -0.18627522 -0.44803277
+v -0.12160661 -0.21711121 0.37416175
+v -0.16483203 -0.19809872 0.36516601
+v -0.21784870 -0.13089032 0.36535565
+v -0.18035868 -0.16579167 -0.45914470
+v -0.20399224 -0.14678953 0.37262432
+v -0.20463797 -0.16231386 -0.44023262
+v -0.20583077 -0.14785101 -0.44839581
+v -0.18956418 -0.17751025 -0.44741814
+v -0.19607655 -0.13581563 -0.46009330
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 11 6 3
+f 12 7 1
+f 12 1 2
+f 13 7 6
+f 13 1 7
+f 14 12 2
+f 15 11 4
+f 15 6 11
+f 16 8 1
+f 17 4 10
+f 17 5 9
+f 18 10 4
+f 18 4 11
+f 19 11 3
+f 19 3 7
+f 19 7 12
+f 19 12 14
+f 19 18 11
+f 20 13 6
+f 20 9 13
+f 20 6 15
+f 21 14 2
+f 21 2 5
+f 21 5 17
+f 22 16 1
+f 22 9 16
+f 22 13 9
+f 22 1 13
+f 23 16 9
+f 23 9 5
+f 23 5 8
+f 23 8 16
+f 24 17 9
+f 24 4 17
+f 25 19 14
+f 25 18 19
+f 25 14 21
+f 26 9 20
+f 26 24 9
+f 26 4 24
+f 26 20 15
+f 26 15 4
+f 27 21 17
+f 27 17 10
+f 28 10 18
+f 29 28 25
+f 29 25 21
+f 29 21 27
+f 29 27 10
+f 29 10 28
+f 30 28 18
+f 30 18 25
+f 30 25 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a6e9f5c491a824aa0f02d04854402eeb6865ca3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.19760877 -0.15839401 -0.34087299
+v -0.11542444 -0.12658599 -0.41666667
+v -0.11542444 -0.12658599 -0.35606061
+v -0.13299025 0.22202062 -0.35606061
+v -0.24944225 0.07543314 -0.44677989
+v -0.10941860 0.15089038 -0.49624174
+v -0.25046905 -0.07162217 -0.44768011
+v -0.25374765 0.07791886 -0.35606061
+v -0.17844474 0.19577740 -0.41666667
+v -0.21295672 -0.14790537 -0.41666666
+v -0.14041524 -0.08681216 -0.49624174
+v -0.17844474 0.19577740 -0.35606061
+v -0.25536642 -0.07444967 -0.35606061
+v -0.17302689 0.15955866 -0.46547552
+v -0.13299024 0.22202062 -0.41666667
+v -0.11588552 -0.05109462 -0.47453259
+v -0.16908466 -0.07712126 -0.49624174
+v -0.17781459 0.06266603 -0.49624174
+v -0.23733716 0.09234351 -0.44945093
+v -0.14399569 0.12124221 -0.49624174
+v -0.17943334 -0.05919682 -0.49624174
+v -0.22487712 0.09389743 -0.45757684
+v -0.12078222 0.14432958 -0.49624174
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 9 5 8
+f 10 2 1
+f 11 2 10
+f 12 8 1
+f 12 1 4
+f 12 9 8
+f 13 1 8
+f 13 10 1
+f 13 7 10
+f 13 8 5
+f 13 5 7
+f 15 4 6
+f 15 14 9
+f 15 6 14
+f 15 12 4
+f 15 9 12
+f 16 11 6
+f 16 6 2
+f 16 2 11
+f 17 11 10
+f 17 10 7
+f 17 6 11
+f 18 6 17
+f 18 7 5
+f 19 5 9
+f 19 9 14
+f 20 6 18
+f 21 18 17
+f 21 17 7
+f 21 7 18
+f 22 18 5
+f 22 5 19
+f 22 19 14
+f 22 20 18
+f 22 14 20
+f 23 20 14
+f 23 14 6
+f 23 6 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eecef454e587e039859b94f3c8a4958554fd108
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_6.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.13563050 -0.20620073 0.37749275
+v 0.25421572 -0.07585003 -0.44023262
+v 0.25922629 -0.00573017 0.34166811
+v 0.14215131 -0.00537387 0.34090909
+v 0.13072054 -0.00537388 -0.47549754
+v 0.15589646 -0.14540522 0.42075146
+v 0.23050983 -0.11636572 0.35054266
+v 0.13697331 -0.20852655 -0.45201595
+v 0.25822579 -0.00537388 -0.41666667
+v 0.22450186 -0.08493789 0.39154192
+v 0.13659297 -0.19271625 0.39395360
+v 0.25011343 -0.07348158 0.36708194
+v 0.14103306 -0.12594037 -0.49228951
+v 0.18898880 -0.18882674 -0.44023262
+v 0.22471755 -0.07631472 -0.46329928
+v 0.18600372 -0.18584153 0.36464022
+v 0.23926666 -0.07596692 0.37933780
+v 0.13563236 -0.13547041 -0.49144757
+v 0.16417420 -0.20315348 -0.44023260
+v 0.14494331 -0.11945025 -0.49093509
+v 0.19116815 -0.15019801 -0.45786195
+v 0.17479946 -0.17463729 0.38888680
+v 0.17884158 -0.18716341 -0.44881152
+v 0.16200941 -0.19940396 0.36557287
+v 0.23216478 -0.10216969 -0.44805133
+v 0.19017854 -0.12807133 0.40353580
+v 0.18572107 -0.17735617 0.37298288
+v 0.15062664 -0.19078010 -0.45790506
+v 0.18752657 -0.17839858 -0.44876714
+v 0.17780143 -0.18536182 0.37302572
+v 0.22260387 -0.09024590 -0.45975909
+v 0.13669545 -0.19289377 -0.46144529
+v 0.14819231 -0.20171523 0.37396972
+f 5 1 4
+f 8 1 5
+f 9 3 2
+f 9 5 4
+f 9 4 3
+f 10 3 4
+f 10 4 6
+f 11 6 4
+f 11 4 1
+f 12 7 2
+f 12 2 3
+f 14 2 7
+f 15 9 2
+f 15 5 9
+f 16 7 12
+f 16 14 7
+f 17 12 3
+f 17 3 10
+f 18 5 13
+f 19 1 8
+f 19 8 14
+f 19 14 16
+f 20 15 13
+f 20 13 5
+f 20 5 15
+f 21 13 15
+f 21 18 13
+f 22 6 11
+f 23 14 8
+f 24 19 16
+f 24 1 19
+f 25 15 2
+f 26 10 6
+f 26 6 22
+f 27 22 16
+f 27 16 12
+f 27 12 17
+f 27 17 10
+f 27 26 22
+f 27 10 26
+f 28 23 8
+f 28 18 23
+f 29 14 23
+f 29 21 25
+f 29 25 2
+f 29 2 14
+f 29 23 18
+f 29 18 21
+f 30 22 11
+f 30 24 16
+f 30 16 22
+f 31 25 21
+f 31 21 15
+f 31 15 25
+f 32 28 8
+f 32 18 28
+f 32 8 5
+f 32 5 18
+f 33 1 24
+f 33 24 30
+f 33 30 11
+f 33 11 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b807acc4d847f7523f75cc348f575b34d50d5e5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_7.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.08799170 -0.15290305 0.46420109
+v 0.08885545 -0.15439912 0.45349251
+v 0.08154525 0.11583825 0.49059435
+v -0.04217006 0.20701265 0.42540138
+v -0.22770008 -0.07597196 0.39449620
+v 0.08154525 0.11583825 0.40151515
+v -0.11449275 -0.20072983 0.40024768
+v -0.19160734 -0.07262926 0.45416815
+v -0.22659342 0.07973682 0.39362701
+v -0.13961639 -0.19175885 0.39320164
+v -0.11199621 -0.16610265 0.45891438
+v -0.11605131 0.16237856 0.46270759
+v -0.12684260 0.18106960 0.41704836
+v -0.20652546 0.06174680 0.43889060
+v -0.16922552 -0.17540546 0.39225765
+v -0.10704431 -0.18782874 0.42397927
+v -0.19027921 0.07626627 0.45345089
+v -0.03966688 0.17704595 0.46466250
+v -0.20247039 -0.07015331 0.43670060
+v -0.19499326 -0.13519019 0.39260820
+v -0.15841943 -0.13156973 0.45261014
+v -0.13608324 -0.15533622 0.45309985
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 6 2
+f 10 6 7
+f 11 1 3
+f 11 3 8
+f 11 10 7
+f 13 4 6
+f 13 6 9
+f 13 12 4
+f 13 9 12
+f 14 9 5
+f 15 9 6
+f 15 6 10
+f 15 10 11
+f 16 11 7
+f 16 7 1
+f 16 1 11
+f 17 8 3
+f 17 3 12
+f 17 14 8
+f 17 12 9
+f 17 9 14
+f 18 12 3
+f 18 3 4
+f 18 4 12
+f 19 14 5
+f 19 5 8
+f 19 8 14
+f 20 5 9
+f 20 9 15
+f 20 8 5
+f 21 11 8
+f 21 20 15
+f 21 8 20
+f 22 21 15
+f 22 15 11
+f 22 11 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e083f44f2dd4af7b12f856fcc04cd7dfe20d0f1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_8.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.14107847 -0.18533383 0.40005566
+v 0.25421568 -0.07585000 0.34090909
+v 0.18820955 -0.07273229 0.49798967
+v 0.08154525 0.11583825 0.49059435
+v 0.14215131 0.11583825 0.34090909
+v 0.23181469 0.10637131 0.36610093
+v 0.08799170 -0.15290305 0.46420109
+v 0.19469204 -0.15223251 0.38002891
+v 0.14215131 -0.12658599 0.34090909
+v 0.24554243 0.07524626 0.37236658
+v 0.15077912 0.12081952 0.49798967
+v 0.23568762 0.10860734 0.34090909
+v 0.12696552 -0.15682966 0.49798968
+v 0.08154525 0.11583825 0.40151515
+v 0.24664906 -0.07148143 0.37323574
+v 0.08885545 -0.15439912 0.45349251
+v 0.22316974 -0.12962333 0.34090909
+v 0.18659096 0.07620153 0.49798967
+v 0.24603630 0.09068291 0.34090909
+v 0.14600138 -0.14583928 0.49798967
+v 0.16620209 -0.17636284 0.39300960
+v 0.20655992 -0.13518520 0.37744987
+v 0.16968148 0.10548960 0.49798967
+v 0.24579120 0.09054140 0.35058310
+f 9 5 2
+f 12 2 5
+f 12 11 6
+f 12 5 11
+f 13 7 1
+f 13 4 7
+f 13 11 4
+f 14 7 4
+f 14 5 9
+f 14 11 5
+f 14 4 11
+f 15 10 3
+f 15 2 10
+f 16 9 1
+f 16 1 7
+f 16 14 9
+f 16 7 14
+f 17 1 9
+f 17 9 2
+f 17 2 15
+f 18 10 6
+f 18 3 10
+f 18 13 3
+f 19 2 12
+f 20 3 13
+f 20 15 3
+f 21 17 8
+f 21 1 17
+f 21 8 20
+f 21 20 13
+f 21 13 1
+f 22 17 15
+f 22 8 17
+f 22 20 8
+f 22 15 20
+f 23 18 6
+f 23 6 11
+f 23 11 13
+f 23 13 18
+f 24 10 2
+f 24 2 19
+f 24 6 10
+f 24 19 12
+f 24 12 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa496b5da72c1db87d7e9312e6ea6feb5db6a75b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/collision/model_normalized_collision_9.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00578768 0.11583825 0.40151515
+v 0.14652877 0.20585359 0.33097610
+v 0.13189551 0.18492394 0.40817527
+v -0.07525228 0.25025959 0.36588375
+v -0.11542444 0.11583825 0.26515151
+v 0.07242971 0.25156482 0.36629064
+v -0.15446951 0.14219052 0.42792478
+v 0.00578768 0.11583825 0.26515151
+v -0.07745900 0.25408174 0.26515151
+v 0.13502544 0.22064815 0.34090909
+v 0.07178261 0.23529249 0.38823407
+v 0.07469133 0.25548207 0.26515152
+v -0.10460928 0.23346951 0.36537299
+v -0.10674706 0.23717224 0.26515152
+v 0.12196206 0.21317324 0.37951031
+v -0.07480600 0.23433510 0.38748210
+v 0.08154525 0.17644431 0.26515151
+v 0.12287236 0.20600002 0.38896537
+v -0.10934630 0.20921880 0.39736808
+f 7 1 3
+f 7 5 1
+f 8 2 3
+f 8 3 1
+f 8 1 5
+f 10 3 2
+f 11 7 3
+f 12 10 2
+f 12 6 10
+f 12 9 4
+f 12 4 6
+f 13 4 9
+f 14 9 5
+f 14 5 7
+f 14 13 9
+f 14 7 13
+f 15 10 6
+f 15 3 10
+f 16 11 6
+f 16 6 4
+f 16 7 11
+f 17 12 2
+f 17 2 8
+f 17 9 12
+f 17 8 5
+f 17 5 9
+f 18 11 3
+f 18 3 15
+f 18 15 6
+f 18 6 11
+f 19 13 7
+f 19 7 16
+f 19 16 4
+f 19 4 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_17/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ba8cdadb4c449bad05aaa4b0eb530605c4d30cb5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/model.xml
@@ -0,0 +1,48 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_17/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c5c624227b67a87b9b3228fa1d9dae96f6081d7b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62104315f9eba59a0b43f1d32ed32ae6509e20dd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_0.obj
@@ -0,0 +1,483 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.06940848 0.25872964 -0.44023267
+v -0.18933081 0.18949232 -0.44023261
+v -0.18933081 0.18949232 -0.42574726
+v -0.06940848 0.25872964 -0.42574732
+v -0.25856795 0.06956983 -0.44023261
+v -0.25856795 0.06956983 -0.42574726
+v -0.25856783 -0.06890469 -0.44023261
+v -0.25856783 -0.06890468 -0.42574719
+v 0.25822570 0.06957014 -0.44023261
+v 0.18898849 0.18949247 -0.44023261
+v 0.18898849 0.18949247 -0.42574726
+v 0.25822570 0.06957015 -0.42574719
+v 0.06906612 0.25872968 -0.44023261
+v 0.06906613 0.25872968 -0.42574726
+v 0.06906612 0.25872968 -0.44023261
+v 0.06906613 0.25872968 -0.42574726
+v -0.18933081 0.18949244 0.34953471
+v -0.18577377 0.18593546 0.36753405
+v -0.06810651 0.25387080 0.36753405
+v -0.06940847 0.25872973 0.34953471
+v -0.25856792 0.06956994 0.34953477
+v -0.25370897 0.06826799 0.36753411
+v -0.25856783 -0.06890458 0.34953477
+v -0.25370885 -0.06760261 0.36753411
+v 0.18898849 0.18949256 0.34953471
+v 0.18543152 0.18593559 0.36753405
+v 0.25336675 0.06826830 0.36753405
+v 0.25822570 0.06957026 0.34953471
+v 0.06906613 0.25872980 0.34953471
+v 0.06776421 0.25387086 0.36753405
+v 0.06776421 0.25387086 0.36753405
+v 0.06906613 0.25872980 0.34953471
+v -0.16058568 0.16074733 0.41811871
+v -0.05888700 0.21946320 0.41811864
+v -0.21930140 0.05904855 0.41811871
+v -0.21930130 -0.05838310 0.41811871
+v 0.16024342 0.16074748 0.41811864
+v 0.21895920 0.05904879 0.41811871
+v 0.05854471 0.21946327 0.41811864
+v 0.05854471 0.21946327 0.41811864
+v -0.14326625 0.14342792 0.46870330
+v -0.14250879 0.14267047 0.47810150
+v -0.05227039 0.19476974 0.47810150
+v -0.05254763 0.19580444 0.46870330
+v -0.19564263 0.05270921 0.46870330
+v -0.19460793 0.05243198 0.47810150
+v -0.19564254 -0.05204374 0.46870330
+v -0.19460785 -0.05176649 0.47810150
+v 0.14292400 0.14342805 0.46870330
+v 0.14216654 0.14267062 0.47810150
+v 0.19426574 0.05243219 0.47810150
+v 0.19530044 0.05270944 0.46870330
+v 0.05220537 0.19580449 0.46870330
+v 0.05192813 0.19476979 0.47810150
+v 0.05192813 0.19476979 0.47810150
+v 0.05220537 0.19580449 0.46870330
+v -0.18933081 0.18949244 0.33768821
+v -0.06940847 0.25872973 0.33768821
+v -0.25856792 0.06956994 0.33768821
+v -0.25856783 -0.06890458 0.33768828
+v 0.18898849 0.18949256 0.33768821
+v 0.25822570 0.06957026 0.33768821
+v 0.06906613 0.25872980 0.33768821
+v 0.06906613 0.25872980 0.33768821
+v 0.06906633 -0.25806413 -0.44023255
+v 0.06906633 -0.25806413 -0.42574719
+v -0.06940809 -0.25806429 -0.42574719
+v -0.06940809 -0.25806429 -0.44023261
+v -0.18933053 -0.18882711 -0.42574719
+v -0.18933053 -0.18882711 -0.44023261
+v 0.25822585 -0.06890426 -0.42574719
+v 0.25822585 -0.06890426 -0.44023261
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..512619c07ce1aede00929e235a1af5900441a21c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_1.obj
@@ -0,0 +1,6046 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..755d3ec2fba9ce8cd846e09471d7522454ef0033
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_3.obj
@@ -0,0 +1,7465 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9425341107c16785afa059fce3753f80b3dfb13
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_17/visual/model_normalized_4.obj
@@ -0,0 +1,2432 @@
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5637d56064f5cdae0e63994df2e0d08166a3911d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.23195235 -0.17328411 0.42100626
+v 0.17051935 -0.23469824 0.42100626
+v 0.23195235 -0.17328411 -0.43294832
+v 0.19271973 -0.17328411 0.49892327
+v 0.15403183 -0.21199833 0.49892327
+v 0.09622581 -0.27254760 0.42100626
+v 0.17051935 -0.23469824 -0.43294832
+v 0.15562610 -0.21421391 -0.49814019
+v 0.19654600 -0.17328411 -0.49814019
+v 0.18092205 -0.17328411 0.50000000
+v 0.14906298 -0.20515727 0.50000000
+v 0.09622581 -0.24144213 0.49892327
+v 0.09622581 -0.27254760 -0.43294832
+v 0.09622581 -0.24448368 -0.49814019
+v 0.15065725 -0.20735340 -0.50000000
+v 0.18470846 -0.17328411 -0.50000000
+v 0.09622581 -0.23206481 0.50000000
+v 0.09622581 -0.17328411 0.46994910
+v 0.09622581 -0.23507722 -0.50000000
+v 0.09622581 -0.17328411 -0.47454974
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 20
+f 1 20 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 13
+f 2 13 7
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 17
+f 6 17 18
+f 6 18 20
+f 6 20 19
+f 6 19 14
+f 6 14 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 17 11
+f 10 18 17
+f 11 17 12
+f 14 19 15
+f 15 19 16
+f 16 19 20
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70a6f19183ae467805c580dc0c43c3c9c1e9c423
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.27989900 -0.06444445 0.42100626
+v 0.27588969 -0.08966210 0.42100626
+v 0.27989900 -0.06444445 -0.43294832
+v 0.25181586 -0.06444445 0.49892327
+v 0.24920888 -0.08097921 0.49892327
+v 0.23469986 -0.17052475 0.42100626
+v 0.27588969 -0.08966210 -0.43294832
+v 0.25181586 -0.08184218 -0.49814019
+v 0.25456661 -0.06444445 -0.49814019
+v 0.24336572 -0.06444445 0.50000000
+v 0.24115431 -0.07836902 0.50000000
+v 0.20514242 -0.14904661 0.50000000
+v 0.21199241 -0.15401129 0.49892327
+v 0.23194908 -0.17328410 0.42100626
+v 0.23469986 -0.17052475 -0.43294832
+v 0.21420383 -0.15562004 -0.49814019
+v 0.20733586 -0.15064469 -0.50000000
+v 0.24376126 -0.07918937 -0.50000000
+v 0.24608055 -0.06444445 -0.50000000
+v 0.18092474 -0.17328410 0.50000000
+v 0.09624378 -0.06444445 0.47112373
+v 0.19271895 -0.17328410 0.49892327
+v 0.23194908 -0.17328410 -0.43294832
+v 0.19654848 -0.17328410 -0.49814019
+v 0.18471831 -0.17328410 -0.50000000
+v 0.09624378 -0.06444445 -0.45761549
+v 0.09624378 -0.09886701 0.47210258
+v 0.09624378 -0.10350144 0.47210258
+v 0.09624378 -0.12045170 0.47161317
+v 0.09624378 -0.14332549 0.47092795
+v 0.09624378 -0.17328410 0.46994910
+v 0.09624378 -0.17328410 -0.47454974
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 19
+f 1 19 26
+f 1 26 21
+f 1 21 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 15
+f 2 15 7
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 14 23
+f 6 23 15
+f 6 13 14
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 15 16
+f 9 18 19
+f 10 20 12
+f 10 12 11
+f 10 21 20
+f 12 20 13
+f 13 20 22
+f 13 22 14
+f 14 22 20
+f 14 20 31
+f 14 31 32
+f 14 32 25
+f 14 25 24
+f 14 24 23
+f 15 23 16
+f 16 24 25
+f 16 25 17
+f 16 23 24
+f 17 25 19
+f 17 19 18
+f 19 25 26
+f 20 21 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 21 26 32
+f 21 32 31
+f 21 31 30
+f 21 30 29
+f 21 29 28
+f 21 28 27
+f 25 32 26
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ba9e9fe686ee0d4eac17c0f39d260d888b4cf96
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.09622581 0.10349862 0.47210789
+v 0.07698733 0.10035139 0.47210789
+v 0.09622581 0.09886619 0.47210789
+v 0.09622581 0.12046065 0.47163880
+v 0.01743865 0.21664561 0.46901190
+v 0.06918070 0.09622581 0.47210789
+v -0.06588008 0.21664561 0.46863663
+v -0.11420287 0.17790052 0.46891809
+v 0.08015941 0.09622581 0.47210789
+v 0.09097333 0.09622581 0.47098207
+v 0.09622581 0.09622581 0.47041917
+v 0.09622581 0.14783093 0.47079444
+v 0.09622581 0.18324021 0.46966863
+v 0.07859397 0.21664561 0.46863663
+v 0.02946785 0.09622581 0.47173262
+v -0.09245142 0.21664561 0.46835518
+v -0.11420287 0.20555370 0.46835518
+v -0.11420287 0.11197375 0.46966863
+v 0.09622581 0.09622581 -0.46072233
+v 0.09622581 0.21471249 0.46835518
+v 0.09243579 0.21664561 0.46835518
+v -0.06999967 0.09622581 0.47041917
+v -0.11420287 0.21664561 0.46769845
+v -0.11420287 0.09871295 0.46976244
+v -0.10946533 0.09622581 0.46985626
+v -0.11420287 0.09622581 -0.46250486
+v -0.11420287 0.21664561 -0.48633456
+v 0.09622581 0.21664561 -0.48427057
+v 0.09622581 0.21664561 0.46638501
+v -0.11420287 0.09622581 0.46976244
+f 1 2 6
+f 1 6 9
+f 1 9 3
+f 1 3 11
+f 1 11 19
+f 1 19 28
+f 1 28 29
+f 1 29 20
+f 1 20 13
+f 1 13 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 21
+f 5 21 29
+f 5 29 28
+f 5 28 27
+f 5 27 23
+f 5 23 16
+f 5 16 7
+f 6 8 15
+f 6 15 22
+f 6 22 25
+f 6 25 30
+f 6 30 26
+f 6 26 19
+f 6 19 11
+f 6 11 10
+f 6 10 9
+f 7 16 17
+f 7 17 8
+f 8 18 15
+f 8 17 23
+f 8 23 27
+f 8 27 26
+f 8 26 30
+f 8 30 24
+f 8 24 18
+f 13 20 21
+f 13 21 14
+f 15 18 22
+f 16 23 17
+f 18 24 25
+f 18 25 22
+f 19 26 27
+f 19 27 28
+f 20 29 21
+f 24 30 25
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d0cd78726be6bf71bc52a0c26a40f36552ff905
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_11.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.09622582 0.01926073 0.48383951
+v 0.09588044 0.01919059 0.48403060
+v 0.09622582 -0.01926856 0.48383951
+v 0.09622582 0.09622581 0.47046465
+v 0.09588044 -0.01922181 0.48403060
+v 0.08655512 0.04465079 0.48403060
+v 0.02752345 0.05388567 0.48727876
+v 0.09622582 -0.14261843 0.47094232
+v 0.09622582 0.09622581 -0.46071303
+v 0.08125924 0.09622581 0.47199321
+v 0.06591849 0.05376877 0.48403060
+v 0.02752345 -0.05387012 0.48727876
+v 0.08655512 -0.04465862 0.48403060
+v -0.10141942 0.06838091 0.49062246
+v 0.08016553 0.09622581 0.47208875
+v 0.07806445 -0.14261843 0.47103786
+v 0.09622582 -0.14261843 -0.46768707
+v -0.10141942 -0.06838875 0.49062246
+v -0.19780996 0.09622581 -0.48001111
+v -0.12628698 0.06597283 0.49062246
+v 0.06917085 0.09622581 0.47208875
+v 0.03918011 0.09622581 0.47180212
+v 0.02948062 0.09622581 0.47170657
+v -0.01746264 0.09622581 0.47113341
+v -0.06998960 0.09622581 0.47046465
+v -0.19780996 0.09622581 0.46864951
+v 0.02645852 -0.14261843 0.47084677
+v -0.19780996 -0.14261843 -0.48536104
+v -0.12628698 -0.06598067 0.49062246
+v -0.18972227 -0.14261843 0.46836287
+v -0.05211604 -0.14261843 0.47008252
+v -0.13756949 0.04352858 0.49062246
+v -0.19780996 0.06861471 0.46884054
+v -0.19780996 -0.14261843 0.46272629
+v -0.13756949 -0.04353641 0.49062246
+v -0.19780996 -0.12940904 0.46836287
+v -0.19248533 -0.13985966 0.46836287
+v -0.19780996 -0.00000392 0.46893609
+v -0.19780996 -0.00526429 0.46893609
+v -0.19780996 -0.06862254 0.46884054
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 12
+f 2 12 5
+f 3 5 8
+f 4 9 19
+f 4 19 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 22
+f 4 22 21
+f 4 21 15
+f 4 15 10
+f 4 10 11
+f 4 11 6
+f 5 12 13
+f 5 13 8
+f 6 11 7
+f 7 14 18
+f 7 18 12
+f 7 11 15
+f 7 15 14
+f 8 16 27
+f 8 27 31
+f 8 31 30
+f 8 30 34
+f 8 34 28
+f 8 28 17
+f 8 13 12
+f 8 12 18
+f 8 18 16
+f 9 17 19
+f 10 15 11
+f 14 20 32
+f 14 32 35
+f 14 35 29
+f 14 29 18
+f 14 15 21
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 20
+f 16 18 27
+f 17 28 19
+f 18 29 30
+f 18 30 31
+f 18 31 27
+f 19 28 34
+f 19 34 36
+f 19 36 40
+f 19 40 39
+f 19 39 38
+f 19 38 33
+f 19 33 26
+f 20 26 32
+f 26 33 32
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 30 37 34
+f 32 33 38
+f 32 38 39
+f 32 39 35
+f 34 37 36
+f 35 39 40
+f 35 40 36
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..608090d9543155098623e7e4c51204903a218a5e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.19780996 -0.06281426 0.46887237
+v -0.24363537 -0.06281426 0.50000000
+v -0.20843405 -0.14261843 0.50000000
+v -0.20254970 -0.14261843 0.49030933
+v -0.20225951 -0.14261843 0.48981988
+v -0.19780996 -0.12942320 0.46838292
+v -0.19780996 -0.06281426 -0.47631165
+v -0.25208306 -0.06281426 0.49892327
+v -0.24920535 -0.08097820 0.49892327
+v -0.24116878 -0.07836103 0.50000000
+v -0.21780871 -0.14261843 0.49892327
+v -0.19780996 -0.14261843 0.46280345
+v -0.19780996 -0.14261843 -0.48531714
+v -0.21144877 -0.14261843 -0.50000000
+v -0.24635185 -0.06281426 -0.50000000
+v -0.28015867 -0.06281426 0.42100626
+v -0.27589452 -0.08966564 0.42100626
+v -0.24892323 -0.14261843 0.42100626
+v -0.22084761 -0.14261843 -0.49814019
+v -0.25182509 -0.08183757 -0.49814019
+v -0.24375628 -0.07918915 -0.50000000
+v -0.25483984 -0.06281426 -0.49814019
+v -0.28015867 -0.06281426 -0.43294832
+v -0.27589452 -0.08966564 -0.43294832
+v -0.24892323 -0.14261843 -0.43294832
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 15
+f 1 15 22
+f 1 22 23
+f 1 23 16
+f 1 16 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 18
+f 3 18 25
+f 3 25 19
+f 3 19 14
+f 3 14 13
+f 3 13 12
+f 3 12 5
+f 3 5 4
+f 5 12 6
+f 7 13 14
+f 7 14 15
+f 8 16 9
+f 9 11 10
+f 9 16 17
+f 9 17 18
+f 9 18 11
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 15 21 20
+f 15 20 22
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 17 25 18
+f 19 25 20
+f 20 25 24
+f 20 24 23
+f 20 23 22
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ccc73da2a3316ad8342a0f40df880c05f9965fa
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_13.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.24634776 -0.06280644 -0.50000000
+v -0.25484097 -0.06280644 -0.49814019
+v -0.25628662 0.00000631 -0.50000000
+v -0.23508069 0.09622581 -0.50000000
+v -0.19781899 -0.06280644 -0.47631165
+v -0.26477981 0.00000631 -0.49814019
+v -0.28015795 -0.06280644 -0.43294832
+v -0.29010585 0.00000631 -0.43294832
+v -0.24376364 0.07917996 -0.50000000
+v -0.24253485 0.09622581 -0.49853173
+v -0.19781899 0.09622581 -0.48003131
+v -0.19781899 -0.06280644 0.46887237
+v -0.25182316 0.08182636 -0.49814019
+v -0.28015795 -0.06280644 0.42100626
+v -0.27589327 0.08965655 -0.43294832
+v -0.29010585 0.00000631 0.42100626
+v -0.24448647 0.09622581 -0.49814019
+v -0.19781899 0.09622581 0.46857870
+v -0.19781899 -0.00523976 0.46897024
+v -0.23207194 0.09622581 0.50000000
+v -0.24363714 -0.06280644 0.50000000
+v -0.27255020 0.09622581 -0.43294832
+v -0.25208518 -0.06280644 0.49892327
+v -0.27589327 0.08965655 0.42100626
+v -0.26203308 0.00000631 0.49892327
+v -0.24920291 0.08097017 0.49892327
+v -0.19781899 0.07905543 0.46877447
+v -0.19781899 0.00000631 0.46897024
+v -0.24145061 0.09622581 0.49892327
+v -0.24117051 0.07835492 0.50000000
+v -0.25358504 0.00000631 0.50000000
+v -0.27255020 0.09622581 0.42100626
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 23
+f 1 23 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 4 9 10
+f 4 10 17
+f 4 17 22
+f 4 22 32
+f 4 32 29
+f 4 29 20
+f 4 20 18
+f 4 18 11
+f 4 11 5
+f 5 11 18
+f 5 18 27
+f 5 27 28
+f 5 28 19
+f 5 19 12
+f 6 13 9
+f 6 8 13
+f 7 14 16
+f 7 16 8
+f 8 15 13
+f 8 16 24
+f 8 24 15
+f 9 13 10
+f 10 13 17
+f 12 19 20
+f 12 20 21
+f 13 15 22
+f 13 22 17
+f 14 23 25
+f 14 25 16
+f 15 24 32
+f 15 32 22
+f 16 25 26
+f 16 26 24
+f 18 20 27
+f 19 28 20
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 20 28 27
+f 21 31 25
+f 21 25 23
+f 24 26 29
+f 24 29 32
+f 25 31 30
+f 25 30 26
+f 26 30 29
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..597abc148830473fbde977778bd43496f3dda158
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_14.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.09622581 -0.23206955 0.50000000
+v -0.10071774 -0.22978446 0.50000000
+v 0.07835515 -0.24117087 0.50000000
+v 0.08097695 -0.24921753 0.49892327
+v 0.09622581 -0.24144430 0.49892327
+v 0.09622581 -0.22590436 0.48981988
+v -0.08097713 -0.24921753 0.49892327
+v -0.07835531 -0.24117087 0.50000000
+v -0.10071774 -0.22361927 0.48981988
+v -0.10071774 -0.23915921 0.49892327
+v -0.00000972 -0.25359893 0.50000000
+v -0.00000972 -0.26202968 0.49892327
+v -0.00000972 -0.29011488 0.42100626
+v 0.08965203 -0.27589649 0.42100626
+v 0.09622581 -0.27255675 0.42100626
+v 0.09622581 -0.22361276 0.46525058
+v 0.07877927 -0.22361276 0.46838292
+v -0.10071774 -0.27026513 0.42100626
+v -0.08965220 -0.27589649 0.42100626
+v 0.07532851 -0.22361276 0.46848083
+v 0.01456441 -0.22361276 0.46877447
+v 0.01173055 -0.22361276 0.46877447
+v -0.07031642 -0.22361276 0.46848083
+v -0.07877943 -0.22361276 0.46838292
+v -0.10071774 -0.22361276 0.46779561
+v -0.00000972 -0.29011488 -0.43294832
+v 0.08965203 -0.27589649 -0.43294832
+v 0.09622581 -0.27255675 -0.43294832
+v 0.09622581 -0.22361276 -0.48580658
+v -0.10071774 -0.27026513 -0.43294832
+v -0.08965220 -0.27589649 -0.43294832
+v -0.10071774 -0.22361276 -0.48629600
+v -0.08182535 -0.25183466 -0.49814019
+v -0.00000972 -0.26478353 -0.49814019
+v 0.08182518 -0.25183466 -0.49814019
+v 0.09622581 -0.24449761 -0.49814019
+v 0.09622581 -0.23508380 -0.50000000
+v -0.10071774 -0.23279220 -0.50000000
+v -0.10071774 -0.24220601 -0.49814019
+v -0.07918426 -0.24376196 -0.50000000
+v -0.00000972 -0.25629416 -0.50000000
+v 0.07918410 -0.24376196 -0.50000000
+f 1 2 8
+f 1 8 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 28
+f 1 28 36
+f 1 36 37
+f 1 37 29
+f 1 29 16
+f 1 16 6
+f 1 6 9
+f 1 9 2
+f 2 7 8
+f 2 9 25
+f 2 25 32
+f 2 32 38
+f 2 38 39
+f 2 39 30
+f 2 30 18
+f 2 18 10
+f 2 10 7
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 6 16 17
+f 6 17 9
+f 7 12 11
+f 7 11 8
+f 7 10 18
+f 7 18 19
+f 7 19 13
+f 7 13 12
+f 9 17 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 13 19 31
+f 13 31 26
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 14 28 15
+f 16 29 32
+f 16 32 25
+f 16 25 24
+f 16 24 23
+f 16 23 22
+f 16 22 21
+f 16 21 20
+f 16 20 17
+f 18 30 31
+f 18 31 19
+f 26 31 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 27 35 28
+f 28 35 36
+f 29 37 38
+f 29 38 32
+f 30 39 33
+f 30 33 31
+f 33 39 38
+f 33 38 40
+f 33 40 41
+f 33 41 34
+f 34 41 35
+f 35 41 42
+f 35 42 37
+f 35 37 36
+f 37 42 41
+f 37 41 40
+f 37 40 38
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71ceb4a08b20e0a9ec90a93dc1802439abcbbe8a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_15.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.09622581 -0.14261845 0.47088724
+v 0.07806598 -0.14261845 0.47107467
+v 0.09622581 -0.14333192 0.47088724
+v 0.09622581 -0.14261845 -0.46770415
+v 0.02520584 -0.22359833 0.46873170
+v 0.09622581 -0.18323919 0.46966890
+v 0.04213188 -0.14261845 0.47088724
+v -0.07031642 -0.22359833 0.46845055
+v 0.01173055 -0.22359833 0.46873170
+v 0.09622581 -0.22359833 -0.48579183
+v -0.10071774 -0.22359833 -0.48635414
+v -0.10071774 -0.14261845 -0.46817276
+v 0.07532851 -0.22359833 0.46845055
+v 0.09622581 -0.19254613 0.46929401
+v 0.02645890 -0.14261845 0.47079352
+v -0.10071774 -0.21242842 0.46835685
+v -0.07877943 -0.22359833 0.46835685
+v -0.10071774 -0.17586657 0.46901286
+v 0.09622581 -0.22359833 0.46526411
+v -0.10071774 -0.22359833 0.46779454
+v -0.10071774 -0.14261845 0.46948147
+v 0.07877927 -0.22359833 0.46835685
+v 0.09622581 -0.21471949 0.46835685
+v -0.05211803 -0.14261845 0.47004378
+v -0.10071774 -0.17024595 0.46910658
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 23
+f 1 23 19
+f 1 19 10
+f 1 10 4
+f 1 4 12
+f 1 12 21
+f 1 21 24
+f 1 24 15
+f 1 15 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 4 10 11
+f 4 11 12
+f 5 9 8
+f 5 8 17
+f 5 17 20
+f 5 20 11
+f 5 11 10
+f 5 10 19
+f 5 19 22
+f 5 22 13
+f 5 13 6
+f 6 13 14
+f 7 15 8
+f 8 16 17
+f 8 15 18
+f 8 18 16
+f 11 20 16
+f 11 16 18
+f 11 18 25
+f 11 25 21
+f 11 21 12
+f 13 22 23
+f 13 23 14
+f 15 24 18
+f 16 20 17
+f 18 24 25
+f 19 23 22
+f 21 25 24
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c21bbb0407cf3cfce4291c6e712f67cc0452a7b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.11421338 0.22291058 0.50000000
+v -0.11421338 0.23227762 0.49892327
+v -0.15402839 0.21199802 0.49892327
+v -0.14905676 0.20516008 0.50000000
+v -0.17055142 0.18365496 0.50000000
+v -0.11421338 0.18365496 0.46877447
+v -0.11421338 0.26339173 0.42100626
+v -0.18235508 0.18365496 0.49892327
+v -0.17703660 0.18365496 0.49941269
+v -0.17053039 0.23469743 0.42100626
+v -0.22158149 0.18365496 0.42100626
+v -0.11421338 0.18365496 -0.47895458
+v -0.11421338 0.26339173 -0.43294832
+v -0.17053039 0.23469743 -0.43294832
+v -0.22158149 0.18365496 -0.43294832
+v -0.17434582 0.18365496 -0.50000000
+v -0.11421338 0.22591585 -0.50000000
+v -0.11421338 0.23532189 -0.49814019
+v -0.15562603 0.21421488 -0.49814019
+v -0.18618101 0.18365496 -0.49814019
+v -0.15066493 0.20735353 -0.50000000
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 17
+f 1 17 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 8
+f 4 9 5
+f 5 9 8
+f 5 8 11
+f 5 11 15
+f 5 15 20
+f 5 20 16
+f 5 16 12
+f 5 12 6
+f 7 13 14
+f 7 14 10
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 14 19 15
+f 15 19 20
+f 16 20 21
+f 16 21 17
+f 17 21 18
+f 18 21 19
+f 19 21 20
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fca3f41bcba8e8b1ca7ef835301d95d7e979035
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.18429458 0.11181772 -0.47875881
+v 0.18372561 0.11181772 -0.47866091
+v 0.18429458 0.17372175 -0.50000000
+v 0.18429458 0.11181772 0.47004700
+v 0.09623443 0.11181772 -0.46231401
+v 0.09623443 0.23507501 -0.50000000
+v 0.15064810 0.20733307 -0.50000000
+v 0.15562223 0.21420956 -0.49814019
+v 0.18429458 0.18555495 -0.49814019
+v 0.18429458 0.16991371 0.50000000
+v 0.16130325 0.11181772 0.47112373
+v 0.09623443 0.11181772 0.47180894
+v 0.09623443 0.24251798 -0.49853173
+v 0.09623443 0.24448493 -0.49814019
+v 0.17052737 0.23469736 -0.43294832
+v 0.18429458 0.22092867 -0.43294832
+v 0.18429458 0.17653842 0.49941269
+v 0.14904465 0.20514582 0.50000000
+v 0.09623443 0.23205377 0.50000000
+v 0.10331200 0.11181772 0.47190681
+v 0.10748440 0.11181772 0.47190681
+v 0.13390675 0.11181772 0.47171104
+v 0.13993260 0.11181772 0.47161317
+v 0.09623443 0.27255732 -0.43294832
+v 0.17052737 0.23469736 0.42100626
+v 0.18429458 0.22092867 0.42100626
+v 0.18429458 0.18173118 0.49892327
+v 0.15401877 0.21199083 0.49892327
+v 0.09623443 0.24143222 0.49892327
+v 0.09623443 0.27255732 0.42100626
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 26
+f 1 26 27
+f 1 27 17
+f 1 17 10
+f 1 10 4
+f 1 4 11
+f 1 11 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 5 6
+f 4 10 11
+f 5 12 19
+f 5 19 29
+f 5 29 30
+f 5 30 24
+f 5 24 14
+f 5 14 13
+f 5 13 6
+f 6 13 7
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 10 19 12
+f 10 12 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 14 24 15
+f 15 24 30
+f 15 30 25
+f 15 25 26
+f 15 26 16
+f 17 27 28
+f 17 28 18
+f 18 28 19
+f 19 28 29
+f 25 30 28
+f 25 28 27
+f 25 27 26
+f 28 30 29
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb40925e1818ce19acf963bf90423e3c1b50cd1c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.09622581 0.23207156 0.50000000
+v 0.09622581 0.24144940 0.49892327
+v 0.07834679 0.24117611 0.50000000
+v -0.11420287 0.22291666 0.50000000
+v -0.11420287 0.21963012 0.49461630
+v 0.09622581 0.22590837 0.48981988
+v 0.08096273 0.24921630 0.49892327
+v 0.09622581 0.27255303 0.42100626
+v 0.08965507 0.27589712 0.42100626
+v -0.00000782 0.25358880 0.50000000
+v -0.07834183 0.24117611 0.50000000
+v -0.08095777 0.24921630 0.49892327
+v -0.11420287 0.23228732 0.49892327
+v -0.11420287 0.21674629 0.48981988
+v 0.09243579 0.21665280 0.46838292
+v 0.09622581 0.21665280 0.46642521
+v -0.00000782 0.26203173 0.49892327
+v -0.00000782 0.29011488 0.42100626
+v 0.09622581 0.27255303 -0.43294832
+v 0.08965507 0.27589712 -0.43294832
+v -0.08965011 0.27589712 0.42100626
+v -0.11420287 0.26339811 0.42100626
+v -0.06293456 0.21665280 0.46867660
+v 0.01189780 0.21665280 0.46897024
+v 0.01743865 0.21665280 0.46897024
+v 0.07859397 0.21665280 0.46867660
+v -0.11420287 0.21665280 0.46769774
+v -0.09245142 0.21665280 0.46838292
+v 0.09622581 0.21665280 -0.48424041
+v -0.00000782 0.29011488 -0.43294832
+v 0.09622581 0.24449863 -0.49814019
+v 0.08182785 0.25183403 -0.49814019
+v -0.08965011 0.27589712 -0.43294832
+v -0.11420287 0.26339811 -0.43294832
+v -0.11420287 0.21665280 -0.48629600
+v -0.11420287 0.22592275 -0.50000000
+v 0.09622581 0.23508483 -0.50000000
+v -0.00000782 0.26478609 -0.49814019
+v -0.08182289 0.25183403 -0.49814019
+v 0.09622581 0.24252813 -0.49853173
+v 0.07917070 0.24376509 -0.50000000
+v -0.11420287 0.23532936 -0.49814019
+v -0.07918635 0.24376509 -0.50000000
+v -0.00000782 0.25628564 -0.50000000
+f 1 2 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 29
+f 1 29 37
+f 1 37 40
+f 1 40 31
+f 1 31 19
+f 1 19 8
+f 1 8 2
+f 2 7 3
+f 2 8 9
+f 2 9 7
+f 3 7 10
+f 4 11 12
+f 4 12 13
+f 4 13 22
+f 4 22 34
+f 4 34 42
+f 4 42 36
+f 4 36 35
+f 4 35 27
+f 4 27 14
+f 4 14 5
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 7 17 10
+f 7 9 18
+f 7 18 17
+f 8 19 20
+f 8 20 9
+f 9 20 30
+f 9 30 18
+f 10 17 12
+f 10 12 11
+f 12 17 18
+f 12 18 21
+f 12 21 22
+f 12 22 13
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 14 27 28
+f 14 28 23
+f 15 26 25
+f 15 25 24
+f 15 24 23
+f 15 23 28
+f 15 28 27
+f 15 27 35
+f 15 35 29
+f 15 29 16
+f 18 30 33
+f 18 33 21
+f 19 31 32
+f 19 32 20
+f 20 32 30
+f 21 33 34
+f 21 34 22
+f 29 35 36
+f 29 36 37
+f 30 32 38
+f 30 38 39
+f 30 39 33
+f 31 40 32
+f 32 40 41
+f 32 41 38
+f 33 39 34
+f 34 39 42
+f 36 42 39
+f 36 39 43
+f 36 43 44
+f 36 44 41
+f 36 41 37
+f 37 41 40
+f 38 41 44
+f 38 44 43
+f 38 43 39
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531615c0872f8a9e8e73175c27fdf1a9052f9362
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.11421835 0.09622581 0.46985123
+v -0.11421835 0.15713352 0.46916601
+v -0.17056316 0.18365495 0.50000000
+v -0.23205417 0.09622581 0.50000000
+v -0.11421835 0.09622581 -0.46250978
+v -0.11421835 0.17230695 0.46897024
+v -0.17705792 0.18365495 0.49941269
+v -0.20514506 0.14904615 0.50000000
+v -0.11421835 0.18365495 0.46877447
+v -0.24143204 0.09622581 0.49892327
+v -0.23507679 0.09622581 -0.50000000
+v -0.17436081 0.18365495 -0.50000000
+v -0.11421835 0.18365495 -0.47895458
+v -0.18237464 0.18365495 0.49892327
+v -0.21198085 0.15401839 0.49892327
+v -0.23470478 0.17052689 0.42100626
+v -0.27255732 0.09622581 0.42100626
+v -0.24251710 0.09622581 -0.49853173
+v -0.20734616 0.15064651 -0.50000000
+v -0.21421294 0.15561874 -0.49814019
+v -0.18618779 0.18365495 -0.49814019
+v -0.22157574 0.18365495 0.42100626
+v -0.23470478 0.17052689 -0.43294832
+v -0.27255732 0.09622581 -0.43294832
+v -0.24448568 0.09622581 -0.49814019
+v -0.22157574 0.18365495 -0.43294832
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 24
+f 1 24 25
+f 1 25 18
+f 1 18 11
+f 1 11 5
+f 1 5 13
+f 1 13 9
+f 1 9 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 13
+f 3 13 12
+f 3 12 21
+f 3 21 26
+f 3 26 22
+f 3 22 14
+f 3 14 7
+f 4 8 10
+f 5 11 12
+f 5 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 10
+f 10 15 16
+f 10 16 17
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 14 22 16
+f 14 16 15
+f 16 22 26
+f 16 26 23
+f 16 23 24
+f 16 24 17
+f 18 25 20
+f 18 20 19
+f 20 25 23
+f 20 23 21
+f 21 23 26
+f 23 25 24
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f488281f47e99bf1d8bdee2494276a8b429dc23f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.24609508 -0.06444444 -0.50000000
+v 0.22715072 0.11180198 -0.50000000
+v 0.25628772 0.00000902 -0.50000000
+v 0.26478514 0.00000902 -0.49814019
+v 0.25457835 -0.06444444 -0.49814019
+v 0.21795404 -0.06444444 -0.48140171
+v 0.23115574 0.11180198 -0.49921691
+v 0.24376412 0.07917845 -0.50000000
+v 0.21795404 0.11180198 -0.48629600
+v 0.25183064 0.08181801 -0.49814019
+v 0.29010782 0.00000902 -0.43294832
+v 0.27989399 -0.06444444 -0.43294832
+v 0.21795404 -0.06444444 0.46955755
+v 0.23655933 0.11180198 -0.49814019
+v 0.21795404 0.11180198 0.46779561
+v 0.26461560 0.11180198 -0.43294832
+v 0.27589604 0.08965041 -0.43294832
+v 0.29010782 0.00000902 0.42100626
+v 0.27989399 -0.06444444 0.42100626
+v 0.24338268 -0.06444444 0.50000000
+v 0.22413461 0.11180198 0.50000000
+v 0.21796817 0.11180198 0.48981988
+v 0.21795404 -0.05723311 0.46985123
+v 0.21795404 0.05723391 0.46985123
+v 0.26461560 0.11180198 0.42100626
+v 0.27589604 0.08965041 0.42100626
+v 0.24921714 0.08097266 0.49892327
+v 0.26203036 0.00000902 0.49892327
+v 0.25183064 -0.06444444 0.49892327
+v 0.25359651 0.00000902 0.50000000
+v 0.24117181 0.07835035 0.50000000
+v 0.22926977 0.11180198 0.49941269
+v 0.21795404 0.01998684 0.47063431
+v 0.21795404 0.00000902 0.47102585
+v 0.21795404 -0.03515055 0.47034064
+v 0.23350789 0.11180198 0.49892327
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 19
+f 1 19 29
+f 1 29 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 7 8
+f 2 6 9
+f 2 9 15
+f 2 15 22
+f 2 22 21
+f 2 21 32
+f 2 32 36
+f 2 36 25
+f 2 25 16
+f 2 16 14
+f 2 14 7
+f 3 8 4
+f 4 8 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 23
+f 6 23 35
+f 6 35 34
+f 6 34 33
+f 6 33 24
+f 6 24 15
+f 6 15 9
+f 7 14 10
+f 7 10 8
+f 10 14 16
+f 10 16 17
+f 10 17 11
+f 11 17 26
+f 11 26 18
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 15 24 22
+f 16 25 26
+f 16 26 17
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 20 29 30
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 22 24 33
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 25 36 27
+f 25 27 26
+f 27 36 32
+f 27 32 31
+f 27 31 30
+f 27 30 28
+f 28 30 29
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f68264f36476d69f4cb703edefb9d89299455f3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.22713985 0.11180200 -0.50000000
+v 0.18429458 0.17370062 -0.50000000
+v 0.20734878 0.15065689 -0.50000000
+v 0.23114996 0.11180200 -0.49921691
+v 0.18429458 0.11180200 -0.47875881
+v 0.18429458 0.18553764 -0.49814019
+v 0.21422100 0.15562460 -0.49814019
+v 0.23655181 0.11180200 -0.49814019
+v 0.18429458 0.11180200 0.47004700
+v 0.18429458 0.22094186 -0.43294832
+v 0.23470402 0.17052770 -0.43294832
+v 0.26462257 0.11180200 -0.43294832
+v 0.22413619 0.11180200 0.50000000
+v 0.18429458 0.16990808 0.50000000
+v 0.18429458 0.22094186 0.42100626
+v 0.23470402 0.17052770 0.42100626
+v 0.26462257 0.11180200 0.42100626
+v 0.22926284 0.11180200 0.49941269
+v 0.20516287 0.14905441 0.50000000
+v 0.18429458 0.17652099 0.49941269
+v 0.18429458 0.18171304 0.49892327
+v 0.21199578 0.15402211 0.49892327
+v 0.23350097 0.11180200 0.49892327
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 23
+f 1 23 18
+f 1 18 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 6 3
+f 2 5 9
+f 2 9 14
+f 2 14 20
+f 2 20 21
+f 2 21 15
+f 2 15 10
+f 2 10 6
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 6 10 7
+f 7 10 11
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 16 22 17
+f 17 22 23
+f 18 22 19
+f 18 23 22
+f 19 22 20
+f 20 22 21
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85242e778f41ea1fa830d82acd4740f9ea44e0de
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.10071775 -0.22977224 0.50000000
+v -0.20841986 -0.14261845 0.50000000
+v -0.14905603 -0.20515676 0.50000000
+v -0.10071775 -0.23914361 0.49892327
+v -0.10071775 -0.14261845 0.46945968
+v -0.21779156 -0.14261845 0.49892327
+v -0.20515572 -0.14905345 0.50000000
+v -0.15403204 -0.21199161 0.49892327
+v -0.10071775 -0.27025658 0.42100626
+v -0.10071775 -0.14261845 -0.46818715
+v -0.21198864 -0.15402654 0.49892327
+v -0.24892420 -0.14261845 0.42100626
+v -0.17054133 -0.23469533 0.42100626
+v -0.10071775 -0.27025658 -0.43294832
+v -0.10071775 -0.23278357 -0.50000000
+v -0.21143737 -0.14261845 -0.50000000
+v -0.23469254 -0.17053264 0.42100626
+v -0.24892420 -0.14261845 -0.43294832
+v -0.17054133 -0.23469533 -0.43294832
+v -0.10071775 -0.24219243 -0.49814019
+v -0.15066634 -0.20734341 -0.50000000
+v -0.20734632 -0.15066533 -0.50000000
+v -0.22083808 -0.14261845 -0.49814019
+v -0.23469254 -0.17053264 -0.43294832
+v -0.21420826 -0.15562591 -0.49814019
+v -0.15562783 -0.21420325 -0.49814019
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 20
+f 1 20 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 6 7
+f 2 5 10
+f 2 10 16
+f 2 16 23
+f 2 23 18
+f 2 18 12
+f 2 12 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 6 11 7
+f 6 12 11
+f 7 11 8
+f 8 11 13
+f 8 13 9
+f 9 13 19
+f 9 19 14
+f 10 15 16
+f 11 12 17
+f 11 17 13
+f 12 18 24
+f 12 24 17
+f 13 17 24
+f 13 24 19
+f 14 19 20
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 18 23 25
+f 18 25 24
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 20 26 21
+f 21 26 25
+f 21 25 22
+f 22 25 23
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b5049f3d10fd98340c6eee3f4eb2b55830d338
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.21795402 -0.06444444 -0.48141521
+v 0.09622581 -0.06444444 -0.45757797
+v 0.21795402 0.11180198 -0.48625863
+v 0.21795402 -0.06444444 0.46951035
+v 0.09622581 0.11180198 -0.46232641
+v 0.09622581 -0.06444444 0.47112483
+v 0.21795402 0.11180198 0.46780089
+v 0.21795402 -0.05723311 0.46979526
+v 0.20533556 -0.03258000 0.47207451
+v 0.09622581 -0.01926146 0.48375571
+v 0.19090596 -0.06444444 0.47197953
+v 0.09622581 0.11180198 0.47188458
+v 0.18254131 -0.06444444 0.47207451
+v 0.09622581 -0.04489793 0.47853240
+v 0.19189495 0.11180198 0.46970028
+v 0.09622581 0.01927951 0.48375571
+v 0.20533556 0.03258080 0.47207451
+v 0.21795402 0.05723391 0.46979526
+v 0.21795402 0.00000902 0.47102985
+v 0.21030430 0.00000902 0.47207451
+v 0.18851095 -0.06444444 0.47207451
+v 0.10748591 0.11180198 0.47188458
+v 0.18005098 0.11180198 0.47027010
+v 0.16130799 0.11180198 0.47112483
+v 0.13993168 0.11180198 0.47159967
+v 0.13390246 0.11180198 0.47169462
+v 0.21795402 0.01998684 0.47064999
+f 1 2 3
+f 1 3 7
+f 1 7 18
+f 1 18 27
+f 1 27 19
+f 1 19 8
+f 1 8 4
+f 1 4 11
+f 1 11 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 14
+f 2 14 10
+f 2 10 16
+f 2 16 12
+f 2 12 5
+f 3 5 12
+f 3 12 22
+f 3 22 26
+f 3 26 25
+f 3 25 24
+f 3 24 23
+f 3 23 15
+f 3 15 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 13 14
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 16
+f 10 14 21
+f 10 21 11
+f 12 16 22
+f 13 21 14
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 22
+f 16 20 17
+f 17 20 27
+f 17 27 18
+f 19 27 20
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6afaef95c99a5ab5b140f35fca81c1366affc2c3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_0.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.14054411 0.23481015 0.44555947
+v 0.15331921 0.22958389 -0.45909268
+v 0.04797216 0.27988814 -0.43844243
+v -0.05274013 0.28175439 0.40151517
+v -0.13010118 0.20497099 0.46371151
+v 0.04823096 0.28152076 0.42277529
+v -0.05411029 0.19947596 -0.47645057
+v -0.08286284 0.23176976 0.46681491
+v 0.15893679 0.24061138 0.40151517
+v -0.08562987 0.20690021 0.46866099
+v 0.04992618 0.23160176 -0.48424705
+v -0.15045773 0.24493075 -0.41666668
+v 0.00262618 0.28057310 0.43739685
+v -0.10761453 0.26632856 0.42176837
+v 0.10384723 0.26771218 0.42263337
+v 0.08782442 0.26601624 -0.45334723
+v -0.05235480 0.27932354 -0.43816882
+v 0.08817879 0.26669744 0.43715629
+v -0.12863887 0.23240502 0.45922220
+v -0.09194053 0.26531197 0.43629725
+v 0.13406182 0.25238704 0.42252581
+v 0.12804870 0.24002044 -0.46368023
+v 0.10309068 0.26622701 -0.43829733
+v -0.13443187 0.24377443 -0.45052175
+v 0.04896962 0.27102888 -0.45660791
+v -0.10680914 0.26474753 -0.43752319
+v -0.12215862 0.24998461 0.43618060
+v 0.13329947 0.25089049 -0.43819896
+v -0.12441718 0.25441827 -0.44008357
+f 6 3 4
+f 7 2 1
+f 9 1 2
+f 10 7 1
+f 10 5 7
+f 10 8 5
+f 10 1 8
+f 11 2 7
+f 12 7 5
+f 13 6 4
+f 17 4 3
+f 18 13 8
+f 18 8 1
+f 18 15 6
+f 18 6 13
+f 19 5 8
+f 19 12 5
+f 20 13 4
+f 20 4 14
+f 20 14 19
+f 20 19 8
+f 20 8 13
+f 21 1 9
+f 21 9 15
+f 21 18 1
+f 21 15 18
+f 22 16 2
+f 22 2 11
+f 22 11 16
+f 23 16 3
+f 23 15 9
+f 23 3 6
+f 23 6 15
+f 24 17 11
+f 24 11 7
+f 24 7 12
+f 25 16 11
+f 25 11 17
+f 25 17 3
+f 25 3 16
+f 26 14 4
+f 26 4 17
+f 26 12 14
+f 26 17 24
+f 27 19 14
+f 27 14 12
+f 27 12 19
+f 28 23 9
+f 28 9 2
+f 28 2 16
+f 28 16 23
+f 29 26 24
+f 29 24 12
+f 29 12 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a6241efb0ba26b43e22a8a7a4992f5a1be7e85c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_1.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.09401563 -0.27368322 0.40151517
+v 0.24931827 -0.13477673 -0.43974072
+v 0.24593938 -0.14820697 0.42130203
+v 0.15724096 -0.14207574 0.46996019
+v 0.09043596 -0.14544211 -0.46770943
+v 0.25063641 -0.13544820 0.42421173
+v 0.13431857 -0.23327502 0.45314512
+v 0.17120540 -0.23181146 -0.43628082
+v 0.09629126 -0.15712298 0.47051523
+v 0.17231520 -0.23292124 0.42107935
+v 0.20001982 -0.14053738 0.46413182
+v 0.23181146 -0.17120540 -0.43628082
+v 0.09401563 -0.27368322 -0.41666668
+v 0.09328742 -0.22680422 0.46720951
+v 0.14820852 -0.24594243 0.42129565
+v 0.19026262 -0.19026262 0.45270970
+v 0.23899450 -0.13723369 0.44153225
+v 0.24431333 -0.14737865 -0.43707983
+v 0.23292124 -0.17231520 0.42107935
+v 0.17734275 -0.19249428 -0.49818325
+v 0.11807513 -0.26142693 -0.41666668
+v 0.14708205 -0.22857959 0.45022776
+v 0.22960110 -0.16274905 0.43570791
+v 0.22364096 -0.13712990 -0.49818325
+v 0.15627352 -0.20172808 -0.50000003
+v 0.14737732 -0.24431071 -0.43709142
+v 0.21751026 -0.14915613 -0.49818325
+v 0.13445870 -0.23355488 -0.46971667
+v 0.20172808 -0.15627352 -0.50000003
+v 0.14705715 -0.22854748 -0.46705383
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 9 4 5
+f 13 1 5
+f 14 9 5
+f 14 5 1
+f 14 1 7
+f 14 4 9
+f 14 11 4
+f 15 7 1
+f 16 14 7
+f 16 11 14
+f 17 6 4
+f 17 4 11
+f 17 11 16
+f 17 3 6
+f 18 2 3
+f 18 3 12
+f 19 12 3
+f 19 10 8
+f 19 8 12
+f 19 16 10
+f 20 12 8
+f 21 8 10
+f 21 10 15
+f 21 15 1
+f 21 1 13
+f 22 15 10
+f 22 7 15
+f 22 16 7
+f 22 10 16
+f 23 17 16
+f 23 16 19
+f 23 19 3
+f 23 3 17
+f 24 5 2
+f 24 2 18
+f 26 21 13
+f 26 8 21
+f 27 24 18
+f 27 18 12
+f 27 12 20
+f 28 13 5
+f 28 5 25
+f 28 26 13
+f 28 25 20
+f 29 25 5
+f 29 5 24
+f 29 24 27
+f 29 27 20
+f 29 20 25
+f 30 28 20
+f 30 20 8
+f 30 8 26
+f 30 26 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddf16d0705cc82809160f89ace0ba3842bdb69d4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_10.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.07849420 -0.27679773 0.42264387
+v 0.14848929 -0.24593350 0.40151517
+v 0.12387363 -0.22735602 0.49895808
+v -0.13092049 -0.15675140 0.46897836
+v -0.12775399 -0.25649639 0.26515154
+v 0.09624878 -0.15685485 0.26515154
+v -0.05377836 -0.25351926 0.49895808
+v 0.11799391 -0.26126751 0.42140326
+v 0.09401563 -0.27368322 0.26515154
+v 0.09629126 -0.15712298 0.47051523
+v -0.13102396 -0.15685485 0.26515154
+v 0.01751322 -0.25926236 0.49895808
+v -0.05715608 -0.24453179 0.50000003
+v -0.08288285 -0.27627091 0.42234037
+v 0.13253799 -0.24492356 0.43581550
+v 0.08755835 -0.24585902 0.49895808
+v 0.11807513 -0.26142693 0.40151517
+v 0.13901715 -0.22734213 0.45885621
+v 0.06597149 -0.15669241 0.47068063
+v -0.13339415 -0.20695995 0.47727275
+v -0.00709514 -0.26091218 0.49895808
+v 0.07862939 -0.27765039 0.26515154
+v -0.12354566 -0.24823529 0.43787579
+v -0.03727807 -0.27532324 0.43696190
+v -0.08299190 -0.27695883 0.26515154
+v -0.10608985 -0.25886337 0.43507368
+v -0.12532941 -0.23659124 0.45519364
+v -0.10959610 -0.26574630 0.26515154
+f 9 8 1
+f 9 6 2
+f 9 5 6
+f 11 6 5
+f 13 3 4
+f 15 8 2
+f 15 2 3
+f 15 3 8
+f 16 8 3
+f 16 1 8
+f 16 12 1
+f 16 13 12
+f 16 3 13
+f 17 9 2
+f 17 2 8
+f 17 8 9
+f 18 10 3
+f 18 3 2
+f 18 2 6
+f 18 6 10
+f 19 10 6
+f 19 4 3
+f 19 3 10
+f 19 11 4
+f 19 6 11
+f 20 11 5
+f 20 4 11
+f 20 13 4
+f 20 7 13
+f 21 13 7
+f 21 12 13
+f 21 7 14
+f 21 1 12
+f 22 9 1
+f 22 1 14
+f 23 20 5
+f 23 5 14
+f 24 21 14
+f 24 14 1
+f 24 1 21
+f 25 22 14
+f 25 5 9
+f 25 9 22
+f 26 23 14
+f 26 14 7
+f 26 7 23
+f 27 23 7
+f 27 7 20
+f 27 20 23
+f 28 25 14
+f 28 14 5
+f 28 5 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2afdc52dae7042ec84589a304870af4bcd1569ca
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_11.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.08556941 -0.15685485 -0.40151517
+v 0.00550166 -0.09727229 -0.45501827
+v 0.00533967 -0.09624878 -0.34090911
+v -0.13102396 0.13102396 -0.34090911
+v -0.13200676 0.13200676 -0.47173361
+v -0.13102396 -0.09624878 -0.34090911
+v -0.08637996 -0.15844627 -0.47015381
+v 0.00538977 0.13134045 -0.45992479
+v -0.13124173 -0.15707264 -0.47604528
+v 0.00533967 0.13102396 -0.34090911
+v -0.13102396 -0.15685485 -0.40151517
+v -0.05628453 0.13302298 -0.46189500
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 2 3
+f 7 3 1
+f 8 2 7
+f 9 6 5
+f 9 8 7
+f 9 5 8
+f 10 3 2
+f 10 2 8
+f 10 4 3
+f 11 9 7
+f 11 7 1
+f 11 1 6
+f 11 6 9
+f 12 10 8
+f 12 8 5
+f 12 5 4
+f 12 4 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..921992ea1ad3aedafc5f7b921a257757cea427b2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_12.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.05235546 0.12530874 -0.46063206
+v -0.05439185 0.23156102 -0.48441226
+v -0.08464331 0.27669706 -0.41666668
+v -0.24887694 0.11415976 -0.46033746
+v -0.05508312 0.28138298 -0.41666668
+v -0.13820147 0.25117427 -0.41666668
+v -0.22130027 0.12327021 -0.50000003
+v -0.05335293 0.27046097 -0.45633604
+v -0.09308402 0.23668111 -0.50000003
+v -0.23980513 0.10953657 -0.48943682
+v -0.05426904 0.27624756 -0.44395501
+v -0.08463438 0.25040187 -0.49818325
+v -0.23501523 0.11481755 -0.49818325
+v -0.12739733 0.11224582 -0.46740962
+v -0.09420844 0.26975488 -0.44018186
+v -0.16219124 0.20764579 -0.49818325
+v -0.14210011 0.11179709 -0.46993869
+v -0.10868686 0.23814050 -0.49818325
+v -0.20764579 0.16219124 -0.49818325
+v -0.15462592 0.23908165 -0.43998531
+v -0.22888456 0.12684379 -0.49818325
+v -0.21470211 0.18439909 -0.44212466
+v -0.24386810 0.12676118 -0.45767235
+v -0.22088905 0.17543449 -0.44627018
+f 6 4 1
+f 6 5 3
+f 6 1 5
+f 8 5 1
+f 8 1 2
+f 9 2 1
+f 9 1 7
+f 11 3 5
+f 11 5 8
+f 12 8 2
+f 12 2 9
+f 12 11 8
+f 13 7 1
+f 13 10 4
+f 14 1 4
+f 14 13 1
+f 14 10 13
+f 15 3 11
+f 15 11 12
+f 15 6 3
+f 16 9 7
+f 17 14 4
+f 17 4 10
+f 17 10 14
+f 18 12 9
+f 18 9 16
+f 19 16 7
+f 20 6 15
+f 20 18 16
+f 20 15 12
+f 20 12 18
+f 21 19 7
+f 21 7 13
+f 22 20 16
+f 22 16 19
+f 22 4 6
+f 22 6 20
+f 23 21 13
+f 23 13 4
+f 23 4 22
+f 24 23 22
+f 24 22 19
+f 24 19 21
+f 24 21 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..628c1fce5eeb6c80cc4fe1c1fd9465ea696d5121
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.07862939 -0.27765039 -0.23484849
+v 0.09401563 -0.27368322 -0.41666668
+v 0.09624878 -0.15685485 -0.23484849
+v -0.13102396 -0.15685485 -0.23484849
+v -0.10828752 -0.26317753 -0.43905367
+v 0.09401563 -0.27368322 -0.23484849
+v 0.00399303 -0.28472332 -0.44289912
+v -0.12775399 -0.25649639 -0.23484849
+v 0.09043596 -0.14544211 -0.46770943
+v 0.07862939 -0.27765039 -0.41666668
+v -0.13710785 -0.21424953 -0.50000003
+v -0.08299190 -0.27695883 -0.23484849
+v -0.08876409 -0.23888226 -0.50000003
+v -0.12589439 -0.25284595 -0.44161622
+v -0.13377083 -0.15960171 -0.47694275
+v -0.10959610 -0.26574630 -0.23484849
+v -0.08261584 -0.27458662 -0.43804518
+v -0.12865333 -0.22796209 -0.49818325
+f 6 2 3
+f 6 3 4
+f 9 3 2
+f 9 4 3
+f 10 7 2
+f 10 1 7
+f 10 6 1
+f 10 2 6
+f 11 8 4
+f 12 7 1
+f 12 1 6
+f 12 6 4
+f 12 4 8
+f 13 9 2
+f 13 2 7
+f 13 11 9
+f 14 5 8
+f 14 8 11
+f 15 11 4
+f 15 4 9
+f 15 9 11
+f 16 12 8
+f 16 8 5
+f 17 7 12
+f 17 13 7
+f 17 16 5
+f 17 12 16
+f 18 5 14
+f 18 17 5
+f 18 13 17
+f 18 14 11
+f 18 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e649bab67fe986f0d3f6beb48a41af98d7f6778
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.28015912 0.06280358 -0.41666668
+v 0.27151184 0.08453094 -0.44382995
+v 0.25025285 0.14001026 -0.41666668
+v 0.12570246 0.25056880 -0.44608328
+v 0.14642383 0.04995357 -0.46331873
+v 0.21570072 0.15270582 -0.49818325
+v 0.26818405 0.09568643 -0.44172234
+v 0.23441143 0.05555122 -0.48516407
+v 0.17556618 0.22549287 -0.43920275
+v 0.12329410 0.23069410 -0.49818325
+v 0.22102073 0.18003831 -0.43920275
+v 0.25183008 0.08183275 -0.49818325
+v 0.15090631 0.24055891 -0.44076150
+v 0.12260890 0.12708103 -0.46919220
+v 0.14734659 0.21843273 -0.49818325
+v 0.23575934 0.09489305 -0.50000003
+v 0.13174844 0.21698034 -0.50000003
+v 0.12037825 0.24012773 -0.47084296
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 11 7 6
+f 11 3 7
+f 11 9 3
+f 11 6 9
+f 12 7 2
+f 12 6 7
+f 12 2 1
+f 12 1 8
+f 13 4 3
+f 13 3 9
+f 13 10 4
+f 14 5 4
+f 15 9 6
+f 15 13 9
+f 15 10 13
+f 16 6 12
+f 16 12 8
+f 16 8 5
+f 17 14 10
+f 17 5 14
+f 17 16 5
+f 17 10 15
+f 17 15 6
+f 17 6 16
+f 18 14 4
+f 18 4 10
+f 18 10 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8badcaf15a1881f121e49f992d69aabbdf88cedc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_15.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08399452 -0.23829947 0.50000003
+v 0.23899450 -0.13723369 0.44153225
+v 0.23829947 -0.08399452 0.50000003
+v 0.20169121 -0.08078234 0.47026457
+v 0.06597149 -0.15669241 0.47068063
+v 0.23060684 -0.08007510 0.46389263
+v 0.21509840 -0.14793129 0.49895808
+v 0.06598547 -0.23286313 0.46234315
+v 0.15177737 -0.22264518 0.45594197
+v 0.23429778 -0.14999137 0.43862009
+v 0.06671173 -0.23745295 0.47727275
+v 0.14793129 -0.21509840 0.49895808
+v 0.20994881 -0.17964579 0.44110091
+v 0.06591237 -0.15706554 0.47067120
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 2 3
+f 7 3 1
+f 10 8 5
+f 10 5 2
+f 10 2 7
+f 11 9 1
+f 11 8 9
+f 12 7 1
+f 12 1 9
+f 13 9 8
+f 13 8 10
+f 13 12 9
+f 13 10 7
+f 13 7 12
+f 14 11 1
+f 14 1 5
+f 14 5 8
+f 14 8 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5621a1889668c6ea2b3a43f19272a5844eb64b4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_16.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.13112947 0.11592429 0.46947091
+v -0.12739733 0.11224582 -0.46740962
+v -0.12561509 0.22646874 0.49895808
+v -0.12506952 0.25569882 0.42457165
+v -0.25420222 0.10914975 -0.45511950
+v -0.12441718 0.25441827 -0.44008357
+v -0.25468295 0.10940051 0.43909957
+v -0.23567550 0.16804229 0.42155944
+v -0.21962859 0.14500072 -0.49818325
+v -0.22646874 0.12561509 0.49895808
+v -0.23407670 0.16722784 -0.43731520
+v -0.16804376 0.23567841 0.42155314
+v -0.25100064 0.13782771 0.42166701
+v -0.14283428 0.17313730 -0.48095247
+v -0.22888456 0.12684379 -0.49818325
+v -0.24304018 0.11118544 0.45641937
+v -0.16722183 0.23408076 -0.43731509
+v -0.13782915 0.25100350 0.42166075
+v -0.16028100 0.20573556 0.49895808
+v -0.24941322 0.13701905 -0.43741357
+v -0.22037384 0.13022950 -0.49949460
+v -0.13701787 0.24941093 -0.43742490
+v -0.13764390 0.22033991 0.49895808
+v -0.20573556 0.16028100 0.49895808
+v -0.22033991 0.13764390 0.49895808
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 10 1 3
+f 12 11 8
+f 13 5 7
+f 13 10 8
+f 13 7 10
+f 14 9 6
+f 14 6 2
+f 15 2 5
+f 15 11 9
+f 16 10 7
+f 16 7 1
+f 16 1 10
+f 17 6 9
+f 17 9 11
+f 17 11 12
+f 18 4 6
+f 18 12 3
+f 18 3 4
+f 19 10 3
+f 20 5 13
+f 20 15 5
+f 20 11 15
+f 20 13 8
+f 20 8 11
+f 21 14 2
+f 21 2 15
+f 21 15 9
+f 21 9 14
+f 22 18 6
+f 22 6 17
+f 22 17 12
+f 22 12 18
+f 23 19 3
+f 23 3 12
+f 23 12 19
+f 24 10 19
+f 24 19 12
+f 24 12 8
+f 25 24 8
+f 25 8 10
+f 25 10 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc0fbe6a409028c79b4800901baad10c9616d6f1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_17.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.12354566 -0.24823529 0.43787579
+v -0.12865333 -0.22796209 -0.49818325
+v -0.13092287 -0.14160222 0.46916727
+v -0.24074074 -0.13584742 0.43984309
+v -0.16870510 -0.23250449 -0.43885696
+v -0.13421956 -0.14489893 -0.47441368
+v -0.16251707 -0.20349947 0.49895808
+v -0.12589439 -0.25284595 -0.44161622
+v -0.23706428 -0.16427761 0.42241234
+v -0.24035090 -0.13564355 -0.45580094
+v -0.13058205 -0.21659351 0.49977454
+v -0.18678587 -0.16716222 0.49966172
+v -0.13849631 -0.24784101 -0.43895533
+v -0.16601729 -0.22849193 0.43481023
+v -0.23555875 -0.16350326 -0.43810104
+v -0.21085138 -0.14377705 -0.50000003
+v -0.22909329 -0.13763030 0.45717050
+v -0.13630441 -0.24353823 0.43496612
+v -0.13710785 -0.21424953 -0.50000003
+v -0.23534349 -0.14824197 -0.45313810
+v -0.19473035 -0.17510668 -0.49818325
+v -0.17637034 -0.14159516 0.46860051
+v -0.22109768 -0.16064448 0.45115207
+v -0.15270582 -0.21570072 -0.49818325
+v -0.17957881 -0.19025819 -0.49818325
+v -0.20396415 -0.15403746 -0.50000003
+f 8 2 6
+f 8 6 3
+f 8 3 1
+f 10 4 3
+f 10 3 6
+f 10 9 4
+f 11 7 1
+f 11 1 3
+f 12 9 7
+f 12 11 3
+f 12 7 11
+f 13 5 2
+f 13 2 8
+f 14 9 5
+f 14 7 9
+f 14 5 13
+f 15 5 9
+f 15 9 10
+f 16 10 6
+f 17 3 4
+f 17 4 9
+f 18 13 8
+f 18 8 1
+f 18 14 13
+f 18 1 7
+f 18 7 14
+f 19 16 6
+f 19 6 2
+f 20 15 10
+f 20 10 16
+f 21 5 15
+f 21 20 16
+f 21 15 20
+f 22 17 12
+f 22 12 3
+f 22 3 17
+f 23 17 9
+f 23 9 12
+f 23 12 17
+f 24 2 5
+f 24 19 2
+f 25 24 5
+f 25 5 21
+f 26 25 21
+f 26 21 16
+f 26 16 19
+f 26 19 24
+f 26 24 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddc0c98e5348dc65cc565dfe5a0406a47095f760
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_18.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.24823299 0.12354448 0.43786722
+v 0.25284745 0.12589516 -0.44162404
+v 0.16427641 0.23706190 0.42241827
+v 0.13584740 0.24074675 0.43984579
+v 0.13731168 0.12663230 -0.47172129
+v 0.13830438 0.24556385 -0.44342239
+v 0.20349947 0.16251707 0.49895808
+v 0.22849193 0.16601729 0.43481023
+v 0.23250745 0.16869981 -0.43885661
+v 0.16716222 0.18678587 0.49966172
+v 0.24353767 0.13630414 0.43495632
+v 0.16350823 0.23555397 -0.43810061
+v 0.16064448 0.22109768 0.45115207
+v 0.14156778 0.13076709 0.47085586
+v 0.24784010 0.13849586 -0.43896538
+v 0.13763193 0.22909647 0.45716826
+v 0.21659394 0.13058226 0.49977459
+v 0.14152941 0.17614894 0.46904005
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 8 3 7
+f 9 2 5
+f 9 5 6
+f 9 3 8
+f 10 7 3
+f 11 1 2
+f 11 8 7
+f 11 7 1
+f 12 9 6
+f 12 6 3
+f 12 3 9
+f 13 10 3
+f 13 3 4
+f 14 4 5
+f 14 5 1
+f 15 11 2
+f 15 2 9
+f 15 9 8
+f 15 8 11
+f 16 13 4
+f 16 10 13
+f 16 4 14
+f 17 14 1
+f 17 1 7
+f 17 7 10
+f 17 10 14
+f 18 16 14
+f 18 14 10
+f 18 10 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8317970dd0da95cc3a3fe33166fa03803ceeb287
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.15648595 -0.15648595 0.46932009
+v 0.15685485 -0.15685485 0.38636367
+v 0.15685485 0.13102396 0.38636367
+v -0.13092477 0.13092477 0.46929805
+v -0.13102396 -0.15685485 0.38636367
+v 0.15653903 0.13070815 0.47053540
+v -0.13092049 -0.15675140 0.46897836
+v -0.13102396 0.13102396 0.38636367
+v -0.13009041 -0.07137283 0.48519904
+v -0.12966500 0.07141365 0.48519904
+v 0.07518405 0.05641037 0.47862677
+f 5 3 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 4 7
+f 9 7 1
+f 10 6 4
+f 10 4 9
+f 11 9 1
+f 11 1 6
+f 11 10 9
+f 11 6 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65ed90b2db87493ad76a5331efb430a419344e3c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_2.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.20263938 -0.14187152 0.47727275
+v 0.28936524 -0.00472885 0.26515154
+v 0.26091218 0.00709514 0.49895808
+v 0.21403999 0.17305757 0.44429711
+v 0.15685485 -0.14170334 0.26515154
+v 0.27626759 0.08288231 0.42234769
+v 0.15653903 0.13070815 0.47053540
+v 0.27680080 -0.07849471 0.42263671
+v 0.15685485 0.13102396 0.26515154
+v 0.25649639 0.12775399 0.26515154
+v 0.21328942 0.15148173 0.49895808
+v 0.15649816 -0.14135928 0.47003080
+v 0.24585902 -0.08755835 0.49895808
+v 0.27532565 0.03727844 0.43697294
+v 0.24593350 -0.14848929 0.26515154
+v 0.27695883 0.08299190 0.26515154
+v 0.22338710 0.16725319 0.43976244
+v 0.24405004 0.09110879 0.49895808
+v 0.21107523 0.15494130 0.49895808
+v 0.25926236 -0.01751322 0.49895808
+v 0.22734424 -0.13901822 0.45885472
+v 0.22735602 -0.12387363 0.49895808
+v 0.21186134 0.13589017 0.50000003
+v 0.27765039 -0.07862939 0.40151517
+v 0.26574630 0.10959610 0.26515154
+v 0.20950529 0.16852290 0.45590590
+f 9 7 4
+f 10 9 4
+f 12 9 5
+f 12 7 9
+f 14 6 3
+f 14 3 8
+f 14 8 2
+f 14 2 6
+f 15 12 5
+f 15 1 12
+f 16 6 2
+f 16 2 15
+f 16 15 5
+f 16 5 9
+f 16 9 10
+f 17 10 4
+f 17 6 10
+f 17 11 6
+f 18 3 6
+f 18 6 11
+f 19 17 4
+f 19 11 17
+f 20 13 8
+f 20 8 3
+f 21 15 8
+f 21 1 15
+f 22 12 1
+f 22 1 21
+f 22 21 8
+f 22 8 13
+f 23 11 19
+f 23 22 13
+f 23 12 22
+f 23 19 7
+f 23 7 12
+f 23 18 11
+f 23 3 18
+f 23 20 3
+f 23 13 20
+f 24 15 2
+f 24 2 8
+f 24 8 15
+f 25 16 10
+f 25 10 6
+f 25 6 16
+f 26 19 4
+f 26 4 7
+f 26 7 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d56febd866b6c5fc83e0248d58ae4275846464d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14170334 0.13102396 0.40151517
+v 0.13731168 0.12663230 -0.47172129
+v 0.15893679 0.24061138 0.40151517
+v -0.15045773 0.24493075 0.40151517
+v -0.13102396 0.13102396 0.40151517
+v 0.15331921 0.22958389 -0.45909268
+v -0.13200676 0.13200676 -0.47173361
+v 0.12729009 0.20823019 -0.48594416
+v -0.13170753 0.20812287 -0.48642359
+v -0.13363836 0.16394141 -0.47768923
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 8 6 2
+f 9 4 6
+f 9 6 8
+f 9 8 2
+f 9 2 7
+f 10 9 7
+f 10 7 4
+f 10 4 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660b5ad5f188509e411c5db1fcace3b0782ddce4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.15685485 -0.15685485 -0.35606062
+v 0.15124945 -0.15124945 -0.47856204
+v 0.15685485 -0.09624878 -0.35606062
+v -0.13102396 -0.09624878 -0.34090911
+v -0.13102396 -0.15685485 -0.40151517
+v 0.15181723 -0.09368149 -0.46950366
+v 0.00533967 -0.15685485 -0.34090911
+v 0.09692904 -0.15819046 -0.47129931
+v 0.00533967 -0.09624878 -0.34090911
+v -0.08582089 -0.09650027 -0.45968325
+v -0.13102396 -0.15685485 -0.34090911
+v -0.08637996 -0.15844627 -0.47015381
+v -0.13102396 -0.09624878 -0.40151517
+v -0.08719337 -0.11302429 -0.46152933
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 8 2 1
+f 9 6 4
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 11 7 4
+f 11 4 5
+f 12 8 1
+f 12 1 7
+f 12 7 11
+f 12 11 5
+f 12 2 8
+f 12 10 6
+f 12 6 2
+f 13 5 4
+f 13 4 6
+f 13 6 10
+f 13 12 5
+f 14 13 10
+f 14 10 12
+f 14 12 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33bb7a7e2b4f0e05b9c70743c7d84e57a7db5f17
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_22.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.13174844 0.21698034 -0.50000003
+v 0.14071729 0.23458883 -0.46175357
+v -0.08193649 0.19965295 -0.47886057
+v -0.00781058 0.28506626 -0.44092052
+v 0.08698026 0.24920601 -0.49818325
+v 0.13070740 0.24524213 -0.45130671
+v 0.11716343 0.23381937 -0.49818325
+v -0.08695506 0.23980401 -0.50000003
+v -0.05426904 0.27624756 -0.44395501
+v 0.04988664 0.27681373 -0.44422730
+v 0.11971982 0.22310930 -0.50000003
+v -0.00714499 0.26568734 -0.48878394
+v 0.01827609 0.28371710 -0.44027649
+v -0.09662979 0.25879647 -0.45849778
+v 0.10543155 0.25568098 -0.45590476
+v -0.08183275 0.25183008 -0.49818325
+v 0.01757507 0.26411205 -0.48843145
+v -0.08680791 0.20921178 -0.48155218
+v -0.08496308 0.26356030 -0.46028803
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 6
+f 8 1 3
+f 9 3 6
+f 11 8 5
+f 11 5 1
+f 11 1 8
+f 13 9 6
+f 13 4 9
+f 13 6 10
+f 13 12 4
+f 13 10 5
+f 14 3 9
+f 15 10 6
+f 15 6 5
+f 15 5 10
+f 16 12 5
+f 16 5 8
+f 16 8 14
+f 16 9 4
+f 16 4 12
+f 17 13 5
+f 17 5 12
+f 17 12 13
+f 18 14 8
+f 18 8 3
+f 18 3 14
+f 19 16 14
+f 19 14 9
+f 19 9 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0bfb3394ae21663ee6c73a512f7bceb2e1f6d3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00472885 -0.28936524 0.26515154
+v 0.00472885 -0.28936524 -0.23484849
+v 0.00533967 -0.00533967 0.26515154
+v -0.13102396 -0.00533967 0.26515154
+v -0.12775399 -0.25649639 0.26515154
+v -0.13102396 -0.00533967 -0.23484849
+v -0.08299190 -0.27695883 0.26515154
+v 0.00533967 -0.00533967 -0.23484849
+v -0.12775399 -0.25649639 -0.23484849
+v -0.10959610 -0.26574630 0.26515154
+v -0.08299190 -0.27695883 -0.23484849
+v -0.10959610 -0.26574630 -0.23484849
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 3 2
+f 9 5 6
+f 9 6 8
+f 10 7 5
+f 10 5 9
+f 11 2 7
+f 11 7 10
+f 12 11 10
+f 12 10 9
+f 12 2 11
+f 12 9 8
+f 12 8 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fe7c10846bd730550da88387d840545b4355e6a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.28936524 -0.00472885 0.26515154
+v 0.28936524 -0.00472885 -0.23484849
+v 0.25649639 0.12775399 -0.23484849
+v 0.00533967 0.13102396 0.26515154
+v 0.00533967 -0.00533967 0.26515154
+v 0.25649639 0.12775399 0.26515154
+v 0.27695883 0.08299190 -0.23484849
+v 0.00533967 -0.00533967 -0.23484849
+v 0.27695883 0.08299190 0.26515154
+v 0.00533967 0.13102396 -0.23484849
+v 0.26574630 0.10959610 0.26515154
+v 0.26574630 0.10959610 -0.23484849
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 8 2 5
+f 8 5 4
+f 9 1 7
+f 10 8 4
+f 10 4 3
+f 11 3 6
+f 11 6 1
+f 11 1 9
+f 12 3 11
+f 12 7 2
+f 12 2 8
+f 12 10 3
+f 12 8 10
+f 12 11 9
+f 12 9 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccb669241eb921b113d1555a95614f39900124d7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15685485 -0.15685485 0.38636367
+v 0.15685485 -0.15685485 -0.35606062
+v 0.15685485 -0.00533967 0.38636367
+v 0.00533967 -0.00533967 0.38636367
+v 0.00533967 -0.15685485 -0.35606062
+v 0.00533967 -0.00533967 -0.35606062
+v 0.00533967 -0.15685485 0.38636367
+v 0.15685485 -0.00533967 -0.35606062
+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/can/can_18/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddbb874f41bcea8af022c4b3cdaced7e2e47dd99
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24593350 -0.14848929 0.26515154
+v 0.28787959 -0.01410075 -0.23484849
+v 0.28787959 -0.01410075 0.26515154
+v 0.15685485 -0.00533967 0.26515154
+v 0.15685485 -0.14170334 -0.23484849
+v 0.24593350 -0.14848929 -0.23484849
+v 0.15685485 -0.14170334 0.26515154
+v 0.15685485 -0.00533967 -0.23484849
+f 1 3 4
+f 3 2 4
+f 6 5 2
+f 6 1 5
+f 6 2 3
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b414a6b80e83605817e8c08fe57c084457c6cef2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.07862939 -0.27765039 0.26515154
+v 0.09401563 -0.27368322 -0.23484849
+v 0.09624878 -0.15685485 0.26515154
+v 0.00533967 -0.15685485 0.26515154
+v 0.00472885 -0.28936524 -0.23484849
+v 0.09624878 -0.15685485 -0.23484849
+v 0.09401563 -0.27368322 0.26515154
+v 0.07862939 -0.27765039 -0.23484849
+v 0.00472885 -0.28936524 0.26515154
+v 0.00533967 -0.15685485 -0.23484849
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 5 4
+f 10 4 6
+f 10 8 5
+f 10 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4ffb1670409285d4e58cb6fa1a9ad69cea5d2f5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00533967 -0.00533967 0.26515154
+v 0.00533967 -0.00533967 -0.34090911
+v 0.00533967 0.13102396 0.26515154
+v -0.13102396 0.13102396 0.26515154
+v -0.13102396 -0.00533967 -0.34090911
+v -0.13102396 0.13102396 -0.34090911
+v -0.13102396 -0.00533967 0.26515154
+v 0.00533967 0.13102396 -0.34090911
+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/can/can_18/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e059e84ca66b5803699f5f61dcf15fabb1a4bc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00533967 -0.15685485 0.38636367
+v 0.00533967 -0.15685485 0.26515154
+v 0.00533967 0.13102396 0.38636367
+v -0.13102396 0.13102396 0.38636367
+v -0.13102396 -0.15685485 0.26515154
+v -0.13102396 0.13102396 0.26515154
+v -0.13102396 -0.15685485 0.38636367
+v 0.00533967 0.13102396 0.26515154
+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/can/can_18/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..302211f76cd3782a48dd6ccca96168ea127e1ad7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_3.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.13111178 -0.14179116 0.46916257
+v -0.13169046 -0.14236984 -0.47351622
+v -0.13245549 0.11730398 -0.46920454
+v -0.24897115 0.10649081 0.45071282
+v -0.26771445 -0.10384838 0.42262754
+v -0.13112947 0.11592429 0.46947091
+v -0.20341814 -0.18379450 -0.45986759
+v -0.26323999 -0.06288643 0.45133877
+v -0.22442316 0.11714125 -0.50000003
+v -0.25238937 -0.13406300 0.42251993
+v -0.28099086 0.05261910 0.42247895
+v -0.26449858 0.05241141 0.45204277
+v -0.16516869 0.11783027 -0.47523973
+v -0.26632578 0.10761312 0.42177454
+v -0.20230609 -0.16753094 -0.49818325
+v -0.26622551 -0.10308990 -0.43830791
+v -0.25035627 -0.10271969 0.45157005
+v -0.28151779 -0.04823048 0.42278239
+v -0.27932306 0.05235472 -0.43817176
+v -0.26531103 0.09194467 0.43629746
+v -0.19927264 -0.17964897 -0.47224144
+v -0.25088889 -0.13329864 -0.43820964
+v -0.24920601 -0.08698026 -0.49818325
+v -0.26669882 -0.08817523 0.43715640
+v -0.23502618 -0.13293171 0.45145944
+v -0.27878076 -0.01749866 0.43639447
+v -0.26474975 0.10681026 -0.43751192
+v -0.27988854 -0.04797221 -0.43843954
+v -0.21238274 -0.17760756 -0.45572209
+v -0.22310930 -0.11971982 -0.50000003
+v -0.21843273 -0.14734659 -0.49818325
+v -0.25183008 0.08183275 -0.49818325
+v -0.27824796 0.02188124 0.43609650
+v -0.26601379 -0.08783054 -0.45334702
+v -0.22115415 -0.16067844 -0.46789698
+v -0.20988186 -0.15995517 -0.49818325
+v -0.23814050 0.10868686 -0.49818325
+v -0.26453748 0.09154261 -0.45256198
+v -0.26568696 0.00714344 -0.48878386
+v -0.27928036 0.00689524 -0.45329965
+v -0.26411037 -0.01757481 -0.48844328
+v -0.27793083 -0.01735883 -0.45265298
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 10 7 1
+f 12 6 4
+f 12 8 1
+f 12 1 6
+f 13 9 6
+f 13 6 3
+f 13 3 9
+f 14 4 6
+f 14 6 9
+f 15 9 3
+f 15 3 2
+f 16 10 5
+f 17 1 8
+f 18 16 5
+f 19 11 14
+f 20 12 4
+f 20 4 14
+f 20 14 11
+f 20 11 12
+f 21 15 2
+f 21 2 7
+f 21 7 15
+f 22 10 16
+f 23 22 16
+f 24 17 8
+f 24 5 10
+f 24 10 17
+f 24 18 5
+f 24 8 18
+f 25 17 10
+f 25 10 1
+f 25 1 17
+f 26 11 18
+f 26 18 8
+f 26 8 12
+f 27 19 14
+f 27 14 9
+f 28 16 18
+f 28 18 11
+f 28 11 19
+f 29 7 10
+f 29 10 22
+f 29 15 7
+f 30 9 15
+f 31 22 23
+f 31 23 30
+f 32 30 23
+f 32 9 30
+f 33 26 12
+f 33 12 11
+f 33 11 26
+f 34 28 23
+f 34 23 16
+f 34 16 28
+f 35 29 22
+f 35 22 31
+f 36 31 30
+f 36 30 15
+f 36 35 31
+f 36 15 29
+f 36 29 35
+f 37 32 27
+f 37 27 9
+f 37 9 32
+f 38 32 19
+f 38 19 27
+f 38 27 32
+f 39 19 32
+f 39 32 23
+f 40 28 19
+f 40 19 39
+f 41 39 23
+f 41 23 28
+f 42 41 28
+f 42 28 40
+f 42 40 39
+f 42 39 41
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d37d803d172b260bc70e7c3e2812a9ecb0a9591b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15685485 -0.00533967 0.38636367
+v 0.15685485 -0.00533967 0.26515154
+v 0.15685485 0.13102396 0.26515154
+v 0.00533967 0.13102396 0.38636367
+v 0.00533967 -0.00533967 0.26515154
+v 0.15685485 0.13102396 0.38636367
+v 0.00533967 -0.00533967 0.38636367
+v 0.00533967 0.13102396 0.26515154
+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/can/can_18/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..320ab91f8e8affe23074494a1ea84dcb6ddbe495
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00533967 -0.15685485 -0.23484849
+v 0.00533967 -0.15685485 -0.34090911
+v 0.00533967 -0.00533967 -0.23484849
+v -0.13102396 -0.00533967 -0.23484849
+v -0.13102396 -0.15685485 -0.34090911
+v -0.13102396 -0.00533967 -0.34090911
+v -0.13102396 -0.15685485 -0.23484849
+v 0.00533967 -0.00533967 -0.34090911
+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/can/can_18/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78cf159935c9025c8ea61ee456ad34eedacaf51a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.22734424 -0.13901822 0.45885472
+v 0.27207732 -0.08014777 -0.44410069
+v 0.26126452 -0.11799239 0.42140959
+v 0.28936524 -0.00472885 0.40151517
+v 0.23060684 -0.08007510 0.46389263
+v 0.27765039 -0.07862939 0.40151517
+v 0.23344154 -0.14212570 -0.46256204
+v 0.28936524 -0.00472885 -0.35606062
+v 0.25649364 -0.08008100 0.45853364
+v 0.27765039 -0.07862939 -0.35606062
+v 0.24492463 -0.13253853 0.43582495
+v 0.23844862 -0.12952746 -0.46522038
+v 0.26024977 -0.10232394 0.43593251
+v 0.26664416 -0.07928958 0.44058830
+v 0.25964985 -0.11716986 -0.43717817
+v 0.25869663 -0.09439658 -0.46082100
+v 0.24391411 -0.11686711 0.45033951
+v 0.24409484 -0.13211582 -0.45211517
+f 7 1 5
+f 8 5 4
+f 9 5 1
+f 9 4 5
+f 10 6 3
+f 10 2 8
+f 10 8 4
+f 10 4 6
+f 11 7 3
+f 11 1 7
+f 12 7 5
+f 12 5 8
+f 13 11 3
+f 14 6 4
+f 14 4 9
+f 14 9 13
+f 14 13 3
+f 14 3 6
+f 15 2 10
+f 15 10 3
+f 16 12 8
+f 16 8 2
+f 16 2 15
+f 16 7 12
+f 17 13 9
+f 17 9 1
+f 17 1 11
+f 17 11 13
+f 18 15 3
+f 18 3 7
+f 18 16 15
+f 18 7 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93af9773de147f13973c1f620675b9c1242b339b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_5.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.05377836 -0.25351926 0.49895808
+v -0.05473390 -0.25955076 0.46024152
+v -0.13091771 0.17637227 0.46873281
+v -0.14625530 0.17655835 0.46853973
+v -0.25505485 -0.08996297 0.45448090
+v -0.21278285 0.13408133 0.50000003
+v -0.05518995 -0.20215942 0.46903006
+v -0.15554146 -0.22126123 0.45508298
+v -0.23834349 0.12394312 0.45350719
+v -0.12966500 0.07141365 0.48519904
+v -0.13110614 0.17656067 0.46872813
+v -0.24963810 -0.07828640 0.49895808
+v -0.09511843 -0.25191758 0.45530839
+v -0.22439679 -0.15039150 0.45425536
+v -0.05715608 -0.24453179 0.50000003
+v -0.15148173 -0.21328942 0.49895808
+v -0.25366821 0.09373206 0.45362250
+v -0.25071245 -0.08775263 0.48603433
+v -0.20797163 -0.15804494 0.49895808
+v -0.09110879 -0.24405004 0.49895808
+v -0.24921186 0.08097783 0.49895808
+v -0.21998971 -0.14814186 0.48588782
+v -0.22646874 0.12561509 0.49895808
+v -0.24909247 0.09139618 0.48541320
+v -0.23373230 0.12159287 0.48533326
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+f 7 2 3
+f 7 3 1
+f 9 6 4
+f 10 3 6
+f 11 6 3
+f 11 4 6
+f 11 9 4
+f 11 3 9
+f 13 2 1
+f 13 9 3
+f 13 3 2
+f 14 13 8
+f 14 9 13
+f 15 10 6
+f 15 1 3
+f 15 3 10
+f 15 6 12
+f 17 14 5
+f 17 9 14
+f 18 12 5
+f 18 5 14
+f 19 16 15
+f 19 15 12
+f 19 14 8
+f 19 8 16
+f 20 1 15
+f 20 15 16
+f 20 13 1
+f 20 16 8
+f 20 8 13
+f 21 17 5
+f 21 5 12
+f 21 12 6
+f 22 19 12
+f 22 12 18
+f 22 18 14
+f 22 14 19
+f 23 21 6
+f 23 6 9
+f 24 9 17
+f 24 17 21
+f 24 21 23
+f 25 24 23
+f 25 23 9
+f 25 9 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b35b45084a5f6ee8cfb591f437670192d03af460
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_6.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.24593350 -0.14848929 -0.23484849
+v 0.27515170 -0.07823329 -0.43831584
+v 0.27695883 0.08299190 -0.23484849
+v 0.15685485 0.13102396 -0.23484849
+v 0.15928541 -0.14413390 -0.47872535
+v 0.24219925 0.13591189 -0.45206781
+v 0.28936524 -0.00472885 -0.23484849
+v 0.22364096 -0.13712990 -0.49818325
+v 0.15685485 -0.14170334 -0.23484849
+v 0.27458579 0.08261758 -0.43804504
+v 0.25649639 0.12775399 -0.23484849
+v 0.14695632 0.12112543 -0.47245544
+v 0.27765039 -0.07862939 -0.35606062
+v 0.25432322 -0.12217481 -0.44240160
+v 0.20992960 -0.14558608 -0.50000003
+v 0.25183008 0.08183275 -0.49818325
+v 0.27511106 -0.03277411 -0.45344475
+v 0.25284745 0.12589516 -0.44162404
+v 0.26574630 0.10959610 -0.23484849
+v 0.24828354 -0.08878979 -0.49818325
+v 0.23876821 -0.13712076 -0.45733861
+v 0.26465480 -0.10456794 -0.43983909
+v 0.23888226 0.08876409 -0.50000003
+v 0.27454368 0.03715450 -0.45317288
+v 0.26317670 0.10828712 -0.43906364
+v 0.26194715 -0.01793877 -0.49818325
+v 0.26125635 0.02230152 -0.49818325
+v 0.21605856 -0.13355747 -0.50000003
+f 7 3 1
+f 9 5 1
+f 9 1 3
+f 9 3 4
+f 10 3 7
+f 11 6 4
+f 11 4 3
+f 12 4 6
+f 12 9 4
+f 12 5 9
+f 13 7 1
+f 13 2 7
+f 15 1 5
+f 15 5 12
+f 17 7 2
+f 18 6 11
+f 18 16 6
+f 19 11 3
+f 19 3 10
+f 20 8 15
+f 21 14 1
+f 21 8 14
+f 21 15 8
+f 21 1 15
+f 22 13 1
+f 22 1 14
+f 22 2 13
+f 22 20 2
+f 22 14 8
+f 22 8 20
+f 23 12 6
+f 23 6 16
+f 23 15 12
+f 24 10 7
+f 24 7 17
+f 25 10 16
+f 25 16 18
+f 25 19 10
+f 25 18 11
+f 25 11 19
+f 26 17 2
+f 26 2 20
+f 26 24 17
+f 27 16 10
+f 27 10 24
+f 27 24 26
+f 27 26 23
+f 27 23 16
+f 28 26 20
+f 28 20 15
+f 28 15 23
+f 28 23 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd2b0c35d293cf37bdf3d78c2967a93e6eade249
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.15685485 -0.09624878 -0.35606062
+v 0.15819044 -0.09692944 -0.47129845
+v 0.15685485 0.13102396 -0.23484849
+v 0.00533967 0.13102396 -0.23484849
+v 0.00550166 -0.09727229 -0.45501827
+v 0.15707264 0.13124173 -0.47604528
+v 0.15685485 -0.00533967 -0.23484849
+v 0.09791934 -0.09791934 -0.46107764
+v 0.05183158 0.13306065 -0.46160508
+v 0.00538977 0.13134045 -0.45992479
+v 0.00533967 -0.00533967 -0.23484849
+v 0.00533967 -0.09624878 -0.35606062
+f 6 3 2
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 4 3
+f 9 3 6
+f 10 6 2
+f 10 2 5
+f 10 9 6
+f 10 4 9
+f 11 1 7
+f 11 7 4
+f 12 8 1
+f 12 5 8
+f 12 1 11
+f 12 10 5
+f 12 11 4
+f 12 4 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e327b5ca431f0d837f1318439120d3563aeb6e7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_8.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.07862939 -0.27765039 -0.41666668
+v 0.18562063 -0.20077213 -0.46109121
+v 0.15685485 -0.15685485 -0.41666668
+v 0.09485864 -0.09485864 -0.46044619
+v -0.12865333 -0.22796209 -0.49818325
+v 0.15819044 -0.09692944 -0.47129845
+v 0.16051905 -0.23980537 -0.41666668
+v 0.08878979 -0.24828354 -0.49818325
+v -0.12589439 -0.25284595 -0.44161622
+v 0.15181723 -0.09368149 -0.46950366
+v 0.11716858 -0.25964734 -0.43718971
+v 0.16976701 -0.20007002 -0.49818325
+v 0.00472885 -0.28936524 -0.41666668
+v -0.05320053 -0.15279882 -0.46511352
+v 0.11807513 -0.26142693 -0.41666668
+v 0.07823337 -0.27515218 -0.43831293
+v 0.17860983 -0.19376134 -0.48983078
+v 0.14915613 -0.21751026 -0.49818325
+v 0.17943372 -0.20973674 -0.45694569
+v 0.15627352 -0.20172808 -0.50000003
+v -0.02230152 -0.26125635 -0.49818325
+v -0.13590427 -0.24219265 -0.45206308
+v 0.16219124 -0.20764579 -0.49818325
+v 0.16384929 -0.19415231 -0.50000003
+v -0.09568181 -0.26818362 -0.44172145
+v 0.01793877 -0.26194715 -0.49818325
+v -0.09233949 -0.24647400 -0.49818325
+v 0.15698531 -0.21606273 -0.48759976
+v -0.03807176 -0.28033008 -0.44079626
+v 0.03277192 -0.27510868 -0.45344360
+f 6 3 2
+f 7 2 3
+f 10 4 3
+f 10 3 6
+f 10 6 5
+f 10 5 4
+f 13 3 9
+f 14 9 3
+f 14 3 4
+f 14 4 5
+f 15 11 7
+f 15 1 11
+f 15 7 3
+f 15 13 1
+f 15 3 13
+f 16 11 1
+f 16 8 11
+f 16 1 13
+f 17 12 6
+f 17 6 2
+f 17 2 12
+f 18 11 8
+f 18 7 11
+f 19 12 2
+f 19 2 7
+f 20 18 8
+f 22 14 5
+f 22 5 9
+f 22 9 14
+f 23 12 19
+f 23 20 12
+f 23 18 20
+f 24 20 5
+f 24 5 6
+f 24 6 12
+f 24 12 20
+f 25 13 9
+f 26 13 21
+f 26 8 16
+f 26 21 20
+f 26 20 8
+f 27 5 20
+f 27 20 21
+f 27 21 25
+f 27 25 9
+f 27 9 5
+f 28 23 19
+f 28 19 7
+f 28 7 18
+f 28 18 23
+f 29 25 21
+f 29 21 13
+f 29 13 25
+f 30 26 16
+f 30 16 13
+f 30 13 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b306c5fe35dbcbefbd8d5652bcd8b1e72ae83b1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/collision/model_normalized_collision_9.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.14156778 0.13076709 0.47085586
+v 0.20015819 0.17432728 0.46044061
+v -0.08097783 0.24921186 0.49895808
+v -0.05261859 0.28098766 0.42248621
+v 0.14170334 0.13102396 0.40151517
+v 0.07828640 0.24963810 0.49895808
+v 0.19592372 0.17009284 0.49895808
+v 0.14668050 0.24685493 0.40151517
+v -0.13102396 0.13102396 0.40151517
+v 0.00262618 0.28057310 0.43739685
+v -0.13408133 0.21278285 0.50000003
+v 0.19435378 0.18367441 0.45590590
+v 0.15804494 0.20797163 0.49895808
+v -0.08464331 0.27669706 0.40151517
+v 0.06389255 0.26956495 0.43972161
+v -0.13092477 0.13092477 0.46929805
+v 0.14814368 0.21998742 0.48588755
+v 0.00403730 0.28947486 0.40151517
+v -0.15045773 0.24493075 0.40151517
+v 0.10563460 0.25606933 0.43995840
+v -0.05274013 0.28175439 0.40151517
+v -0.12561509 0.22646874 0.49895808
+v -0.10939583 0.25468050 0.43909746
+v 0.08774996 0.25071290 0.48603420
+v 0.13584740 0.24074675 0.43984579
+v -0.09139442 0.24908899 0.48542754
+v -0.12159105 0.23372875 0.48534774
+f 7 5 2
+f 7 1 5
+f 8 2 5
+f 9 5 1
+f 9 8 5
+f 10 4 3
+f 10 3 6
+f 11 6 3
+f 12 8 7
+f 12 7 2
+f 12 2 8
+f 13 7 8
+f 13 11 7
+f 13 6 11
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+f 14 3 4
+f 15 10 6
+f 16 1 7
+f 16 7 11
+f 16 9 1
+f 17 13 8
+f 17 6 13
+f 18 8 14
+f 18 15 8
+f 18 10 15
+f 18 4 10
+f 19 14 9
+f 19 16 11
+f 19 9 16
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+f 21 18 14
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+f 21 4 18
+f 22 19 11
+f 22 11 3
+f 23 14 19
+f 24 20 15
+f 24 15 6
+f 24 6 17
+f 25 17 8
+f 25 8 20
+f 25 24 17
+f 25 20 24
+f 26 3 14
+f 26 14 23
+f 26 22 3
+f 27 23 19
+f 27 19 22
+f 27 26 23
+f 27 22 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_18/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2225cbd0ac0a18bdc166f8ccadf5ad2cf152925d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/model.xml
@@ -0,0 +1,55 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_18/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c29974796d3ed0554b2283c4b1dc6588db639a0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.73725490 0.73725490 0.73725490
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 551.91553000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_18/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_18/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bbc4a36b2ea2f3ed3ea553604ac06e7df926fa6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_18/visual/model_normalized_0.obj
@@ -0,0 +1,5075 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.12465936 0.09056906 -0.46307775
+v 0.14654021 0.04760887 -0.46307775
+v 0.00000000 0.00000000 -0.44087630
+v 0.09056906 0.12465936 -0.46307775
+v 0.04760887 0.14654021 -0.46307775
+v 0.00000000 0.15407427 -0.46307775
+v -0.04760887 0.14654021 -0.46307775
+v -0.09056906 0.12465936 -0.46307775
+v -0.12465936 0.09056906 -0.46307775
+v -0.14654021 0.04760887 -0.46307775
+v -0.15407427 0.00000000 -0.46307775
+v -0.14654021 -0.04760887 -0.46307775
+v -0.12465936 -0.09056906 -0.46307775
+v -0.09056906 -0.12465936 -0.46307775
+v -0.04760887 -0.14654021 -0.46307775
+v 0.00000000 -0.15407427 -0.46307775
+v 0.04760887 -0.14654021 -0.46307775
+v 0.09056906 -0.12465936 -0.46307775
+v 0.12465936 -0.09056906 -0.46307775
+v 0.14654021 -0.04760887 -0.46307775
+v 0.15407427 0.00000000 -0.46307775
+v 0.13740315 0.00892332 0.47213465
+v 0.13395672 0.01696500 0.47213465
+v 0.10932407 0.00000000 0.47232167
+v 0.12861341 0.02335025 0.47213465
+v 0.12185413 0.02743788 0.47213465
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+v 0.10686615 0.02743788 0.47213465
+v 0.10010687 0.02335025 0.47213465
+v 0.09476356 0.01696500 0.47213465
+v 0.09131713 0.00892332 0.47213465
+v 0.09014160 0.00000000 0.47213465
+v 0.09131713 -0.00892332 0.47213465
+v 0.09476356 -0.01696500 0.47213465
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+v 0.11437350 -0.02885386 0.47213465
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+v 0.12861341 -0.02335025 0.47213465
+v 0.13395672 -0.01696500 0.47213465
+v 0.13740315 -0.00892332 0.47213465
+v 0.13857868 0.00000000 0.47213465
+v 0.24921186 0.08097783 0.49895806
+v 0.21199573 0.15402084 0.49895806
+v 0.20515629 0.14905156 0.50000000
+v 0.24117018 0.07835960 0.50000000
+v 0.15402084 0.21199573 0.49895806
+v 0.14905156 0.20515629 0.50000000
+v 0.08097783 0.24921186 0.49895806
+v 0.07835960 0.24117018 0.50000000
+v 0.00000000 0.26203580 0.49895806
+v 0.00000000 0.25359337 0.50000000
+v -0.08097783 0.24921186 0.49895806
+v -0.07835960 0.24117018 0.50000000
+v -0.15402084 0.21199573 0.49895806
+v -0.14905156 0.20515629 0.50000000
+v -0.21199573 0.15402084 0.49895806
+v -0.20515629 0.14905156 0.50000000
+v -0.24921186 0.08097783 0.49895806
+v -0.24117018 0.07835960 0.50000000
+v -0.26203580 0.00000000 0.49895806
+v -0.25359337 0.00000000 0.50000000
+v -0.24921186 -0.08097783 0.49895806
+v -0.24117018 -0.07835960 0.50000000
+v -0.21199573 -0.15402084 0.49895806
+v -0.20515629 -0.14905156 0.50000000
+v -0.15402084 -0.21199573 0.49895806
+v -0.14905156 -0.20515629 0.50000000
+v -0.08097783 -0.24921186 0.49895806
+v -0.07835960 -0.24117018 0.50000000
+v 0.00000000 -0.26203580 0.49895806
+v 0.00000000 -0.25359337 0.50000000
+v 0.08097783 -0.24921186 0.49895806
+v 0.07835960 -0.24117018 0.50000000
+v 0.15402084 -0.21199573 0.49895806
+v 0.14905156 -0.20515629 0.50000000
+v 0.21199573 -0.15402084 0.49895806
+v 0.20515629 -0.14905156 0.50000000
+v 0.24921186 -0.08097783 0.49895806
+v 0.24117018 -0.07835960 0.50000000
+v 0.26203580 0.00000000 0.49895806
+v 0.25359337 0.00000000 0.50000000
+v 0.27590168 0.08966070 0.42107935
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+v 0.21613679 0.15703981 0.46211595
+v 0.25410099 0.08255410 0.46211595
+v 0.17053166 0.23470478 0.42107935
+v 0.15703981 0.21613679 0.46211595
+v 0.08966070 0.27590168 0.42107935
+v 0.08255410 0.25410099 0.46211595
+v 0.00000000 0.29011488 0.42107935
+v 0.00000000 0.26716538 0.46211595
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+v -0.23470478 0.17053166 0.42107935
+v -0.21613679 0.15703981 0.46211595
+v -0.27590168 0.08966070 0.42107935
+v -0.25410099 0.08255410 0.46211595
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+v -0.25410099 -0.08255410 0.46211595
+v -0.23470478 -0.17053166 0.42107935
+v -0.21613679 -0.15703981 0.46211595
+v -0.17053166 -0.23470478 0.42107935
+v -0.15703981 -0.21613679 0.46211595
+v -0.08966070 -0.27590168 0.42107935
+v -0.08255410 -0.25410099 0.46211595
+v 0.00000000 -0.29011488 0.42107935
+v 0.00000000 -0.26716538 0.46211595
+v 0.08966070 -0.27590168 0.42107935
+v 0.08255410 -0.25410099 0.46211595
+v 0.17053166 -0.23470478 0.42107935
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b69958850abab5ca63039741f2e99da39280e80
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,115 @@
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+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 23
+f 1 23 32
+f 1 32 33
+f 1 33 24
+f 1 24 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 13
+f 2 13 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 6 13 19
+f 6 19 14
+f 6 14 7
+f 7 15 21
+f 7 21 29
+f 7 29 30
+f 7 30 22
+f 7 22 16
+f 7 16 9
+f 7 9 8
+f 7 14 15
+f 10 17 25
+f 10 25 35
+f 10 35 36
+f 10 36 26
+f 10 26 18
+f 10 18 12
+f 10 12 11
+f 12 18 19
+f 12 19 13
+f 14 19 27
+f 14 27 20
+f 14 20 15
+f 15 20 21
+f 16 22 23
+f 17 24 25
+f 18 26 19
+f 19 26 27
+f 20 28 29
+f 20 29 21
+f 20 27 37
+f 20 37 28
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 24 33 34
+f 24 34 25
+f 25 34 35
+f 26 36 37
+f 26 37 27
+f 28 38 30
+f 28 30 29
+f 28 37 39
+f 28 39 38
+f 30 38 31
+f 31 38 39
+f 31 39 34
+f 31 34 33
+f 31 33 32
+f 34 39 35
+f 35 39 37
+f 35 37 36
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690158db7363d5ecceafc4a0a825e7baed7548b8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.33801928 0.16199037 0.43637431
+v 0.30691728 0.22300699 0.43637431
+v 0.29297814 0.16199037 0.50000000
+v 0.33801928 0.16199037 -0.43441659
+v 0.30691728 0.22300699 -0.43441659
+v 0.22300997 0.30692345 0.43637431
+v 0.19912727 0.27406344 0.50000000
+v 0.27404451 0.19912815 0.50000000
+v -0.12583190 0.31139272 0.50000000
+v -0.12583190 0.16199037 0.49216914
+v 0.29833585 0.16199037 -0.50000000
+v 0.27794927 0.20197999 -0.50000000
+v 0.22300997 0.30692345 -0.43441659
+v 0.11721776 0.36081046 0.43637431
+v 0.10468616 0.32216161 0.50000000
+v -0.10467346 0.32216161 0.50000000
+v -0.12583190 0.35642627 0.43637431
+v -0.12583190 0.16199037 -0.48052076
+v -0.12583190 0.31675589 -0.50000000
+v 0.20194235 0.27795810 -0.50000000
+v 0.10613909 0.32677990 -0.50000000
+v 0.11721776 0.36081046 -0.43441659
+v 0.00002905 0.37938997 0.43637431
+v 0.00002905 0.33876190 0.50000000
+v -0.11720507 0.36081046 0.43637431
+v -0.12583190 0.35642627 -0.43441659
+v -0.10617180 0.32677990 -0.50000000
+v 0.00002905 0.34359300 -0.50000000
+v 0.00002905 0.37938997 -0.43441659
+v -0.11720507 0.36081046 -0.43441659
+f 1 2 3
+f 1 3 10
+f 1 10 18
+f 1 18 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 13
+f 2 13 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 15
+f 3 15 24
+f 3 24 16
+f 3 16 9
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 6 13 22
+f 6 22 14
+f 6 14 7
+f 7 14 15
+f 9 16 17
+f 9 17 26
+f 9 26 19
+f 9 19 18
+f 9 18 10
+f 11 18 19
+f 11 19 27
+f 11 27 28
+f 11 28 21
+f 11 21 20
+f 11 20 12
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 14 22 29
+f 14 29 23
+f 14 23 24
+f 14 24 15
+f 16 24 25
+f 16 25 17
+f 17 25 30
+f 17 30 26
+f 19 26 27
+f 21 28 29
+f 21 29 22
+f 23 29 30
+f 23 30 25
+f 23 25 24
+f 26 30 27
+f 27 30 29
+f 27 29 28
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6f6a876f45991cb9a30f41b08add5c0818cfccd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.31941116 -0.19848992 0.43637431
+v 0.31008440 -0.19848992 0.44958889
+v 0.30690286 -0.22299713 0.43637431
+v 0.31941116 -0.19848992 -0.43441659
+v 0.27438998 -0.19848992 0.50000000
+v 0.22300574 -0.30693081 0.43637431
+v 0.30690286 -0.22299713 -0.43441659
+v 0.27404135 -0.19912739 0.50000000
+v 0.19912231 -0.27408335 0.50000000
+v 0.27975070 -0.19848992 -0.50000000
+v -0.12583189 -0.19848992 0.49216914
+v -0.12583189 -0.31139308 0.50000000
+v 0.11723001 -0.36081478 0.43637431
+v 0.22300574 -0.30693081 -0.43441659
+v 0.27796382 -0.20196059 -0.50000000
+v 0.10467814 -0.32217696 0.50000000
+v -0.12583189 -0.31675848 -0.50000000
+v -0.12583189 -0.19848992 -0.48052076
+v -0.10465060 -0.32217696 0.50000000
+v -0.12583189 -0.35642332 0.43637431
+v 0.00003556 -0.37937227 0.43637431
+v 0.11723001 -0.36081478 -0.43441659
+v 0.00003556 -0.33875123 0.50000000
+v 0.10615996 -0.32678092 -0.50000000
+v 0.20195520 -0.27797899 -0.50000000
+v -0.10617600 -0.32678092 -0.50000000
+v -0.12583189 -0.35240370 -0.44107282
+v -0.11720248 -0.36081478 0.43637431
+v -0.12583189 -0.35642332 -0.43441659
+v 0.00003556 -0.37937227 -0.43441659
+v 0.00003556 -0.34358537 -0.50000000
+v -0.11720248 -0.36081478 -0.43441659
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 6 14
+f 3 14 7
+f 3 5 8
+f 3 8 9
+f 3 9 6
+f 4 7 10
+f 5 11 12
+f 5 12 19
+f 5 19 23
+f 5 23 16
+f 5 16 9
+f 5 9 8
+f 6 9 13
+f 6 13 22
+f 6 22 14
+f 7 14 15
+f 7 15 10
+f 9 16 13
+f 10 15 25
+f 10 25 24
+f 10 24 31
+f 10 31 26
+f 10 26 17
+f 10 17 18
+f 11 18 17
+f 11 17 27
+f 11 27 29
+f 11 29 20
+f 11 20 12
+f 12 20 19
+f 13 21 30
+f 13 30 22
+f 13 16 23
+f 13 23 21
+f 14 22 24
+f 14 24 25
+f 14 25 15
+f 17 26 27
+f 19 20 28
+f 19 28 23
+f 20 29 32
+f 20 32 28
+f 21 23 28
+f 21 28 32
+f 21 32 30
+f 22 30 24
+f 24 30 31
+f 26 31 30
+f 26 30 32
+f 26 32 27
+f 27 32 29
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144aaa3a5c49633799d0a9cc01e9b89ae266b2d1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.37937540 -0.00001869 0.43637431
+v 0.36078125 -0.11723138 0.43637431
+v 0.37937540 -0.00001869 -0.43441659
+v 0.36078125 0.11722929 0.43637431
+v 0.32215881 0.10466827 0.50000000
+v 0.33872539 -0.00001869 0.50000000
+v 0.32215881 -0.10467036 0.50000000
+v 0.27438763 -0.19848990 0.50000000
+v 0.31938946 -0.19848990 0.43637431
+v 0.36078125 -0.11723138 -0.43441659
+v 0.32675788 -0.10615228 -0.50000000
+v 0.34357175 -0.00001869 -0.50000000
+v 0.32675788 0.10615019 -0.50000000
+v 0.36078125 0.11722929 -0.43441659
+v 0.29298180 0.16196913 0.50000000
+v 0.33798361 0.16196913 0.43637431
+v -0.12583190 0.16196913 0.49216914
+v -0.12583190 -0.19848990 0.49216914
+v 0.31938946 -0.19848990 -0.43441659
+v 0.27972850 -0.19848990 -0.50000000
+v 0.29832268 0.16196913 -0.50000000
+v 0.33798361 0.16196913 -0.43441659
+v -0.12583190 0.16196913 -0.48052076
+v -0.12583190 -0.19848990 -0.48052076
+f 1 2 10
+f 1 10 3
+f 1 3 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 19
+f 2 19 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 15 5
+f 4 14 22
+f 4 22 16
+f 4 16 15
+f 5 15 8
+f 5 8 7
+f 5 7 6
+f 8 15 17
+f 8 17 18
+f 8 18 24
+f 8 24 20
+f 8 20 19
+f 8 19 9
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 13
+f 11 13 12
+f 13 21 14
+f 14 21 22
+f 15 16 22
+f 15 22 21
+f 15 21 23
+f 15 23 17
+f 17 23 24
+f 17 24 18
+f 20 24 23
+f 20 23 21
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ded25398dd7ca9fda600f64c384064e2feee4dc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.32752748 -0.18255880 -0.35606062
+v 0.33059789 -0.16868313 -0.44108296
+v 0.36151504 0.11279612 -0.41666668
+v 0.20396146 0.17484547 -0.35606062
+v 0.20396146 -0.17363937 -0.48059762
+v 0.32703872 0.18351616 -0.35606062
+v 0.36853779 0.06845381 -0.41666668
+v 0.27061436 -0.17672001 -0.49209671
+v 0.20396146 -0.17363937 -0.35606062
+v 0.20396146 0.17484547 -0.48059762
+v 0.31706331 0.12525905 -0.50000001
+v 0.29637283 -0.16668559 -0.49931440
+v 0.35841264 0.11230351 -0.44029942
+v 0.29599428 0.16769883 -0.49908702
+v 0.36385311 0.06771187 -0.44327146
+v 0.27053551 0.17788693 -0.49229721
+v 0.32932741 0.15409019 -0.45546460
+v 0.32406647 -0.15020468 -0.46743200
+v 0.30695310 -0.14920519 -0.49654759
+v 0.31874616 0.17157044 -0.45823087
+v 0.32754323 0.12287805 -0.48468770
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 4 5
+f 9 6 4
+f 9 1 6
+f 10 5 4
+f 10 4 6
+f 12 8 5
+f 12 5 10
+f 12 2 8
+f 13 3 7
+f 13 6 3
+f 14 12 10
+f 14 11 12
+f 15 7 2
+f 15 13 7
+f 16 14 10
+f 16 10 6
+f 17 11 14
+f 18 15 2
+f 18 2 12
+f 19 12 11
+f 19 11 15
+f 19 18 12
+f 19 15 18
+f 20 16 6
+f 20 14 16
+f 20 17 14
+f 20 6 13
+f 20 13 17
+f 21 17 13
+f 21 11 17
+f 21 15 11
+f 21 13 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4abd078ac88c6dc7264b3f9409e4eba2eceb969d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.32046892 -0.18639375 0.44363813
+v 0.35650775 -0.12099101 -0.43842317
+v 0.36890853 0.06611290 0.43642965
+v 0.29968013 0.16957658 0.48510085
+v 0.30830032 -0.14245918 -0.50000001
+v 0.34080076 0.15221602 -0.43808677
+v 0.33798669 -0.01935727 0.49640362
+v 0.36909408 -0.06493641 0.43642965
+v 0.32001715 -0.18616356 -0.44384912
+v 0.30002784 -0.16854762 0.48534800
+v 0.36755269 0.06589816 -0.43702023
+v 0.34198258 0.15281820 0.43741549
+v 0.31291346 0.17631854 -0.46387093
+v 0.32421638 0.10603253 0.49616878
+v 0.35764762 -0.12157095 0.43777774
+v 0.36741575 -0.01921608 0.45038541
+v 0.35613008 0.12200358 -0.43819440
+v 0.35249726 -0.00409962 -0.48252721
+v 0.36769735 -0.06471522 -0.43709619
+v 0.32457934 0.16682237 -0.45259070
+v 0.32495904 0.16701584 0.45124156
+v 0.33785759 0.02054268 0.49631598
+v 0.30404863 -0.14029306 0.49999996
+v 0.35729827 0.12259883 0.43753174
+v 0.32701683 -0.18201000 0.43754565
+v 0.32438684 -0.10539710 0.49638501
+v 0.33623762 -0.10925074 -0.48179501
+v 0.31313697 0.13097786 -0.49960425
+v 0.33696034 0.05069891 -0.49746492
+v 0.36688461 -0.01913004 -0.45180706
+v 0.35265829 0.11139343 0.45064190
+v 0.36728544 0.02040420 0.45030214
+v 0.30356090 0.14125068 0.49999996
+v 0.32584960 -0.18141527 -0.43820937
+v 0.35279042 -0.11021134 0.45072691
+v 0.33710230 -0.04951558 -0.49754584
+v 0.35230403 -0.11013148 -0.45211568
+v 0.32190203 0.12000506 -0.49642728
+v 0.35216039 0.11131266 -0.45203688
+v 0.35235426 0.00528467 -0.48244915
+v 0.32228100 -0.11899202 -0.49665435
+v 0.36674260 0.02031532 -0.45172953
+v 0.31170073 -0.13647241 -0.49942115
+f 9 5 2
+f 10 4 5
+f 10 9 1
+f 10 5 9
+f 11 3 8
+f 13 5 4
+f 15 2 8
+f 16 8 3
+f 17 3 11
+f 17 6 12
+f 17 13 6
+f 19 11 8
+f 19 8 2
+f 20 12 6
+f 20 6 13
+f 21 13 4
+f 21 20 13
+f 21 12 20
+f 23 10 15
+f 24 4 14
+f 24 21 4
+f 24 12 21
+f 24 17 12
+f 24 3 17
+f 25 2 15
+f 25 1 9
+f 25 15 10
+f 25 10 1
+f 26 23 15
+f 26 7 23
+f 26 16 7
+f 26 8 16
+f 28 5 13
+f 30 19 18
+f 30 11 19
+f 31 14 22
+f 31 24 14
+f 31 3 24
+f 32 16 3
+f 32 31 22
+f 32 3 31
+f 32 22 7
+f 32 7 16
+f 33 22 14
+f 33 14 4
+f 33 4 10
+f 33 10 23
+f 33 23 7
+f 33 7 22
+f 34 25 9
+f 34 9 2
+f 34 2 25
+f 35 26 15
+f 35 15 8
+f 35 8 26
+f 36 29 18
+f 36 5 28
+f 36 28 29
+f 37 19 2
+f 37 2 27
+f 37 27 36
+f 37 36 18
+f 37 18 19
+f 38 28 13
+f 38 13 17
+f 38 29 28
+f 39 17 11
+f 39 38 17
+f 39 29 38
+f 40 18 29
+f 40 39 11
+f 40 29 39
+f 41 36 27
+f 42 30 18
+f 42 18 40
+f 42 40 11
+f 42 11 30
+f 43 5 36
+f 43 36 41
+f 43 41 27
+f 43 27 2
+f 43 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa05f3c7b0d55fdb6e069b785a628161f3d8eb40
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.06495957 -0.36910351 0.43642965
+v 0.13447480 -0.35204563 0.40151512
+v 0.11305237 -0.20394240 0.49222150
+v -0.17482641 -0.20394240 0.49222150
+v -0.17125573 -0.33329746 0.40151512
+v 0.01937560 -0.33799104 0.49641440
+v -0.06609846 -0.36891989 0.40151512
+v 0.11305237 -0.20394240 0.40151512
+v 0.11625429 -0.31628828 0.49999996
+v -0.16646079 -0.29358150 0.49594362
+v 0.06495957 -0.36910351 0.40151512
+v -0.06609846 -0.36891989 0.43642965
+v -0.17482641 -0.20394240 0.40151512
+v 0.10540015 -0.32438040 0.49638306
+v -0.18175366 -0.27814547 0.49488599
+v -0.02052333 -0.33786086 0.49632964
+v 0.01923665 -0.36741716 0.45039950
+v -0.16700879 -0.32496153 0.45125075
+v 0.11190428 -0.34820889 0.45748836
+v -0.13624042 -0.30889528 0.49605856
+v -0.02038524 -0.36728664 0.45031609
+v 0.11083438 -0.34145390 0.46832258
+v -0.05076229 -0.35260247 0.46576625
+v -0.13496200 -0.32153884 0.47912907
+f 7 5 2
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 3 4
+f 9 2 3
+f 10 9 4
+f 11 7 2
+f 11 2 1
+f 12 5 7
+f 12 11 1
+f 12 7 11
+f 13 8 5
+f 13 4 8
+f 14 9 6
+f 15 10 4
+f 15 13 5
+f 15 4 13
+f 16 6 9
+f 17 12 1
+f 17 1 6
+f 17 6 16
+f 18 5 12
+f 18 15 5
+f 18 10 15
+f 19 1 2
+f 19 2 9
+f 19 6 1
+f 20 16 9
+f 20 9 10
+f 20 10 18
+f 21 17 16
+f 21 12 17
+f 22 19 9
+f 22 9 14
+f 22 14 6
+f 22 6 19
+f 23 16 20
+f 23 21 16
+f 23 12 21
+f 24 20 18
+f 24 18 12
+f 24 23 20
+f 24 12 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97071a7a99f9652b9ad55e5225a40f266abcb077
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.11164280 -0.36170950 -0.41666668
+v 0.11617214 -0.30097494 -0.49190491
+v 0.11305237 -0.20394240 -0.41666668
+v 0.00699176 -0.20394240 -0.41666668
+v -0.06759245 -0.33289482 -0.50000001
+v 0.00699176 -0.20394240 -0.48059762
+v 0.10628092 -0.32701670 -0.49952813
+v -0.06769630 -0.36385655 -0.44328193
+v 0.11305237 -0.20394240 -0.48059762
+v -0.06627921 -0.29430871 -0.48319729
+v 0.11015367 -0.35230507 -0.45212362
+v 0.00699176 -0.31000300 -0.41666668
+v 0.00412208 -0.35249080 -0.48252736
+v -0.06976709 -0.31632732 -0.49297361
+v 0.10925150 -0.33623921 -0.48179919
+v 0.06730064 -0.36873272 -0.41666668
+v -0.00526872 -0.35234870 -0.48244974
+v 0.04953830 -0.33709472 -0.49754603
+v 0.02014456 -0.37314132 -0.44007658
+v -0.05068483 -0.33695440 -0.49746863
+v -0.02129000 -0.37299898 -0.44000017
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 5 6
+f 9 6 3
+f 9 3 2
+f 9 7 6
+f 9 2 7
+f 10 4 6
+f 10 8 4
+f 11 2 1
+f 12 1 4
+f 12 4 8
+f 14 10 6
+f 14 6 5
+f 14 5 8
+f 14 8 10
+f 15 7 2
+f 15 2 11
+f 16 12 8
+f 16 1 12
+f 18 5 7
+f 18 7 15
+f 19 11 1
+f 19 1 16
+f 19 15 11
+f 19 18 15
+f 19 13 18
+f 20 17 5
+f 20 13 17
+f 20 18 13
+f 20 5 18
+f 21 19 16
+f 21 16 8
+f 21 17 13
+f 21 13 19
+f 21 8 5
+f 21 5 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91229bbe2ef815a6a1545028afb8db05d988489c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.19933839 -0.31608151 0.44054247
+v 0.31348594 -0.16768424 -0.47019956
+v 0.31266707 -0.16726769 0.46841771
+v 0.20396146 -0.17363937 0.49222150
+v 0.19692038 -0.28103137 -0.49920820
+v 0.29637283 -0.16668559 -0.49931440
+v 0.19913048 -0.27406857 0.49999996
+v 0.29527239 -0.23465155 0.43642965
+v 0.20396146 -0.17363937 -0.48059762
+v 0.29490487 -0.23428414 -0.43543735
+v 0.28866931 -0.17048003 0.49999996
+v 0.19751170 -0.29734502 0.46830594
+v 0.31170143 -0.21222953 0.43742960
+v 0.23467513 -0.29526640 0.43642965
+v 0.31052058 -0.21162786 -0.43810194
+v 0.27945514 -0.20367921 -0.49581907
+v 0.21165557 -0.31051899 -0.43810686
+v 0.27862107 -0.19566380 0.49607060
+v 0.19892286 -0.31526601 -0.44098152
+v 0.21225662 -0.31169857 0.43743764
+v 0.20369886 -0.27944185 -0.49581689
+v 0.23430563 -0.29489701 -0.43544254
+v 0.28554702 -0.17660854 0.49999996
+v 0.20630602 -0.26689303 0.49999996
+v 0.21042992 -0.29296207 0.46520112
+f 6 3 2
+f 6 4 3
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 11 3 4
+f 11 4 7
+f 12 7 4
+f 12 4 5
+f 13 2 3
+f 13 3 11
+f 13 8 10
+f 14 10 8
+f 15 6 2
+f 15 13 10
+f 15 2 13
+f 16 5 6
+f 16 15 10
+f 16 6 15
+f 18 8 13
+f 19 12 5
+f 19 1 12
+f 19 5 17
+f 20 19 17
+f 20 1 19
+f 20 12 1
+f 21 5 16
+f 21 17 5
+f 22 10 14
+f 22 20 17
+f 22 14 20
+f 22 17 21
+f 22 21 16
+f 22 16 10
+f 23 11 7
+f 23 18 13
+f 23 13 11
+f 24 8 18
+f 24 14 8
+f 24 7 14
+f 24 23 7
+f 24 18 23
+f 25 20 14
+f 25 14 7
+f 25 7 12
+f 25 12 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e4f937ccfe4b931e00d9ed2d2e2733842463df0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.17482641 0.15969395 0.49222150
+v -0.17482641 0.15969395 -0.48059762
+v -0.16731004 0.29645823 -0.49864431
+v -0.16976438 0.33157569 0.43993064
+v -0.32984256 0.15375755 0.45386847
+v -0.16793782 0.31283874 0.46769374
+v -0.31265808 0.15272073 -0.48414181
+v -0.16931229 0.33068826 -0.44041818
+v -0.22807367 0.24324316 0.49841135
+v -0.30191455 0.15496708 -0.50000001
+v -0.31058817 0.21227303 -0.43743300
+v -0.17093798 0.28842525 0.49999996
+v -0.31185404 0.21291803 0.43670735
+v -0.32977225 0.15372172 -0.45502573
+v -0.22079164 0.29657313 -0.45095253
+v -0.22125934 0.29703794 0.44946981
+v -0.29700631 0.22127251 0.44946498
+v -0.32591748 0.18206059 -0.43754063
+v -0.21225867 0.31061339 -0.43743815
+v -0.29168752 0.18005833 -0.49577114
+v -0.21290367 0.31187947 0.43671116
+v -0.20785151 0.26847836 0.49648082
+v -0.32716970 0.18269864 0.43682362
+v -0.18004250 0.29171082 -0.49576982
+v -0.29654033 0.22080517 -0.45094701
+v -0.19633153 0.27878785 0.49534177
+v -0.18268338 0.32719340 0.43682622
+v -0.21107710 0.29314252 0.46447425
+v -0.18204528 0.32594086 -0.43754465
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 4 6
+f 9 5 1
+f 10 3 2
+f 10 2 7
+f 12 9 1
+f 12 1 6
+f 12 6 4
+f 14 7 5
+f 14 10 7
+f 17 13 5
+f 17 5 9
+f 17 16 13
+f 18 13 11
+f 18 11 10
+f 18 10 14
+f 19 8 3
+f 19 15 11
+f 20 3 10
+f 20 10 11
+f 21 13 16
+f 21 19 11
+f 21 11 13
+f 22 9 12
+f 22 17 9
+f 22 16 17
+f 23 18 14
+f 23 14 5
+f 23 5 13
+f 23 13 18
+f 24 19 3
+f 24 15 19
+f 24 20 15
+f 24 3 20
+f 25 20 11
+f 25 11 15
+f 25 15 20
+f 26 22 12
+f 27 4 8
+f 27 21 12
+f 27 12 4
+f 28 21 16
+f 28 16 22
+f 28 22 26
+f 28 26 12
+f 28 12 21
+f 29 27 8
+f 29 8 19
+f 29 19 21
+f 29 21 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ee6870d175e3cd8080c2bfb923f73119fa9e2b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.33105109 0.17011999 0.44040339
+v 0.33021950 0.16969627 -0.44085304
+v 0.21190838 0.31222032 0.43695142
+v 0.18296620 0.31489124 0.45399525
+v 0.18880994 0.17484547 0.49222150
+v 0.18293803 0.31483595 -0.45514336
+v 0.24765981 0.23369527 0.49085729
+v 0.31135118 0.21325694 0.43718300
+v 0.29599428 0.16769883 -0.49908702
+v 0.21127790 0.31098290 -0.43765894
+v 0.18193665 0.29771904 -0.48425640
+v 0.22050978 0.29745896 0.44984468
+v 0.31841176 0.17140005 0.45733361
+v 0.32666688 0.18303757 0.43729924
+v 0.29582727 0.22126145 -0.45129749
+v 0.18880994 0.17484547 -0.48059762
+v 0.19588486 0.31050885 0.45089038
+v 0.24224088 0.24342759 0.48602236
+v 0.29626053 0.22168936 0.44984277
+v 0.32547144 0.18242844 -0.43797915
+v 0.20343334 0.27999347 -0.49544245
+v 0.31014211 0.21264088 -0.43787153
+v 0.30964334 0.19723521 0.45112532
+v 0.22008103 0.29702631 -0.45129965
+v 0.27898566 0.20442040 -0.49546331
+v 0.18420962 0.28702814 -0.50000001
+v 0.25739264 0.22827633 0.48602259
+v 0.29124621 0.18043138 -0.49621379
+f 6 4 3
+f 7 4 5
+f 9 2 1
+f 9 1 5
+f 10 6 3
+f 11 5 4
+f 11 4 6
+f 12 8 3
+f 13 7 5
+f 13 5 1
+f 14 1 2
+f 14 13 1
+f 14 8 13
+f 16 9 5
+f 16 5 11
+f 17 12 3
+f 17 3 4
+f 17 4 12
+f 18 12 4
+f 18 4 7
+f 18 7 12
+f 19 8 12
+f 20 14 2
+f 20 8 14
+f 21 11 6
+f 21 6 10
+f 22 8 20
+f 22 10 3
+f 22 3 8
+f 23 13 8
+f 23 8 19
+f 24 21 10
+f 24 22 15
+f 24 10 22
+f 25 15 22
+f 25 24 15
+f 25 21 24
+f 26 16 11
+f 26 11 21
+f 26 9 16
+f 26 25 9
+f 26 21 25
+f 27 23 19
+f 27 7 13
+f 27 13 23
+f 27 19 12
+f 27 12 7
+f 28 25 22
+f 28 9 25
+f 28 22 20
+f 28 20 2
+f 28 2 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5067e8f4b8eba71b1967232323aec804cb2a65e2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.31231971 0.16829590 0.46817178
+v 0.31841176 0.17140005 0.45733361
+v 0.21318638 0.29957620 0.45388026
+v -0.02192564 0.36306948 0.45653257
+v 0.18880994 0.17484547 0.49222150
+v 0.31402755 0.18431763 0.45422946
+v -0.02353498 0.31262156 0.47337369
+v 0.19533629 0.27912783 0.49558244
+v 0.05055117 0.35985214 0.45447665
+v 0.28818158 0.17143765 0.49999996
+v -0.02465793 0.33486038 0.49999996
+v 0.12252681 0.34552138 0.45422701
+v 0.29871185 0.21453701 0.45411322
+v -0.02207823 0.30342492 0.48706416
+v 0.10550291 0.32469640 0.49586328
+v 0.01924244 0.33835676 0.49587604
+v 0.29261980 0.21143286 0.46495138
+v -0.02038991 0.33822484 0.49579308
+v 0.21008181 0.29348247 0.46471489
+v 0.27827263 0.19669119 0.49582391
+v -0.02085551 0.35631509 0.46736794
+f 5 2 1
+f 6 2 4
+f 7 4 2
+f 7 2 5
+f 9 6 4
+f 9 3 6
+f 10 5 1
+f 11 5 10
+f 11 4 7
+f 12 3 9
+f 13 6 3
+f 13 2 6
+f 14 11 7
+f 14 7 5
+f 14 5 11
+f 15 11 10
+f 15 10 8
+f 15 8 12
+f 15 12 9
+f 16 9 4
+f 16 15 9
+f 16 11 15
+f 17 13 3
+f 17 2 13
+f 18 4 11
+f 18 11 16
+f 19 17 3
+f 19 12 8
+f 19 3 12
+f 20 8 10
+f 20 10 1
+f 20 1 2
+f 20 2 17
+f 20 19 8
+f 20 17 19
+f 21 18 16
+f 21 16 4
+f 21 4 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7e201c88aee6ee6c2ad425ff4d46623ab0ca3df
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.20141136 -0.30214163 -0.46055725
+v -0.19152901 -0.28274397 -0.49978426
+v -0.20512944 -0.11303331 -0.41666668
+v -0.37152942 -0.00693048 -0.44682408
+v -0.29949282 -0.21313290 -0.45503944
+v -0.29801416 -0.00488760 -0.48059762
+v -0.18997793 -0.18879088 -0.48059762
+v -0.23747274 -0.28173965 -0.44852602
+v -0.32726612 -0.10633849 -0.49905806
+v -0.32163413 -0.19411239 -0.41666668
+v -0.26573550 -0.06757877 -0.41666668
+v -0.20512944 -0.18879088 -0.41666668
+v -0.20512944 -0.11303331 -0.48059762
+v -0.27997881 -0.20341931 -0.49544769
+v -0.21956256 -0.26383369 -0.49546874
+v -0.34283094 -0.00478555 -0.50000001
+v -0.35258422 -0.10999143 -0.45163100
+v -0.27705410 -0.24556514 -0.44404598
+v -0.36874562 -0.06709568 -0.41666668
+v -0.35902424 -0.00495013 -0.47029829
+v -0.36172346 -0.11143818 -0.41666668
+f 7 1 2
+f 11 6 4
+f 11 3 6
+f 12 7 3
+f 12 1 7
+f 12 8 1
+f 12 10 8
+f 13 6 3
+f 13 3 7
+f 13 7 2
+f 14 9 2
+f 14 5 9
+f 15 2 1
+f 15 1 8
+f 15 14 2
+f 15 8 14
+f 16 9 4
+f 16 6 13
+f 16 13 2
+f 16 2 9
+f 17 9 5
+f 17 5 10
+f 17 4 9
+f 18 10 5
+f 18 8 10
+f 18 14 8
+f 18 5 14
+f 19 11 4
+f 19 3 11
+f 19 12 3
+f 19 10 12
+f 20 16 4
+f 20 4 6
+f 20 6 16
+f 21 17 10
+f 21 10 19
+f 21 19 4
+f 21 4 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f7faf4033c6f288e8b6f21e2564f5728aa7f2c6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.11130018 -0.35954631 0.43989916
+v 0.20807566 -0.25351096 -0.49430683
+v 0.21928111 -0.21925900 0.47685719
+v 0.11305237 -0.20394240 0.49222150
+v 0.10628092 -0.32701670 -0.49952813
+v 0.20396146 -0.20394240 -0.48059762
+v 0.17295307 -0.29346688 0.49144318
+v 0.18144312 -0.32584827 -0.43821451
+v 0.11083438 -0.34145390 0.46832258
+v 0.11305237 -0.20394240 -0.48059762
+v 0.19692038 -0.28103137 -0.49920820
+v 0.11114397 -0.35855839 -0.44038766
+v 0.18203722 -0.32701421 0.43755392
+v 0.11123514 -0.33673886 0.47474525
+v 0.19604878 -0.30962363 -0.45271784
+v 0.12101823 -0.35650684 -0.43842981
+v 0.12159843 -0.35764552 0.43778646
+v 0.19878983 -0.28470189 0.48523437
+v 0.19623357 -0.30998814 0.45137752
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 9 5 1
+f 9 4 5
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 11 10 2
+f 11 5 10
+f 12 1 5
+f 14 7 4
+f 14 4 9
+f 15 11 2
+f 15 8 11
+f 15 13 8
+f 15 2 3
+f 16 12 5
+f 16 8 13
+f 16 11 8
+f 16 5 11
+f 17 9 1
+f 17 16 13
+f 17 1 12
+f 17 12 16
+f 17 14 9
+f 17 7 14
+f 18 3 7
+f 18 7 17
+f 19 15 3
+f 19 3 18
+f 19 13 15
+f 19 18 17
+f 19 17 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed4fa0e46978d5c7284a31350d5efe01692450f0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.30558988 0.06789825 0.47337369
+v -0.26573550 0.06878487 -0.48059762
+v -0.26573550 0.15969395 0.34090905
+v -0.31674349 0.16252366 0.46605498
+v -0.35788056 0.06658098 -0.45452286
+v -0.26573550 0.06878487 0.34090905
+v -0.35802963 0.06660459 0.45332648
+v -0.27254213 0.16316268 -0.49015532
+v -0.34167475 0.06641442 -0.48424953
+v -0.35780100 0.12225986 0.43705616
+v -0.33291351 0.06742631 -0.50000001
+v -0.35300715 0.11126166 0.45011412
+v -0.34124679 0.15184815 -0.43764826
+v -0.34077515 0.13645632 0.45087997
+v -0.35657610 0.12163572 -0.43775590
+v -0.30701810 0.14984655 -0.49587953
+v -0.34248535 0.15247925 0.43693989
+v -0.35244019 0.11117391 -0.45155222
+v -0.32234868 0.11963478 -0.49598791
+v -0.33804790 0.09614263 -0.48226982
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 1 4
+f 7 6 1
+f 8 3 2
+f 8 4 3
+f 9 2 6
+f 9 7 5
+f 9 6 7
+f 10 5 7
+f 11 8 2
+f 11 2 9
+f 12 10 7
+f 12 7 4
+f 13 4 8
+f 14 12 4
+f 14 4 10
+f 14 10 12
+f 15 5 10
+f 16 13 8
+f 16 8 11
+f 17 10 4
+f 17 4 13
+f 17 15 10
+f 17 13 15
+f 18 5 15
+f 19 16 11
+f 19 18 15
+f 19 15 13
+f 19 13 16
+f 20 19 11
+f 20 18 19
+f 20 11 9
+f 20 9 5
+f 20 5 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd88ef681553764a93d240dc2f605395f9d66dc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.17482641 -0.18879088 0.49222150
+v -0.17482641 -0.18879088 -0.48059762
+v -0.17482641 0.15969395 0.49222150
+v -0.25977561 0.15665639 0.48787289
+v -0.31226566 -0.21249911 -0.41666668
+v -0.26757692 0.16063236 -0.48771145
+v -0.26879308 -0.19034862 0.48957065
+v -0.17482641 0.15969395 -0.48059762
+v -0.26573550 -0.11303331 -0.48059762
+v -0.20512944 -0.18879088 -0.48059762
+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 6 3
+f 8 3 2
+f 8 2 6
+f 9 5 6
+f 10 9 6
+f 10 6 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e2fb9ca46a0ec8a1a957e13f797f1f697212a7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.18425136 0.25680684 0.47337369
+v 0.21251539 0.31228073 -0.35606062
+v 0.12124929 0.35816554 0.43729906
+v -0.12224281 0.35782128 0.43705634
+v -0.17779090 0.27157224 -0.49268459
+v 0.00414586 0.36899607 -0.45230498
+v -0.02231617 0.33523140 0.49999996
+v 0.18168869 0.32753539 0.43706731
+v 0.11305237 0.26575456 -0.48059762
+v -0.15529687 0.25716114 0.49222150
+v 0.12064007 0.35696901 -0.43798025
+v -0.05109392 0.37105686 0.43680259
+v -0.15183189 0.34126833 -0.43765115
+v 0.18296620 0.31489124 0.45399525
+v 0.04939407 0.33739011 -0.49704782
+v -0.18146501 0.27878501 0.49541646
+v 0.06759783 0.26575456 0.49222150
+v 0.04994670 0.37118798 0.43688688
+v 0.18481092 0.30336032 -0.47252052
+v -0.10567086 0.32473091 0.49568842
+v -0.05087365 0.36966647 -0.43751967
+v 0.06855453 0.31724951 0.48734018
+v 0.15402278 0.30240772 -0.50000001
+v 0.11000806 0.35259804 -0.45162572
+v -0.11961787 0.32236990 -0.49598540
+v -0.16643875 0.32504770 -0.45215555
+v 0.04972814 0.36980832 -0.43759861
+v 0.00421794 0.36945699 0.45093226
+v 0.18106515 0.32631159 -0.43776621
+v -0.11124334 0.35302286 0.45011207
+v -0.16611094 0.29410210 0.49545765
+v -0.12161850 0.35659580 -0.43775766
+v 0.11009546 0.35315442 0.45019535
+v 0.11863674 0.32273388 -0.49620539
+v -0.05054030 0.33724766 -0.49697327
+v -0.16731004 0.29645823 -0.49864431
+v -0.16665996 0.32548190 0.45076530
+v -0.00536479 0.36932562 0.45084831
+v 0.16566516 0.32582392 0.45100626
+v -0.00529036 0.36885376 -0.45222725
+v -0.11115529 0.35245554 -0.45154950
+v -0.15246310 0.34250734 0.43694127
+f 8 2 3
+f 9 2 1
+f 10 9 1
+f 10 5 9
+f 11 3 2
+f 14 1 2
+f 14 2 8
+f 14 8 3
+f 16 5 10
+f 17 10 1
+f 17 16 10
+f 17 7 16
+f 18 3 11
+f 19 2 9
+f 22 1 14
+f 22 17 1
+f 22 7 17
+f 23 9 5
+f 23 19 9
+f 23 11 19
+f 26 5 16
+f 27 18 11
+f 27 6 21
+f 27 21 12
+f 27 12 18
+f 27 11 24
+f 27 24 15
+f 27 15 6
+f 28 18 12
+f 29 19 11
+f 29 11 2
+f 29 2 19
+f 30 12 4
+f 30 4 20
+f 30 20 7
+f 30 7 12
+f 31 16 7
+f 31 7 20
+f 32 4 12
+f 32 12 21
+f 32 26 13
+f 32 25 26
+f 33 22 14
+f 33 7 22
+f 33 28 7
+f 33 3 18
+f 33 18 28
+f 34 23 15
+f 34 15 24
+f 34 24 11
+f 34 11 23
+f 35 6 15
+f 35 15 23
+f 36 23 5
+f 36 26 25
+f 36 5 26
+f 36 35 23
+f 36 25 35
+f 37 26 16
+f 37 16 31
+f 37 31 20
+f 38 28 12
+f 38 12 7
+f 38 7 28
+f 39 33 14
+f 39 14 3
+f 39 3 33
+f 40 35 21
+f 40 21 6
+f 40 6 35
+f 41 32 21
+f 41 21 35
+f 41 35 25
+f 41 25 32
+f 42 13 26
+f 42 26 37
+f 42 32 13
+f 42 4 32
+f 42 37 20
+f 42 20 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a3fc8d07a1d929ee03a9d3c4062c1a1f9125c1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.17755515 -0.28505640 0.49999996
+v -0.16798654 -0.26627446 0.47465082
+v -0.17482641 -0.18879088 0.49222150
+v -0.31965241 -0.10962540 0.49999996
+v -0.29956137 -0.21316883 0.45388494
+v -0.24225662 -0.27137502 0.45468902
+v -0.27911677 -0.19532035 0.49559055
+v -0.34550710 -0.12251061 0.45423203
+v -0.20828250 -0.26770374 0.49686813
+v -0.26573550 -0.11303331 0.49222150
+v -0.29346837 -0.21006429 0.46472097
+v -0.34855823 -0.11175274 0.45695379
+v -0.23742013 -0.26653994 0.46552398
+v -0.34180367 -0.11068307 0.46778898
+v -0.28524275 -0.12297474 0.47700330
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 8 3 2
+f 8 6 5
+f 8 2 6
+f 8 7 4
+f 8 5 7
+f 9 6 1
+f 9 1 7
+f 10 4 3
+f 11 9 7
+f 11 7 5
+f 11 5 6
+f 12 3 8
+f 13 11 6
+f 13 6 9
+f 13 9 11
+f 14 12 8
+f 14 8 4
+f 14 4 10
+f 14 10 12
+f 15 12 10
+f 15 10 3
+f 15 3 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f86736c65f84e45d89e6bb567f08622500d541d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.11433976 -0.34283314 0.46391170
+v 0.29237861 -0.21660270 0.45989798
+v 0.19568501 -0.27860852 0.49606942
+v 0.20396146 -0.17363937 0.49222150
+v 0.11305237 -0.20394240 0.49222150
+v 0.28554702 -0.17660854 0.49999996
+v 0.25666006 -0.25664330 0.45506650
+v 0.26657438 -0.16694049 0.47438974
+v 0.11012604 -0.31941021 0.49999996
+v 0.26814289 -0.20751777 0.49724231
+v 0.15309595 -0.32968674 0.45459861
+v 0.28695995 -0.22633712 0.45506369
+v 0.10813053 -0.33064458 0.48557880
+v 0.28754292 -0.21176841 0.47073531
+v 0.25182437 -0.25180901 0.46590383
+f 6 4 5
+f 8 5 4
+f 8 6 2
+f 8 4 6
+f 9 1 3
+f 9 6 5
+f 9 3 6
+f 10 6 3
+f 11 7 3
+f 11 3 1
+f 11 1 5
+f 12 8 2
+f 12 2 7
+f 12 7 11
+f 12 11 5
+f 12 5 8
+f 13 9 5
+f 13 5 1
+f 13 1 9
+f 14 2 6
+f 14 6 10
+f 15 10 3
+f 15 3 7
+f 15 14 10
+f 15 7 2
+f 15 2 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8686c504db864de8e93a7740660034fad10d7133
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.28554702 -0.17660854 0.49999996
+v 0.32752748 -0.18255880 -0.35606062
+v 0.29358748 0.16647257 0.49593803
+v 0.20396146 0.17484547 0.49222150
+v 0.20396146 -0.17363937 -0.35606062
+v 0.32703872 0.18351616 -0.35606062
+v 0.29393553 -0.16544379 0.49618598
+v 0.20396146 -0.17363937 0.49222150
+v 0.27815464 0.18176769 0.49489522
+v 0.20396146 0.17484547 -0.35606062
+f 1 3 4
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 4
+f 8 4 5
+f 9 4 3
+f 9 3 6
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 10 6 2
+f 10 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d89ffc128e75b451c14bb603883d382ffbacad18
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00699176 -0.00697270 0.26515148
+v 0.00699176 -0.00697270 -0.48059762
+v 0.00699176 0.17484547 0.26515148
+v -0.17482641 0.17484547 0.26515148
+v -0.17482641 -0.00697270 0.26515148
+v -0.17482641 0.17484547 -0.48059762
+v 0.00699176 0.17484547 -0.48059762
+v -0.17482641 -0.00697270 -0.48059762
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+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/can/can_2/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03cbf7f3fba8cc735d6cad7e9c961dbd3c4c88b9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20396146 -0.20394240 0.49222150
+v 0.20396146 -0.20394240 -0.23484850
+v 0.20396146 -0.00697270 0.49222150
+v -0.17482641 -0.00697270 0.49222150
+v -0.17482641 -0.20394240 -0.23484850
+v -0.17482641 -0.20394240 0.49222150
+v 0.20396146 -0.00697270 -0.23484850
+v -0.17482641 -0.00697270 -0.23484850
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 7 1 2
+f 7 3 1
+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/can/can_2/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be6515e2046065c63ce91db6f298093a697ea1cb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18880994 0.17484547 0.49222150
+v 0.18880994 0.17484547 -0.23484850
+v 0.21251539 0.31228073 -0.23484850
+v -0.17808376 0.27214818 0.48645805
+v -0.17482641 0.17484547 -0.23484850
+v 0.19036517 0.26880721 0.48957646
+v -0.17482641 0.17484547 0.49222150
+v -0.20140910 0.31793469 -0.23484850
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abd2dc3497de6ea79770a05b4f42db4e4cbbd0b0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20396146 -0.00697270 0.26515148
+v 0.20396146 -0.00697270 -0.23484850
+v 0.20396146 0.17484547 0.26515148
+v 0.00699176 0.17484547 0.26515148
+v 0.00699176 -0.00697270 -0.23484850
+v 0.00699176 0.17484547 -0.23484850
+v 0.00699176 -0.00697270 0.26515148
+v 0.20396146 0.17484547 -0.23484850
+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/can/can_2/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..232b35943f8e8f0f9e3191b681c9665511121d69
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.25679270 -0.18423338 0.47337369
+v -0.26573550 -0.11303331 -0.35606062
+v -0.28524275 -0.12297474 0.47700330
+v -0.29775786 -0.10618789 0.47465055
+v -0.31226566 -0.21249911 -0.35606062
+v -0.30832789 -0.18733255 0.46009399
+v -0.35227867 -0.13396894 -0.35606062
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 4 2
+f 7 2 5
+f 7 6 4
+f 7 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4785df0a41224354b653e3b4d0c556cdac4624cf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00699176 0.17484547 -0.23484850
+v 0.00699176 0.17484547 -0.48059762
+v 0.00699176 0.26575456 -0.48059762
+v -0.20140910 0.31793469 -0.23484850
+v -0.17482641 0.17484547 -0.23484850
+v -0.17526099 0.26660741 -0.49024128
+v 0.00699176 0.26575456 -0.23484850
+v -0.17482641 0.17484547 -0.48059762
+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/can/can_2/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a557b7ee48303878cbe281417a1afbf7d738de26
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.20396146 -0.00697270 0.49222150
+v 0.20396146 -0.00697270 0.26515148
+v 0.20396146 0.17484547 0.26515148
+v -0.17482641 0.17484547 0.49222150
+v -0.17482641 -0.00697270 0.49222150
+v 0.20396146 0.17484547 0.49222150
+v -0.17482641 -0.00697270 0.26515148
+v -0.17482641 0.17484547 0.26515148
+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 2 5
+f 8 4 3
+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/can/can_2/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf0a3fd6cb5f17babeac5025b334574c153770e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.06671846 -0.35768276 0.45386110
+v -0.06759245 -0.33289482 -0.50000001
+v -0.06876581 -0.20394240 0.40151512
+v -0.31487675 -0.18294929 0.45400099
+v -0.21263649 -0.31014989 -0.43788499
+v -0.17482641 -0.18879088 0.49222150
+v -0.06653947 -0.34139548 -0.48474301
+v -0.21325219 -0.31135837 0.43719613
+v -0.17482641 -0.18879088 -0.48059762
+v -0.06685649 -0.32825495 0.49987384
+v -0.06876581 -0.20394240 -0.48059762
+v -0.12199597 -0.35613386 -0.43820705
+v -0.31220323 -0.21189009 0.43695591
+v -0.21028021 -0.26970151 -0.49994628
+v -0.06625216 -0.33959206 0.48228453
+v -0.12259220 -0.35730186 0.43754252
+v -0.19931045 -0.27388206 0.49999996
+v -0.11129880 -0.35216337 -0.45204740
+v -0.06670592 -0.35760366 -0.45501853
+v -0.31482226 -0.18292152 -0.45514890
+v -0.11999509 -0.32190409 -0.49643602
+v -0.11137665 -0.35266037 0.45065013
+v -0.29743955 -0.22049749 0.44985005
+v -0.18997793 -0.18879088 -0.48059762
+v -0.29700821 -0.22006771 -0.45130342
+v -0.20441238 -0.27898654 -0.49546977
+v -0.10927657 -0.33631738 -0.48164866
+v -0.10601980 -0.32420991 0.49617283
+v -0.22168920 -0.29626372 0.44985534
+v -0.31049349 -0.19586742 0.45089646
+v -0.31096651 -0.21125996 -0.43766361
+v -0.22125952 -0.29583330 -0.45130880
+v -0.17755515 -0.28505640 0.49999996
+v -0.21142624 -0.29262143 0.46496053
+v -0.31007541 -0.19565302 -0.45227330
+f 9 6 3
+f 10 3 6
+f 11 7 2
+f 11 9 3
+f 12 8 5
+f 13 5 8
+f 14 11 2
+f 14 9 11
+f 15 3 10
+f 15 11 3
+f 15 7 11
+f 16 8 12
+f 17 10 6
+f 17 6 4
+f 19 16 12
+f 19 1 16
+f 19 15 1
+f 19 7 15
+f 19 12 18
+f 20 4 6
+f 20 6 9
+f 20 13 4
+f 21 14 2
+f 22 16 1
+f 22 15 10
+f 22 1 15
+f 23 13 8
+f 23 17 4
+f 24 20 9
+f 24 9 14
+f 24 14 20
+f 25 20 14
+f 26 21 5
+f 26 14 21
+f 27 18 12
+f 27 12 5
+f 27 5 21
+f 27 21 2
+f 27 2 7
+f 27 19 18
+f 27 7 19
+f 28 16 22
+f 28 22 10
+f 29 23 8
+f 29 17 23
+f 30 23 4
+f 30 4 13
+f 30 13 23
+f 31 25 5
+f 31 5 13
+f 31 13 20
+f 32 26 5
+f 32 5 25
+f 32 25 14
+f 32 14 26
+f 33 28 10
+f 33 10 17
+f 33 16 28
+f 34 29 8
+f 34 17 29
+f 34 33 17
+f 34 8 16
+f 34 16 33
+f 35 31 20
+f 35 20 25
+f 35 25 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc8c1d7f9f21d315bd6c201f19e0d7bbd2e7453e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35227867 -0.13396894 0.26515148
+v -0.26573550 -0.11303331 -0.23484850
+v -0.26573550 0.06878487 0.26515148
+v -0.36707704 0.07763602 0.26515148
+v -0.35227867 -0.13396894 -0.23484850
+v -0.36707704 0.07763602 -0.23484850
+v -0.26573550 -0.11303331 0.26515148
+v -0.26573550 0.06878487 -0.23484850
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49f6f80fa9f7911955ca818599bc7c5a81af9ec2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00699176 -0.20394240 -0.23484850
+v 0.00699176 -0.20394240 -0.48059762
+v 0.00699176 -0.00697270 -0.23484850
+v -0.17482641 -0.00697270 -0.23484850
+v -0.17482641 -0.20394240 -0.48059762
+v -0.17482641 -0.00697270 -0.48059762
+v -0.17482641 -0.20394240 -0.23484850
+v 0.00699176 -0.00697270 -0.48059762
+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/can/can_2/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd55459ddfffcf9bf8a81eeafb838ce320851f71
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.20396146 -0.20394240 -0.23484850
+v 0.20396146 -0.20394240 -0.48059762
+v 0.21251539 0.31228073 -0.23484850
+v 0.13398477 0.35229268 -0.35606062
+v 0.00699176 -0.20394240 -0.23484850
+v 0.19405088 0.25584233 -0.49067934
+v 0.00699176 0.26575456 -0.23484850
+v 0.20396146 0.17484547 -0.48059762
+v 0.19412901 0.32164872 -0.35606062
+v 0.00699176 -0.20394240 -0.48059762
+v 0.00699176 0.26575456 -0.48059762
+v 0.17906280 0.29207755 -0.49599146
+v 0.11510493 0.31523783 -0.49726562
+f 1 2 3
+f 5 2 1
+f 7 3 4
+f 7 5 1
+f 7 1 3
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 4 3
+f 9 3 6
+f 10 2 5
+f 11 7 4
+f 11 10 5
+f 11 5 7
+f 12 9 6
+f 12 4 9
+f 12 6 2
+f 13 11 4
+f 13 4 12
+f 13 10 11
+f 13 12 2
+f 13 2 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d28a6c32c77bafa06a8473469613cb8f1e70cf8
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.31653013 -0.11575391 0.49999996
+v -0.17482641 0.15969395 0.49222150
+v -0.27876711 0.19634925 0.49534373
+v -0.21694308 0.29272019 0.45914169
+v -0.36491589 -0.06648920 0.44257303
+v -0.21385640 0.25933091 0.49999996
+v -0.29775786 -0.10618789 0.47465055
+v -0.22667660 0.28730293 0.45430541
+v -0.33821248 0.02040912 0.49579670
+v -0.17482641 0.23545153 0.49222150
+v -0.34855823 -0.11175274 0.45695379
+v -0.18933123 0.24995258 0.47606978
+v -0.36478336 0.06767422 0.44248958
+v -0.29311829 0.21109302 0.46447389
+v -0.32471196 0.10568876 0.49568873
+v -0.21210681 0.28788459 0.46997620
+v -0.33834260 -0.01922393 0.49588353
+v -0.37606037 0.00645454 0.44001436
+v -0.22300227 0.25332609 0.49648015
+v -0.29921130 0.21419723 0.45363758
+v -0.32468019 -0.10549878 0.49587003
+v -0.37619224 -0.00526831 0.44009860
+v -0.34515821 0.12353815 0.45398473
+v -0.34180367 -0.11068307 0.46778898
+v -0.36943864 -0.00419808 0.45093559
+v -0.36930664 0.00538490 0.45085126
+f 6 1 2
+f 7 2 1
+f 8 7 5
+f 8 2 7
+f 10 6 2
+f 11 7 1
+f 11 5 7
+f 12 8 4
+f 12 2 8
+f 12 10 2
+f 12 4 10
+f 15 6 3
+f 15 13 9
+f 15 9 1
+f 15 1 6
+f 16 10 4
+f 16 4 6
+f 16 6 10
+f 17 5 11
+f 17 1 9
+f 18 13 8
+f 19 14 3
+f 19 3 6
+f 19 8 14
+f 19 6 4
+f 19 4 8
+f 20 14 8
+f 20 8 13
+f 21 1 17
+f 22 18 8
+f 22 8 5
+f 23 20 13
+f 23 13 15
+f 23 14 20
+f 23 15 3
+f 23 3 14
+f 24 11 1
+f 24 1 21
+f 24 21 17
+f 24 17 11
+f 25 17 9
+f 25 18 22
+f 25 22 5
+f 25 5 17
+f 26 25 9
+f 26 18 25
+f 26 9 13
+f 26 13 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..008ddc4dc894d835113b6d8438116b1b2e7dbe33
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.30223489 -0.18422801 0.47093002
+v -0.30240236 -0.15400957 -0.50000001
+v -0.30558988 0.06789825 0.47337369
+v -0.34886866 0.06995378 0.46683453
+v -0.35695356 -0.12062219 -0.43798592
+v -0.31100106 -0.15839156 0.47713882
+v -0.32629553 -0.18104737 -0.43777105
+v -0.31732664 0.06975659 -0.49340840
+v -0.35814937 -0.12123149 0.43730409
+v -0.30334809 -0.18479455 -0.47252503
+v -0.34283094 -0.00478555 -0.50000001
+v -0.32751861 -0.18167056 0.43707197
+v -0.35816133 -0.06541953 0.45340822
+v -0.33291351 0.06742631 -0.50000001
+v -0.32272786 -0.11862191 -0.49621485
+v -0.36964749 0.05089343 -0.43752324
+v -0.35313963 -0.11007884 0.45019923
+v -0.35788056 0.06658098 -0.45452286
+v -0.36897839 -0.00412707 -0.45230860
+v -0.36883536 0.00531077 -0.45223049
+v -0.37103745 0.05111357 0.43680547
+v -0.37117119 -0.04992886 0.43688814
+v -0.36979127 -0.04971034 -0.43760098
+v -0.33723523 0.05055992 -0.49697672
+v -0.36478336 0.06767422 0.44248958
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 3 2
+f 8 4 3
+f 9 1 6
+f 10 2 1
+f 12 1 9
+f 12 10 1
+f 12 7 10
+f 12 9 5
+f 12 5 7
+f 13 6 4
+f 14 8 2
+f 14 2 11
+f 15 11 2
+f 15 5 11
+f 15 7 5
+f 15 10 7
+f 15 2 10
+f 17 9 6
+f 17 6 13
+f 18 4 8
+f 18 8 14
+f 20 19 16
+f 20 11 19
+f 20 18 14
+f 20 16 18
+f 22 17 13
+f 22 9 17
+f 22 13 4
+f 22 4 21
+f 22 5 9
+f 23 19 11
+f 23 11 5
+f 23 5 22
+f 23 16 19
+f 23 22 21
+f 23 21 16
+f 24 20 14
+f 24 14 11
+f 24 11 20
+f 25 18 16
+f 25 16 21
+f 25 21 4
+f 25 4 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b238a6320a679fa35703f3737745f7d26f0fcc0d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.11023027 -0.35279132 0.45073337
+v 0.11164280 -0.36170950 -0.41666668
+v 0.11305237 -0.20394240 -0.41666668
+v -0.06876581 -0.20394240 0.40151512
+v -0.06609846 -0.36891989 0.40151512
+v -0.06889570 -0.31082339 -0.49053005
+v 0.11305237 -0.20394240 0.40151512
+v 0.06495957 -0.36910351 0.40151512
+v 0.06692459 -0.30575331 0.47337369
+v 0.00736570 -0.31236421 -0.48697380
+v -0.06876581 -0.20394240 -0.48059762
+v -0.06588287 -0.36755869 -0.43702903
+v 0.06557115 -0.35781333 0.45394308
+v 0.10649328 -0.29712862 0.47413135
+v 0.00699176 -0.20394240 -0.48059762
+v 0.06473751 -0.36770150 -0.43710515
+f 6 5 4
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 4 5
+f 10 3 2
+f 11 6 4
+f 12 5 6
+f 12 8 5
+f 13 8 1
+f 13 5 8
+f 13 9 5
+f 14 7 4
+f 14 4 9
+f 14 1 7
+f 14 13 1
+f 14 9 13
+f 15 10 6
+f 15 6 11
+f 15 3 10
+f 15 11 4
+f 15 7 3
+f 15 4 7
+f 16 2 8
+f 16 8 12
+f 16 10 2
+f 16 12 6
+f 16 6 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb01e47cb7fd932adaca5c52146cbe8cc721d531
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.31226566 -0.21249911 -0.35606062
+v -0.26573550 -0.06757877 -0.48059762
+v -0.26573550 0.06878487 -0.23484850
+v -0.36781853 0.07295418 -0.23484850
+v -0.37736713 -0.01265379 -0.35606062
+v -0.31182236 0.06888499 -0.49096444
+v -0.35227867 -0.13396894 -0.23484850
+v -0.26573550 -0.11303331 -0.23484850
+v -0.26573550 0.06878487 -0.48059762
+v -0.36781853 0.07295418 -0.35606062
+v -0.31185194 -0.06768351 -0.49089620
+v -0.32163413 -0.19411239 -0.41666668
+v -0.37736713 -0.01265379 -0.23484850
+v -0.31226566 -0.21249911 -0.41666668
+f 8 2 3
+f 8 7 1
+f 8 3 4
+f 8 4 7
+f 9 3 2
+f 9 2 6
+f 9 4 3
+f 10 6 5
+f 10 5 4
+f 10 9 6
+f 10 4 9
+f 11 6 2
+f 11 5 6
+f 12 7 5
+f 12 5 11
+f 13 7 4
+f 13 4 5
+f 13 5 7
+f 14 8 1
+f 14 2 8
+f 14 1 7
+f 14 7 12
+f 14 12 11
+f 14 11 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b165b055b1d44c5869a15cce0b995b0f7d133a56
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.26573550 -0.11303331 0.49222150
+v -0.26573550 -0.11303331 0.26515148
+v -0.26573550 0.15969395 0.34090905
+v -0.31674349 0.16252366 0.46605498
+v -0.37736713 -0.01265379 0.26515148
+v -0.26856415 0.16113552 0.47337369
+v -0.35227867 -0.13396894 0.26515148
+v -0.32182525 -0.09956713 0.49862651
+v -0.26573550 0.06878487 0.26515148
+v -0.33340332 0.17101253 0.34090905
+v -0.26573550 0.06878487 0.49222150
+v -0.37736713 -0.01265379 0.34090905
+v -0.30962794 -0.11995885 0.49489968
+v -0.36781853 0.07295418 0.26515148
+v -0.31653013 -0.11575391 0.49999996
+v -0.31712699 0.06972481 0.48742866
+v -0.36781853 0.07295418 0.34090905
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 9 3 2
+f 9 2 5
+f 10 3 9
+f 10 6 3
+f 10 4 6
+f 11 1 3
+f 11 3 6
+f 12 5 7
+f 13 7 1
+f 14 10 9
+f 14 9 5
+f 14 5 12
+f 15 11 8
+f 15 1 11
+f 15 13 1
+f 15 7 13
+f 15 12 7
+f 15 8 12
+f 16 11 6
+f 16 6 4
+f 16 8 11
+f 16 12 8
+f 16 4 12
+f 17 12 4
+f 17 4 10
+f 17 14 12
+f 17 10 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5f072b16f67a4b7a86d79db529f70f007ab26005
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/model.xml
@@ -0,0 +1,31 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_2/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_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/can/can_2/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8ac13be6d6ed4843f4de4b3c320f83d40a6b757
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_2/visual/model_normalized_0.obj
@@ -0,0 +1,1075 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.24173447 0.17563209 -0.48059761
+v 0.28418038 0.09233828 -0.48059761
+v 0.00001095 0.00000365 -0.48059761
+v 0.17565398 0.24173447 -0.48059761
+v 0.09233828 0.28418038 -0.48059761
+v 0.00001095 0.29881061 -0.48059761
+v -0.09233099 0.28418038 -0.48059761
+v -0.17563209 0.24173447 -0.48059761
+v -0.24172717 0.17563209 -0.48059761
+v -0.28417308 0.09233828 -0.48059761
+v -0.29878872 0.00000365 -0.48059761
+v -0.28417308 -0.09233828 -0.48059761
+v -0.24172717 -0.17563209 -0.48059761
+v -0.17563209 -0.24173447 -0.48059761
+v -0.09233099 -0.28418038 -0.48059761
+v 0.00001095 -0.29881061 -0.48059761
+v 0.09233828 -0.28418038 -0.48059761
+v 0.17563939 -0.24173447 -0.48059761
+v 0.24173447 -0.17563209 -0.48059761
+v 0.28418038 -0.09233828 -0.48059761
+v 0.29881061 0.00000365 -0.48059761
+v 0.28852202 0.09374658 0.49222153
+v 0.24543398 0.17831734 0.49222153
+v 0.00001095 0.00000365 0.49222153
+v 0.17832464 0.24543398 0.49222153
+v 0.09374658 0.28852202 0.49222153
+v 0.00001095 0.30337116 0.49222153
+v -0.09373928 0.28852202 0.49222153
+v -0.17831734 0.24543398 0.49222153
+v -0.24541209 0.17831734 0.49222153
+v -0.28851472 0.09374658 0.49222153
+v -0.30335656 0.00000365 0.49222153
+v -0.28851472 -0.09374658 0.49222153
+v -0.24542668 -0.17831734 0.49222153
+v -0.17831734 -0.24542668 0.49222153
+v -0.09373928 -0.28852202 0.49222153
+v 0.00001095 -0.30337116 0.49222153
+v 0.09374658 -0.28852202 0.49222153
+v 0.17832464 -0.24542668 0.49222153
+v 0.24543398 -0.17831734 0.49222153
+v 0.28852202 -0.09374658 0.49222153
+v 0.30337116 0.00000365 0.49222153
+v 0.36081214 0.11723521 -0.43447408
+v 0.30692473 0.22299610 -0.43447408
+v 0.30692473 0.22299610 0.43642964
+v 0.36081214 0.11723521 0.43642964
+v 0.22301069 0.30693203 -0.43447408
+v 0.22301069 0.30693203 0.43642964
+v 0.11724981 0.36081944 -0.43447408
+v 0.11724981 0.36081944 0.43642964
+v 0.00001095 0.37938998 -0.43447408
+v 0.00001095 0.37938998 0.43642964
+v -0.11723521 0.36081944 -0.43447408
+v -0.11723521 0.36081944 0.43642964
+v -0.22300339 0.30693203 -0.43447408
+v -0.22300339 0.30693203 0.43642964
+v -0.30691744 0.22299610 -0.43447408
+v -0.30691744 0.22299610 0.43642964
+v -0.36080485 0.11723521 -0.43447408
+v -0.36080485 0.11723521 0.43642964
+v -0.37937539 0.00000365 -0.43447408
+v -0.37937539 0.00000365 0.43642964
+v -0.36080485 -0.11723521 -0.43447408
+v -0.36080485 -0.11723521 0.43642964
+v -0.30691744 -0.22299610 -0.43447408
+v -0.30691744 -0.22299610 0.43642964
+v -0.22300339 -0.30693203 -0.43447408
+v -0.22300339 -0.30693203 0.43642964
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a3073802c65280f05c213a5232c7003c32988e7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,4033 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef6127c268d1b09ee0cc94356593b2cb3d6a468a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd5367d62fe059569bb5ea74b1b243791122868
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..662268cbfe2484a378e7446d95e1eb715bbf9a09
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f8dcc7891ebe03fa3ff8ca1baa918d05bc4a97
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed1d1d49619d9387466b4777275b14d2fff58c3a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..355577097b034a90f2f5103795979aefa9dfc7d0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_6.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05a2127d571e0d81b4690d288c02dd7f13531cd7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_7.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5519595cac1f7d21894b7125071c24d221186a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_8.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3076550bba020523b8616b9dbbeb927d443d9c76
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/collision_mesh_collision_9.obj
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+f 829 878 869
+f 829 877 857
+f 830 872 849
+f 830 849 848
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+f 831 846 832
+f 832 846 833
+f 833 846 845
+f 833 845 834
+f 834 845 844
+f 834 844 835
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+f 836 879 880
+f 836 880 837
+f 837 880 881
+f 837 881 882
+f 837 882 838
+f 838 882 839
+f 839 882 840
+f 840 882 841
+f 841 882 883
+f 841 883 854
+f 841 854 842
+f 849 872 871
+f 849 871 850
+f 850 871 879
+f 853 883 882
+f 853 882 855
+f 855 882 881
+f 855 881 884
+f 856 884 895
+f 856 895 878
+f 857 877 885
+f 857 885 858
+f 858 885 863
+f 858 863 862
+f 859 861 886
+f 861 864 887
+f 861 887 888
+f 861 888 886
+f 863 889 864
+f 863 885 889
+f 864 890 888
+f 864 888 887
+f 864 889 890
+f 865 868 875
+f 866 891 892
+f 866 892 888
+f 866 888 890
+f 866 890 867
+f 867 890 893
+f 867 893 868
+f 868 890 894
+f 868 894 876
+f 868 876 875
+f 868 893 890
+f 869 878 895
+f 869 895 870
+f 870 895 898
+f 870 898 896
+f 871 896 879
+f 873 897 877
+f 873 876 894
+f 873 894 890
+f 873 890 889
+f 873 889 885
+f 873 885 897
+f 877 897 885
+f 879 896 898
+f 879 898 880
+f 880 898 881
+f 881 898 895
+f 881 895 884
+f 886 892 891
+f 886 888 892
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ae17f36fe34be4c98ebc4a53c9e3ba29a85ec6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.14134047 -0.20652432 0.38003690
+v 0.25101492 -0.08826683 -0.42135967
+v 0.25652688 -0.00398980 0.37986599
+v 0.14761072 -0.00499692 0.40151514
+v 0.14761072 -0.00499692 -0.41666667
+v 0.14644036 -0.17024778 0.43084659
+v 0.22201030 -0.14606029 0.34944934
+v 0.14156037 -0.20689587 -0.43732737
+v 0.14062617 -0.17836617 0.42602027
+v 0.25703845 -0.00403176 -0.43713393
+v 0.24019312 -0.00637486 0.41040590
+v 0.25217807 -0.08876581 0.34975882
+v 0.20717150 -0.15734273 0.36375999
+v 0.22112876 -0.14550222 -0.42075666
+v 0.16325291 -0.18423120 0.38963017
+v 0.14031906 -0.18964710 0.40930932
+v 0.22269794 -0.00494201 -0.47667322
+v 0.25014910 -0.06097647 0.37624830
+v 0.16567929 -0.20231789 -0.42160467
+v 0.23524292 -0.10315208 0.37585381
+v 0.19136040 -0.15675946 0.38983265
+v 0.16355798 -0.19975173 0.36348616
+v 0.15192023 -0.20218233 0.37682204
+v 0.16922388 -0.14531900 -0.47232008
+v 0.22946220 -0.00425507 -0.46917245
+v 0.22067189 -0.13006155 0.37534004
+v 0.23521065 -0.11588083 0.36385172
+v 0.20877098 -0.13211932 0.39249917
+v 0.15678581 -0.16443380 0.42685679
+v 0.15307523 -0.20371950 -0.43346945
+v 0.22293974 -0.07407095 -0.46223540
+v 0.19314953 -0.13182188 -0.46152319
+v 0.18792163 -0.12295274 -0.47189618
+v 0.25228047 -0.06150441 -0.43281643
+v 0.23742816 -0.10408960 -0.43233833
+v 0.18478328 -0.13403777 -0.46755867
+v 0.22288103 -0.13146002 -0.43171344
+v 0.23681587 -0.07440055 -0.44715696
+f 5 4 3
+f 9 4 5
+f 9 6 4
+f 11 3 4
+f 11 4 6
+f 12 10 3
+f 12 2 10
+f 14 12 7
+f 14 2 12
+f 16 8 1
+f 16 9 5
+f 16 5 8
+f 18 12 3
+f 18 3 11
+f 19 14 7
+f 19 1 8
+f 20 12 18
+f 20 18 11
+f 21 15 13
+f 22 13 15
+f 22 1 19
+f 22 19 7
+f 22 7 13
+f 23 15 9
+f 23 9 16
+f 23 16 1
+f 23 22 15
+f 23 1 22
+f 24 8 5
+f 24 5 17
+f 25 17 5
+f 25 5 3
+f 25 3 10
+f 26 13 7
+f 27 7 12
+f 27 12 20
+f 27 26 7
+f 27 20 26
+f 28 20 11
+f 28 26 20
+f 28 21 13
+f 28 13 26
+f 29 15 21
+f 29 6 9
+f 29 9 15
+f 29 21 28
+f 29 28 11
+f 29 11 6
+f 30 19 8
+f 30 8 24
+f 30 14 19
+f 32 30 24
+f 32 14 30
+f 33 24 17
+f 33 17 31
+f 34 17 25
+f 34 25 10
+f 34 10 2
+f 35 2 14
+f 35 34 2
+f 35 33 31
+f 36 33 32
+f 36 32 24
+f 36 24 33
+f 37 35 14
+f 37 14 32
+f 37 32 33
+f 37 33 35
+f 38 35 31
+f 38 34 35
+f 38 31 17
+f 38 17 34
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e32a9278b6d0481665b21ae8ebec0023097bde0f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.24356226 -0.00540993 0.40417976
+v 0.26677821 -0.00358850 -0.42246055
+v 0.23769241 0.12125087 0.34950870
+v 0.15489351 0.19760544 0.37998474
+v 0.15169473 -0.00409031 -0.48660957
+v 0.17986211 0.19115219 -0.42079580
+v 0.22293923 0.10953146 0.39262947
+v 0.26798056 0.00884472 0.35044970
+v 0.23696298 -0.00486941 -0.46072893
+v 0.16276223 -0.00499692 0.40151514
+v 0.23670537 0.12062599 -0.42102710
+v 0.18053340 0.19196422 0.34944934
+v 0.15518426 0.19795712 -0.43726675
+v 0.26835439 -0.00371761 0.35058098
+v 0.24920601 0.06590049 0.37573733
+v 0.15683102 0.18479774 0.39670693
+v 0.20760537 0.16288410 -0.42056810
+v 0.25156799 0.06648566 -0.43220689
+v 0.20836235 0.14840190 0.37596363
+v 0.16124759 0.13002751 -0.49064771
+v 0.25652688 -0.00398980 0.37986599
+v 0.25087279 0.07881680 0.36447949
+v 0.20830759 0.16350499 0.34944934
+v 0.16632042 0.16279664 -0.46136726
+v 0.26645398 0.00871970 -0.42228411
+v 0.23377705 0.10768097 0.37501784
+v 0.19526673 0.15021966 0.39254000
+v 0.19061279 0.17640780 0.36311239
+v 0.15465549 0.16701442 -0.46615068
+v 0.23763666 0.06678795 -0.44840233
+v 0.21010231 0.14994027 -0.43244804
+v 0.25372380 0.07971236 -0.42299581
+v 0.16664282 0.19348975 -0.43253831
+v 0.24335781 -0.00415223 -0.45351311
+v 0.16518965 0.19173186 0.37604867
+v 0.16712721 0.17892412 0.39277091
+v 0.15700477 0.14142764 -0.48567130
+v 0.17160055 0.12578472 -0.48501936
+v 0.23631944 0.10877164 -0.43133964
+v 0.17909621 0.14931861 -0.46088821
+v 0.22192139 0.10909486 -0.44716986
+f 9 2 1
+f 10 4 5
+f 10 9 1
+f 10 5 9
+f 13 12 6
+f 13 4 12
+f 14 1 2
+f 15 7 1
+f 16 4 10
+f 16 10 1
+f 16 1 7
+f 17 3 11
+f 17 6 12
+f 20 9 5
+f 21 14 8
+f 21 1 14
+f 21 15 1
+f 21 8 15
+f 22 15 8
+f 22 7 15
+f 23 17 12
+f 23 3 17
+f 23 19 3
+f 25 14 2
+f 25 8 14
+f 26 19 7
+f 26 3 19
+f 26 22 3
+f 26 7 22
+f 27 16 7
+f 27 7 19
+f 28 27 19
+f 28 23 12
+f 28 19 23
+f 29 13 24
+f 29 5 4
+f 29 4 13
+f 31 17 11
+f 31 6 17
+f 32 11 3
+f 32 3 22
+f 32 25 18
+f 32 22 8
+f 32 8 25
+f 33 24 13
+f 33 13 6
+f 33 31 24
+f 33 6 31
+f 34 25 2
+f 34 2 9
+f 34 18 25
+f 34 30 18
+f 34 9 30
+f 35 28 12
+f 35 12 4
+f 36 16 27
+f 36 27 28
+f 36 28 35
+f 36 35 4
+f 36 4 16
+f 37 20 5
+f 37 5 29
+f 37 29 24
+f 38 30 9
+f 38 9 20
+f 39 11 32
+f 39 31 11
+f 39 32 18
+f 39 18 30
+f 40 24 31
+f 40 31 38
+f 40 37 24
+f 40 38 20
+f 40 20 37
+f 41 39 30
+f 41 30 38
+f 41 38 31
+f 41 31 39
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aaec5594cd1c959d671e399a32193a442b2c288
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.15650387 -0.16417712 0.42757095
+v -0.12511655 -0.12620904 -0.41666667
+v -0.11853690 0.21115925 0.39487624
+v -0.11934678 0.22648201 0.36698542
+v -0.18064243 0.18582720 -0.42757714
+v -0.12028382 0.22826016 -0.42632687
+v -0.20656140 0.11425619 0.41438611
+v -0.15868578 0.20789796 -0.42189604
+v -0.12922801 0.19891925 -0.45352205
+v -0.17292183 0.19163905 0.36432307
+v -0.20917098 -0.14105362 -0.43954149
+v -0.13192255 0.22332729 -0.42314662
+v -0.12122125 0.21569459 -0.44076182
+v -0.16108978 0.19565458 -0.43482975
+v -0.15626396 0.18981670 0.38991682
+v -0.17484273 0.19396273 -0.42273540
+v -0.15661616 0.20539437 0.36370193
+v -0.19762958 -0.13374697 0.40886940
+v -0.16555716 0.18590733 -0.44054982
+v -0.14678523 0.20768783 -0.43320928
+v -0.13045106 0.22084108 0.36463611
+v -0.13057894 0.20590560 0.39173869
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 10 5 7
+f 11 7 5
+f 11 2 1
+f 11 9 2
+f 12 4 6
+f 13 6 2
+f 13 2 9
+f 14 5 8
+f 15 10 7
+f 15 7 3
+f 16 10 8
+f 16 8 5
+f 16 5 10
+f 17 8 10
+f 17 10 15
+f 18 11 1
+f 18 1 7
+f 18 7 11
+f 19 11 5
+f 19 9 11
+f 19 14 9
+f 19 5 14
+f 20 12 6
+f 20 8 12
+f 20 6 13
+f 20 14 8
+f 20 13 9
+f 20 9 14
+f 21 12 8
+f 21 8 17
+f 21 17 4
+f 21 4 12
+f 22 17 15
+f 22 15 3
+f 22 3 4
+f 22 4 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b0a9a3b2075d00eaba90efea71fdb390a1361ae
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.14430387 -0.16766630 0.49999568
+v 0.23954944 -0.08984798 0.37830984
+v 0.22255002 0.03650419 0.49998974
+v 0.10238488 0.11637122 0.47175107
+v 0.08700466 -0.14136055 0.38636363
+v 0.21218975 0.13944143 0.37945925
+v 0.16794972 0.12080239 0.49539129
+v 0.20595912 -0.08844292 0.49999116
+v 0.15440773 -0.17988606 0.40702525
+v 0.09363154 -0.14934363 0.46887658
+v 0.24239006 0.08107278 0.37992986
+v 0.10215617 0.11621520 0.38636363
+v 0.22605382 -0.11831718 0.37866413
+v 0.19568511 0.10828761 0.49999200
+v 0.20573119 0.14452732 0.38470307
+v 0.22310995 -0.03403848 0.49998962
+v 0.08656749 -0.00551725 0.46410050
+v 0.08700466 -0.00499692 0.38636363
+v 0.18290681 -0.16268171 0.39447477
+v 0.19116980 -0.11542481 0.49999236
+v 0.20957825 0.08000064 0.49999086
+v 0.15330018 -0.16022492 0.49999514
+f 7 4 1
+f 10 9 1
+f 10 5 9
+f 11 2 6
+f 13 6 2
+f 13 2 8
+f 14 7 1
+f 14 11 6
+f 15 4 7
+f 15 12 4
+f 15 6 12
+f 15 14 6
+f 15 7 14
+f 16 8 2
+f 16 3 8
+f 16 11 3
+f 16 2 11
+f 17 10 1
+f 17 1 4
+f 17 5 10
+f 17 4 12
+f 18 12 6
+f 18 17 12
+f 18 5 17
+f 18 13 5
+f 18 6 13
+f 19 9 5
+f 19 5 13
+f 19 1 9
+f 20 13 8
+f 20 8 14
+f 21 3 11
+f 21 11 14
+f 21 14 8
+f 21 8 3
+f 22 19 13
+f 22 13 20
+f 22 1 19
+f 22 20 14
+f 22 14 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2d31195b839eb8c804eebec4313a66d2122d1e2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.08211370 -0.23522619 0.37963887
+v 0.17257270 -0.17155747 -0.44862829
+v 0.15110754 -0.14445233 0.49712333
+v 0.09363154 -0.14934363 0.46887658
+v 0.08700466 -0.14136055 -0.41666667
+v 0.08681629 -0.20149788 0.49999839
+v 0.13811227 -0.21622170 0.36484963
+v 0.08234282 -0.23579749 -0.43684582
+v 0.09086299 -0.18128477 0.49491379
+v 0.12289147 -0.23125610 0.34965163
+v 0.13686249 -0.17382151 0.49999612
+v 0.08609532 -0.19969930 -0.47515679
+v 0.08310448 -0.20739355 -0.46819742
+v 0.12227424 -0.23021333 -0.42123533
+v 0.11048570 -0.19044877 0.49999745
+v 0.13744539 -0.21509498 -0.43121718
+v 0.14178751 -0.19212808 -0.45284087
+v 0.11051490 -0.21533272 -0.44736967
+v 0.11235046 -0.19359120 -0.46880768
+v 0.09622461 -0.23263160 -0.43408843
+v 0.10856949 -0.20235462 -0.46235122
+f 5 3 2
+f 5 4 3
+f 6 5 1
+f 6 4 5
+f 7 2 3
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 6 1
+f 10 1 8
+f 11 7 3
+f 11 3 6
+f 11 10 7
+f 12 5 2
+f 13 8 1
+f 13 1 5
+f 13 5 12
+f 14 10 8
+f 14 7 10
+f 15 11 6
+f 15 6 10
+f 15 10 11
+f 16 2 7
+f 16 7 14
+f 17 2 16
+f 18 8 13
+f 19 12 2
+f 19 2 17
+f 20 14 8
+f 20 8 18
+f 20 18 16
+f 20 16 14
+f 21 12 19
+f 21 18 13
+f 21 13 12
+f 21 19 17
+f 21 17 16
+f 21 16 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85aa1ebfa2f6e6d6da602f70aead4db9a792f873
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.12524733 0.08597610 0.47221237
+v -0.12511655 0.10106369 0.34090908
+v -0.11750745 0.19426844 0.42395776
+v -0.14179334 0.22014890 0.34090908
+v -0.22907451 0.08501018 0.40031599
+v -0.12379055 0.20488396 0.40017719
+v -0.12511655 0.08591217 0.40151514
+v -0.22924044 0.12861372 0.35875316
+v -0.18674075 0.12242583 0.49999281
+v -0.21760991 0.08009217 0.42388934
+v -0.18361183 0.18941933 0.34090907
+v -0.13741113 0.17336790 0.49999609
+v -0.20843831 0.08265976 0.49999096
+v -0.12504314 0.17669697 0.46913386
+v -0.14640742 0.16592651 0.49999555
+v -0.20295129 0.09545899 0.49999141
+v -0.18406334 0.09445456 0.49491334
+v -0.12520338 0.13145978 0.47294673
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 8 2 5
+f 10 7 1
+f 10 5 7
+f 11 4 2
+f 11 2 8
+f 11 8 9
+f 12 3 6
+f 12 6 4
+f 12 4 11
+f 13 8 5
+f 13 5 10
+f 13 10 1
+f 14 3 12
+f 15 12 11
+f 15 11 9
+f 15 13 12
+f 15 9 13
+f 16 13 9
+f 16 9 8
+f 16 8 13
+f 17 13 1
+f 17 1 12
+f 17 12 13
+f 18 14 12
+f 18 12 1
+f 18 1 3
+f 18 3 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b460c4a6f774bef9b169e567963be9fd93c8acb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.16276223 0.04045763 -0.41666667
+v 0.15153744 0.03767646 -0.48788999
+v 0.17474940 0.19132226 -0.42667363
+v 0.01060484 0.25934253 -0.41666667
+v 0.00995766 0.09937345 -0.47181580
+v 0.01066841 0.24502143 -0.44087065
+v 0.09773993 0.24156751 -0.41666667
+v 0.08792605 0.03435222 -0.47024261
+v 0.16411898 0.17846254 -0.44870690
+v 0.01033503 0.25581904 -0.42555080
+v 0.01060540 0.10783391 -0.47441465
+v 0.09514698 0.23510232 -0.43174814
+v 0.06759677 0.24935514 -0.42190711
+v 0.06796340 0.25093796 -0.41666671
+f 1 2 3
+f 5 1 4
+f 7 1 3
+f 7 4 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 5 4
+f 11 6 2
+f 11 2 5
+f 11 5 6
+f 12 7 3
+f 12 3 9
+f 12 9 6
+f 13 10 4
+f 13 7 12
+f 13 12 6
+f 13 6 10
+f 14 13 4
+f 14 4 7
+f 14 7 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4263d9ef200ee8dc1dc1202ef220f4c927b63ca
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.14948345 0.11787104 -0.49779077
+v 0.17202242 0.13779953 -0.47560258
+v -0.11581098 0.10798744 -0.48856436
+v 0.07090538 0.23333573 -0.44358483
+v 0.06853380 0.18369637 -0.49985170
+v 0.14420103 0.20136351 -0.44153570
+v 0.10551249 0.12027548 -0.48958142
+v 0.13764159 0.14960991 -0.49389840
+v -0.08041550 0.17870002 -0.49997710
+v -0.13292369 0.19001172 -0.46030135
+v 0.09555548 0.22096932 -0.44778675
+v 0.14042476 0.19498339 -0.45066902
+v -0.11892314 0.11073914 -0.48980492
+v 0.06923485 0.22612389 -0.45277018
+v 0.09831286 0.22784451 -0.43862334
+v 0.09428788 0.17867893 -0.49413968
+v 0.12363936 0.20737447 -0.44806521
+v -0.12910226 0.18355528 -0.46892729
+v 0.12741566 0.21375458 -0.43893185
+v 0.12262249 0.16319154 -0.49287007
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 10 3 6
+f 10 4 9
+f 12 6 2
+f 12 2 8
+f 13 9 1
+f 13 1 3
+f 13 3 10
+f 14 9 4
+f 14 5 9
+f 14 11 5
+f 15 4 10
+f 15 14 4
+f 15 11 14
+f 16 5 11
+f 17 6 12
+f 17 16 11
+f 17 12 16
+f 18 13 10
+f 18 10 9
+f 18 9 13
+f 19 15 10
+f 19 10 6
+f 19 6 17
+f 19 17 11
+f 19 11 15
+f 20 16 12
+f 20 12 8
+f 20 8 5
+f 20 5 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d6b0d7c270f5e3f4bbcd927f8b48a706c7837c9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.19135435 0.11513320 0.49999234
+v 0.21105257 0.11801047 0.40326665
+v 0.08256238 0.22635112 0.39540732
+v -0.07347262 0.20685276 0.49999885
+v -0.12511655 0.11621520 0.40151514
+v 0.07979684 0.20431493 0.49999863
+v 0.18089101 0.16605701 0.39307771
+v 0.19516420 0.10795242 0.43871010
+v -0.12523530 0.11628544 0.47265996
+v -0.11853690 0.21115925 0.39487624
+v 0.20064268 0.14095265 0.39660559
+v 0.13432952 0.17591706 0.49999626
+v -0.14378650 0.15077437 0.49712357
+v -0.08951386 0.22421322 0.39422840
+v 0.17847893 0.13363026 0.49999332
+v 0.12437271 0.20861329 0.39335580
+v -0.13186557 0.17778640 0.49999641
+v -0.14034964 0.13143330 0.47326724
+f 6 3 4
+f 6 4 1
+f 8 5 2
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 10 7 5
+f 11 1 2
+f 11 2 5
+f 11 5 7
+f 12 6 1
+f 13 9 1
+f 14 10 4
+f 14 4 3
+f 14 7 10
+f 15 11 7
+f 15 1 11
+f 15 12 1
+f 15 7 12
+f 16 12 7
+f 16 3 6
+f 16 6 12
+f 16 14 3
+f 16 7 14
+f 17 13 1
+f 17 1 4
+f 17 4 10
+f 17 10 13
+f 18 13 10
+f 18 10 5
+f 18 5 9
+f 18 9 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d599e5ac6de5505c83d127efc1fc736622fc5e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.14166832 0.19708441 0.39551921
+v 0.14480585 0.20238538 0.38353349
+v 0.05241204 0.24921185 0.36477286
+v -0.04661468 0.25588300 0.34090913
+v -0.14843461 0.21621809 0.34090908
+v 0.09773990 0.24156740 0.34090908
+v 0.09418953 0.23271511 0.37541004
+v -0.13429784 0.19233337 0.41077910
+v 0.06796336 0.25093787 0.34090908
+v 0.12970794 0.22337088 0.35936478
+v 0.10953813 0.21805484 0.39083252
+v 0.06791041 0.25070926 0.35014203
+v -0.06027636 0.23429938 0.39194091
+v 0.11597531 0.20016920 0.41579027
+v 0.13955224 0.20866062 0.37823255
+v -0.00251476 0.24958157 0.37709049
+v -0.10528909 0.22576848 0.37993454
+v 0.06732227 0.23301871 0.39127013
+v -0.04540487 0.25065989 0.36527638
+v -0.13515211 0.22407970 0.34090897
+v -0.12167442 0.21646020 0.38289050
+v -0.10300166 0.22006510 0.39194101
+v 0.00982337 0.24913778 0.37686373
+v -0.11853690 0.21115925 0.39487624
+f 5 2 1
+f 8 5 1
+f 10 2 5
+f 10 5 6
+f 11 10 7
+f 12 3 7
+f 12 6 9
+f 12 9 4
+f 12 10 6
+f 12 7 10
+f 14 8 1
+f 14 13 8
+f 15 2 10
+f 15 10 11
+f 15 11 14
+f 15 14 1
+f 15 1 2
+f 16 12 4
+f 18 14 11
+f 18 11 7
+f 18 7 3
+f 18 16 13
+f 18 13 14
+f 19 16 4
+f 19 13 16
+f 19 17 13
+f 19 4 17
+f 20 17 4
+f 20 4 9
+f 20 9 6
+f 20 6 5
+f 21 5 8
+f 21 20 5
+f 21 17 20
+f 22 8 13
+f 22 13 17
+f 22 17 21
+f 23 18 3
+f 23 16 18
+f 23 3 12
+f 23 12 16
+f 24 22 21
+f 24 21 8
+f 24 8 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7596e8cad675acbbeb15938d4abb1c2a5f77402f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.13744180 0.03793786 -0.48404124
+v 0.17202242 0.13779953 -0.47560258
+v 0.10215617 0.11621520 -0.41666667
+v -0.12511655 0.11621520 -0.41666667
+v -0.11581098 0.10798744 -0.48856436
+v -0.12511655 0.04045763 -0.41666667
+v 0.14898809 0.04079893 -0.48740292
+v -0.08088886 0.11828822 -0.48443823
+v 0.08792605 0.03435222 -0.47024261
+v 0.14948345 0.11787104 -0.49779077
+v -0.11646454 0.03779205 -0.47739109
+v 0.15103711 0.08808139 -0.49345308
+f 3 2 4
+f 6 3 4
+f 6 4 5
+f 7 2 3
+f 7 3 1
+f 8 5 4
+f 8 4 2
+f 9 1 3
+f 9 3 6
+f 10 7 5
+f 10 8 2
+f 10 5 8
+f 11 7 1
+f 11 5 7
+f 11 1 9
+f 11 9 6
+f 11 6 5
+f 12 10 2
+f 12 2 7
+f 12 7 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b93207d051ed2ee7df8109595d0241757714c5b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.08314286 -0.24742170 -0.35606061
+v 0.08310448 -0.20739355 -0.46819742
+v 0.08700466 -0.14136055 -0.35606061
+v -0.12511655 -0.14136055 -0.35606061
+v -0.11856854 -0.23109452 -0.42254696
+v 0.08097759 -0.13117760 -0.48850190
+v 0.08251532 -0.24555419 -0.42254690
+v -0.11930071 -0.23292009 -0.35606061
+v -0.14511075 -0.16554793 -0.47440080
+v -0.00266357 -0.20091293 -0.49356276
+v -0.08745489 -0.24422483 -0.42139918
+v -0.08197656 -0.14527160 -0.49193542
+v 0.05287034 -0.24603260 -0.43328660
+v -0.07375170 -0.18722991 -0.49382296
+v 0.05401170 -0.19035398 -0.49728207
+v -0.08796187 -0.24548895 -0.35606061
+v 0.08011365 -0.21508780 -0.46123804
+v -0.06043814 -0.24499189 -0.43242560
+v -0.11858068 -0.22122702 -0.43655354
+v 0.00998163 -0.20059231 -0.49328550
+v 0.05821882 -0.16029511 -0.49334435
+v -0.07335227 -0.21653720 -0.46259067
+v -0.10337911 -0.23099995 -0.43266731
+v -0.10378760 -0.21686696 -0.44870592
+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 9 8 4
+f 9 5 8
+f 11 8 5
+f 12 9 4
+f 12 4 6
+f 13 7 1
+f 14 9 12
+f 15 6 2
+f 15 14 12
+f 15 10 14
+f 16 1 8
+f 16 8 11
+f 17 2 7
+f 17 7 13
+f 17 15 2
+f 17 13 15
+f 18 10 13
+f 18 16 11
+f 18 13 1
+f 18 1 16
+f 19 5 9
+f 19 9 14
+f 20 15 13
+f 20 13 10
+f 20 10 15
+f 21 15 12
+f 21 12 6
+f 21 6 15
+f 22 14 10
+f 22 10 18
+f 23 11 5
+f 23 5 19
+f 23 22 18
+f 23 18 11
+f 24 19 14
+f 24 14 22
+f 24 23 19
+f 24 22 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a779cb6350cc149da14bd4567795878749367546
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.09735525 -0.22777443 -0.43914453
+v 0.25311810 -0.00743346 -0.44149716
+v -0.12511655 -0.08075449 -0.41666667
+v -0.08192687 0.04189209 -0.46837760
+v 0.05401170 -0.19035398 -0.49728207
+v 0.16276223 0.04045763 -0.41666667
+v 0.17906497 -0.10219425 -0.49294139
+v -0.14511075 -0.16554793 -0.47440080
+v 0.16308386 0.04053732 -0.49125171
+v 0.23033425 -0.13061902 -0.42109735
+v 0.13542511 -0.17207397 -0.47570623
+v 0.05892832 -0.22673092 -0.45492210
+v -0.12511655 -0.14136055 -0.41666667
+v -0.11631803 -0.07518375 -0.48287108
+v 0.10649650 0.04231984 -0.47608302
+v 0.20769631 -0.00371336 -0.49356023
+v 0.20803771 -0.07417798 -0.47762771
+v 0.08051304 -0.18578058 -0.49247026
+v 0.15310999 -0.21125782 -0.42238077
+v 0.18700276 -0.16630326 -0.44033334
+v 0.05379500 -0.20456983 -0.48130127
+v -0.07990892 -0.14177777 -0.49075577
+v 0.19313560 -0.07428502 -0.49302003
+v 0.20952820 -0.10322803 -0.46317184
+v 0.20700935 -0.01880860 -0.49294594
+v 0.13817775 -0.18602925 -0.46116482
+v 0.10848859 -0.17191489 -0.49251601
+v 0.08867458 -0.22128187 -0.45059619
+v 0.14872794 -0.14380745 -0.49093390
+v 0.17915496 -0.12906132 -0.47610865
+v 0.15670493 -0.19463897 -0.43921386
+v 0.08031332 -0.20043418 -0.47685419
+v 0.15197650 -0.18891889 -0.44831105
+v 0.18143716 -0.16138229 -0.44939245
+v 0.21196449 -0.11898960 -0.45099632
+f 6 4 3
+f 8 3 4
+f 9 6 2
+f 10 2 6
+f 13 3 8
+f 13 10 6
+f 13 6 3
+f 13 12 1
+f 13 8 12
+f 14 8 4
+f 14 4 9
+f 15 9 4
+f 15 4 6
+f 15 6 9
+f 16 9 2
+f 16 5 9
+f 19 13 1
+f 19 10 13
+f 20 10 19
+f 21 12 8
+f 21 8 5
+f 21 5 12
+f 22 5 8
+f 22 8 14
+f 22 14 9
+f 22 9 5
+f 23 7 5
+f 23 5 16
+f 24 23 17
+f 24 7 23
+f 24 17 2
+f 24 2 10
+f 25 16 2
+f 25 2 17
+f 25 23 16
+f 25 17 23
+f 26 19 1
+f 27 18 5
+f 27 5 7
+f 27 11 26
+f 27 26 1
+f 28 1 12
+f 28 27 1
+f 28 18 27
+f 29 27 7
+f 29 11 27
+f 30 7 24
+f 30 29 7
+f 31 20 19
+f 31 19 26
+f 32 5 18
+f 32 18 28
+f 32 28 12
+f 32 12 5
+f 33 26 11
+f 33 11 29
+f 33 31 26
+f 34 30 20
+f 34 29 30
+f 34 33 29
+f 34 20 31
+f 34 31 33
+f 35 30 24
+f 35 24 10
+f 35 10 20
+f 35 20 30
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2344c01699086d61a06400fbcc04c5c4c78aab
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.05368251 -0.23438755 0.39468857
+v 0.13141459 -0.20020170 0.40046112
+v 0.08157942 -0.20359941 0.49999857
+v -0.12532906 -0.14153663 0.47260553
+v -0.12032522 -0.20902298 0.39668065
+v 0.09363154 -0.14934363 0.46887658
+v 0.09746224 -0.22056595 0.39506131
+v 0.08700466 -0.14136055 0.40151514
+v -0.03300165 -0.21652867 0.49999974
+v 0.09086299 -0.18128477 0.49491379
+v 0.12616095 -0.20647700 0.39516016
+v -0.15068922 -0.17229626 0.42274378
+v 0.12827706 -0.19490074 0.41244685
+v -0.04663659 -0.23566833 0.39535940
+v 0.03772848 -0.21578335 0.49999967
+v -0.12913687 -0.16137537 0.49646299
+v -0.10441368 -0.21842804 0.39388240
+v -0.11626677 -0.18702494 0.49999717
+v -0.08830522 -0.20090042 0.49999834
+f 7 3 1
+f 8 4 6
+f 11 2 3
+f 11 3 7
+f 11 8 2
+f 11 7 1
+f 12 8 5
+f 12 4 8
+f 13 8 6
+f 13 2 8
+f 13 6 10
+f 13 10 3
+f 13 3 2
+f 15 1 3
+f 15 14 1
+f 15 9 14
+f 16 10 6
+f 16 6 4
+f 16 3 10
+f 16 4 12
+f 17 5 8
+f 17 8 11
+f 17 11 1
+f 17 1 14
+f 18 3 16
+f 18 15 3
+f 18 9 15
+f 18 5 17
+f 18 16 12
+f 18 12 5
+f 19 17 14
+f 19 14 9
+f 19 18 17
+f 19 9 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d265b86cc59bda23c6120bd59bdc20bf9fb78b38
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.24452580 -0.00548881 -0.45198256
+v 0.22946220 -0.00425507 -0.46917245
+v 0.21685973 0.12724630 -0.44062032
+v 0.14420103 0.20136351 -0.44153570
+v 0.15169473 -0.00409031 -0.48660957
+v 0.14185933 0.13956072 -0.49968490
+v 0.15518426 0.19795712 -0.43726675
+v 0.23527573 0.08452054 -0.44404753
+v 0.16738470 -0.00537551 -0.49101962
+v 0.13744180 0.03793786 -0.48404124
+v 0.13877277 0.18128141 -0.46514755
+v 0.15043771 0.17706363 -0.46036410
+v 0.20746249 0.00885194 -0.49335112
+v 0.19208988 0.07899411 -0.49201063
+v 0.20769631 -0.00371336 -0.49356023
+v 0.14042476 0.19498339 -0.45066902
+v 0.15137655 0.13645127 -0.49422117
+v 0.15045581 0.19223704 -0.44636388
+v 0.20860889 0.10687138 -0.46184489
+v 0.22189404 0.07878010 -0.46122599
+v 0.17775550 0.10652293 -0.49157258
+v 0.21057656 0.12326858 -0.44964234
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 3 1
+f 9 1 5
+f 9 5 6
+f 10 6 5
+f 10 5 4
+f 11 6 10
+f 12 7 3
+f 12 6 11
+f 13 8 1
+f 13 1 2
+f 14 13 6
+f 15 2 1
+f 15 1 9
+f 15 13 2
+f 15 9 6
+f 15 6 13
+f 16 4 7
+f 16 11 10
+f 16 10 4
+f 17 12 3
+f 17 6 12
+f 18 12 11
+f 18 7 12
+f 18 16 7
+f 18 11 16
+f 19 3 8
+f 20 8 13
+f 20 13 14
+f 20 19 8
+f 20 14 19
+f 21 14 6
+f 21 6 17
+f 21 19 14
+f 22 21 17
+f 22 17 3
+f 22 3 19
+f 22 19 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe03fa9f38e4bc719d61a8b654d01a3abd887115
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.07464799 -0.07468835 -0.47366104
+v -0.06941082 -0.06835225 -0.47123722
+v -0.22372609 -0.09705711 -0.45089899
+v -0.13678055 0.21167941 -0.43525536
+v -0.12922801 0.19891925 -0.45352205
+v -0.18361179 0.18941928 -0.41666666
+v -0.07451891 0.03809333 -0.46587880
+v -0.20892388 -0.09070738 -0.46936293
+v -0.17701576 0.18143995 -0.43582138
+v -0.06701293 0.03449399 -0.46338720
+f 1 2 3
+f 6 3 2
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 9 6 4
+f 9 4 5
+f 9 5 8
+f 9 8 3
+f 9 3 6
+f 10 2 1
+f 10 1 7
+f 10 6 2
+f 10 4 6
+f 10 7 5
+f 10 5 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a719dd0401dc40b51db70bb200f0a2c96b7a5a00
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.16270462 0.17675157 0.40146844
+v 0.16411898 0.17846254 -0.44870690
+v 0.13777709 0.22081314 -0.42160050
+v 0.07129430 0.25016629 0.34090908
+v 0.07185314 0.17682126 0.34090908
+v 0.13608742 0.21795817 0.36349327
+v 0.15297967 0.20574786 -0.43137932
+v 0.11597531 0.20016920 0.41579027
+v 0.08872750 0.21889538 -0.45331205
+v 0.11071672 0.23614504 0.35004450
+v 0.15159422 0.20340705 0.37509500
+v 0.10434649 0.21258559 0.40452668
+v 0.11335448 0.19574135 -0.46609244
+v 0.12341230 0.22214229 -0.43255173
+v 0.07129433 0.25016640 -0.41666667
+v 0.15095744 0.19284394 0.39194543
+v 0.09833766 0.22790638 0.38111343
+v 0.12225659 0.22018950 0.37606909
+v 0.09670351 0.23898333 -0.42409779
+v 0.09744735 0.24083795 0.35176248
+v 0.09831286 0.22784451 -0.43862334
+v 0.11021200 0.23488663 -0.42177142
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 10 6 3
+f 11 1 7
+f 11 7 3
+f 11 3 6
+f 12 4 5
+f 12 5 8
+f 13 2 5
+f 13 5 9
+f 13 7 2
+f 14 3 7
+f 14 13 9
+f 14 7 13
+f 15 9 5
+f 15 5 4
+f 15 4 10
+f 16 11 8
+f 16 8 1
+f 16 1 11
+f 17 4 12
+f 18 11 6
+f 18 17 12
+f 18 6 10
+f 18 10 17
+f 18 12 8
+f 18 8 11
+f 20 17 10
+f 20 10 4
+f 20 4 17
+f 21 19 14
+f 21 14 9
+f 21 9 15
+f 21 15 19
+f 22 3 14
+f 22 14 19
+f 22 10 3
+f 22 19 15
+f 22 15 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39871338143d93b895f8c2880484a33347477e44
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.23054048 -0.08048137 0.40115204
+v -0.18572261 -0.00499692 0.34090908
+v -0.19456085 0.13918133 0.40764057
+v -0.21434632 0.15667504 0.34090907
+v -0.26407620 -0.04734070 0.34090908
+v -0.26057103 -0.06148807 0.34090908
+v -0.23145494 -0.00874249 0.42628464
+v -0.23626576 -0.08293737 0.38926568
+v -0.26023555 0.03911472 0.36546010
+v -0.25886709 -0.04605014 0.36482364
+v -0.22988051 0.09400785 0.39213475
+v -0.26581489 0.03957170 0.34090912
+v -0.24137829 -0.07863090 0.38354040
+v -0.24399580 0.05127724 0.39204405
+v -0.20909807 0.12698105 0.39723636
+v -0.22693873 0.13827552 0.34090907
+v -0.24216813 -0.06081828 0.39105396
+v -0.23560584 0.09646381 0.38024833
+v -0.23565300 -0.07617490 0.39542676
+f 1 2 3
+f 3 2 4
+f 7 1 3
+f 8 6 2
+f 8 2 1
+f 10 5 6
+f 10 7 9
+f 11 7 3
+f 12 10 9
+f 12 5 10
+f 13 10 6
+f 13 6 8
+f 13 8 1
+f 14 9 7
+f 14 7 11
+f 15 11 3
+f 15 3 4
+f 16 5 12
+f 16 6 5
+f 16 4 2
+f 16 2 6
+f 16 15 4
+f 17 7 10
+f 17 10 13
+f 18 14 11
+f 18 9 14
+f 18 11 15
+f 18 15 16
+f 18 16 12
+f 18 12 9
+f 19 17 13
+f 19 13 1
+f 19 1 7
+f 19 7 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4faef5fb8958d8ed29dc5ffe54f2d4cf6f3e3f80
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.08154405 -0.24266373 0.36419752
+v 0.08314286 -0.24742170 -0.35606061
+v 0.08700466 -0.14136055 -0.35606061
+v 0.01124708 -0.14136055 0.40151514
+v 0.01099743 -0.25931242 0.26515151
+v 0.08700466 -0.14136055 0.40151514
+v 0.01058298 -0.23874821 0.39708368
+v 0.01124708 -0.14136055 -0.35606061
+v 0.01013509 -0.24805109 0.37894383
+v 0.07982628 -0.22952279 0.39164532
+v 0.01099744 -0.25931250 -0.35606061
+v 0.05242396 -0.24410559 0.37669112
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 6 4
+f 8 3 2
+f 8 4 3
+f 9 5 1
+f 9 7 4
+f 9 4 8
+f 10 1 6
+f 10 6 7
+f 11 8 2
+f 11 2 5
+f 11 9 8
+f 11 5 9
+f 12 9 1
+f 12 1 10
+f 12 10 7
+f 12 7 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb43f43006197ea02f9b891564555d0973ffec0f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01013509 -0.24805109 0.37894383
+v 0.01099743 -0.25931242 0.26515151
+v 0.01124708 -0.14136055 0.26515151
+v -0.15068922 -0.17229626 0.42274378
+v -0.08792129 -0.24538777 0.34976958
+v 0.01124708 -0.14136055 0.40151514
+v -0.08677769 -0.22738490 0.39046642
+v -0.12511655 -0.14136055 0.26515151
+v 0.01058298 -0.23874821 0.39708368
+v -0.05991731 -0.24274349 0.37597775
+v -0.11743494 -0.22826806 0.36420056
+v -0.11930070 -0.23292001 0.26515151
+v -0.11507158 -0.21529827 0.39137969
+v -0.08796184 -0.24548886 0.26515148
+f 5 2 1
+f 6 2 3
+f 8 6 3
+f 8 4 6
+f 9 6 4
+f 9 1 2
+f 9 2 6
+f 9 4 7
+f 10 7 5
+f 10 5 1
+f 10 9 7
+f 10 1 9
+f 11 5 7
+f 12 5 11
+f 12 11 4
+f 12 4 8
+f 13 11 7
+f 13 7 4
+f 13 4 11
+f 14 2 5
+f 14 5 12
+f 14 12 8
+f 14 8 3
+f 14 3 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2da7a8efdc5bb3d5c21affbc2664750d18ca6f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.12511655 -0.12620904 -0.41666667
+v -0.12708599 -0.12859161 -0.49549755
+v -0.11631803 -0.07518375 -0.48287108
+v -0.25612625 -0.07942799 -0.41666667
+v -0.23793984 -0.12089827 -0.41666667
+v -0.18926381 -0.07577391 -0.49636980
+v -0.12511655 -0.08075449 -0.41666667
+v -0.14433061 -0.08332640 -0.49099984
+v -0.24693884 -0.07715174 -0.43452851
+v -0.17082023 -0.11677467 -0.49199831
+v -0.24422364 -0.10365487 -0.42168347
+v -0.23144790 -0.11678838 -0.43245290
+v -0.24564641 -0.10426521 -0.41666667
+v -0.24458087 -0.08865661 -0.43174736
+v -0.18619152 -0.08960748 -0.49340451
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 1 3
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 3 6
+f 9 7 3
+f 9 4 7
+f 10 6 2
+f 10 2 5
+f 12 10 5
+f 12 5 11
+f 13 11 5
+f 13 5 4
+f 13 4 11
+f 14 11 4
+f 14 4 9
+f 14 12 11
+f 15 6 10
+f 15 10 12
+f 15 12 14
+f 15 14 9
+f 15 9 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..944f161ff0d6a77bf84e6adee0311998fc7b2fd5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01099743 -0.25931242 0.26515151
+v 0.01099744 -0.25931250 -0.35606061
+v 0.01124708 -0.00499692 -0.35606061
+v -0.12511655 -0.00499692 0.26515151
+v -0.11930071 -0.23292009 -0.35606061
+v 0.01124708 -0.00499692 0.26515151
+v -0.08796187 -0.24548895 -0.35606061
+v -0.11930070 -0.23292001 0.26515151
+v -0.12511655 -0.00499692 -0.35606061
+v -0.08796184 -0.24548886 0.26515148
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 8 1 4
+f 8 4 5
+f 8 5 7
+f 9 5 4
+f 9 4 3
+f 9 3 5
+f 10 8 7
+f 10 7 1
+f 10 1 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37570e2de644a30e1b9ee265c8196cbcdb24b147
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17009100 -0.16855524 0.40458751
+v 0.18582534 -0.18758939 0.26515151
+v 0.14761072 -0.00499692 0.26515151
+v -0.12511655 -0.00499692 0.38636363
+v -0.15480511 -0.17727533 0.41043099
+v 0.14761072 -0.00499692 0.38636363
+v -0.12511655 -0.14136055 0.26515151
+v -0.12511655 -0.00499692 0.26515151
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+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/can/can_3/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c7ed1cf3a48df5c1d8b8d81bc86813e5816a10e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.16276223 -0.00499692 0.38636363
+v 0.16276223 -0.00499692 -0.41666667
+v 0.17474940 0.19132226 -0.42667363
+v -0.13429784 0.19233337 0.41077910
+v -0.12511655 -0.00499692 0.38636363
+v -0.13292369 0.19001172 -0.46030135
+v 0.16270462 0.17675157 0.40146844
+v 0.18751232 0.13809857 0.41908454
+v 0.01022768 0.16350834 -0.49123210
+v -0.10840597 -0.00362806 -0.47340407
+v -0.11581098 0.10798744 -0.48856436
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 8 7 4
+f 8 5 1
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 10 2 5
+f 10 5 6
+f 10 9 2
+f 11 10 6
+f 11 6 9
+f 11 9 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..331bb7c90aa5851aabc4e1dde33bd1d285fcb161
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.18582538 -0.18758943 -0.35606061
+v 0.17257270 -0.17155747 -0.44862829
+v 0.14761072 -0.00499692 -0.35606061
+v -0.12511655 -0.00499692 -0.35606061
+v -0.12511655 -0.14136055 -0.41666667
+v -0.10840597 -0.00362806 -0.47340407
+v 0.14761072 -0.00499692 -0.41666667
+v -0.12511655 -0.14136055 -0.35606061
+v 0.00442745 -0.00067454 -0.44521944
+f 1 3 4
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 4
+f 9 4 3
+f 9 7 6
+f 9 3 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88d7eb644ff0ce14415985595850627f473a4fc2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18582534 -0.18758939 0.26515151
+v 0.18582538 -0.18758943 -0.35606061
+v 0.14761072 -0.00499692 -0.35606061
+v 0.01124708 -0.00499692 0.26515151
+v 0.01124708 -0.14136055 0.26515151
+v 0.14761072 -0.00499692 0.26515151
+v 0.01124708 -0.14136055 -0.35606061
+v 0.01124708 -0.00499692 -0.35606061
+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 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/can/can_3/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cedd6d1f2445991a235c3906d9a7d531980b3da9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.19762958 -0.13374697 0.40886940
+v -0.18394975 -0.07999397 -0.50000000
+v -0.17679421 0.16892699 0.39532728
+v -0.17636967 0.18065844 0.37878159
+v -0.25797198 0.06613750 -0.42140925
+v -0.17657715 0.12404640 -0.48208668
+v -0.23793984 -0.12089827 -0.41666667
+v -0.26023555 0.03911472 0.36546010
+v -0.18595141 0.17877845 -0.43121724
+v -0.20054885 0.05177461 -0.49338755
+v -0.26026278 -0.00365628 -0.43330758
+v -0.20917098 -0.14105362 -0.43954149
+v -0.21574826 0.12159915 0.39198564
+v -0.26029042 -0.06155424 0.35018407
+v -0.22997747 0.12101518 -0.43121724
+v -0.17701576 0.18143995 -0.43582138
+v -0.18796458 0.05616461 -0.49863691
+v -0.24693884 -0.07715174 -0.43452851
+v -0.19924698 -0.06144590 -0.49219392
+v -0.24505126 0.03752817 -0.44820902
+v -0.26001480 0.00879365 -0.43310056
+v -0.22948126 -0.11554337 0.37595798
+v -0.23565300 -0.07617490 0.39542676
+v -0.21357086 0.15003476 0.36389544
+v -0.21494978 0.09410253 -0.46161051
+v -0.25890303 -0.06121050 -0.42192858
+v -0.24512514 -0.03396041 -0.44847062
+v -0.24114881 -0.10233580 0.36351450
+v -0.24502492 0.07885319 0.37697909
+v -0.22704002 -0.10278308 0.39051480
+v -0.19962354 0.14716730 0.39014750
+v -0.18396757 0.17702441 0.37464648
+v -0.22811668 0.13498868 -0.42023453
+v -0.18493732 0.12127756 -0.47576565
+v -0.22952534 0.05144597 -0.46186837
+v -0.22907404 0.09366187 -0.44657878
+v -0.24564641 -0.10426521 -0.41666667
+v -0.23019728 -0.04645477 -0.46248436
+v -0.24218432 -0.08762847 0.37535916
+v -0.22764921 0.11954132 0.37482645
+v -0.24377776 0.10862128 0.34944934
+v -0.21758029 -0.11760120 0.39311716
+v -0.22876123 0.13539673 0.34944934
+v -0.24277649 0.10819178 -0.42083365
+v -0.25921725 0.06644604 0.34979810
+v -0.25779394 0.05094188 0.36443777
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 12 2 1
+f 13 1 3
+f 14 8 11
+f 15 9 6
+f 16 9 4
+f 16 4 6
+f 16 6 9
+f 17 10 6
+f 17 6 2
+f 17 2 10
+f 18 12 7
+f 18 2 12
+f 19 10 2
+f 19 2 18
+f 20 10 11
+f 21 11 8
+f 21 8 5
+f 21 20 11
+f 21 5 20
+f 22 12 1
+f 22 7 12
+f 23 1 13
+f 23 8 14
+f 25 6 10
+f 26 14 11
+f 27 11 10
+f 27 10 19
+f 27 26 11
+f 27 18 26
+f 28 14 7
+f 28 7 22
+f 29 23 13
+f 29 8 23
+f 30 1 23
+f 31 13 3
+f 32 3 4
+f 32 4 9
+f 32 9 24
+f 32 31 3
+f 32 24 31
+f 33 9 15
+f 34 25 15
+f 34 15 6
+f 34 6 25
+f 35 10 20
+f 36 15 25
+f 36 25 10
+f 36 10 35
+f 36 35 20
+f 36 20 5
+f 37 26 18
+f 37 18 7
+f 37 7 14
+f 37 14 26
+f 38 27 19
+f 38 19 18
+f 38 18 27
+f 39 23 14
+f 39 14 28
+f 39 28 22
+f 39 30 23
+f 39 22 30
+f 40 29 13
+f 40 31 24
+f 40 13 31
+f 41 29 40
+f 42 30 22
+f 42 22 1
+f 42 1 30
+f 43 24 9
+f 43 9 33
+f 43 33 41
+f 43 41 40
+f 43 40 24
+f 44 33 15
+f 44 41 33
+f 44 36 5
+f 44 15 36
+f 45 5 8
+f 45 29 41
+f 45 44 5
+f 45 41 44
+f 46 45 8
+f 46 8 29
+f 46 29 45
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85e28bd990c2ce18260af3e9e1cd43f2ec74cdf0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.07185314 0.17682126 0.34090908
+v 0.07266613 0.17884836 -0.49925629
+v 0.06796336 0.25093787 0.34090908
+v -0.04540487 0.25065989 0.36527638
+v -0.13292369 0.19001172 -0.46030135
+v -0.05504973 0.23169166 0.39923117
+v -0.04996279 0.17942799 -0.49754340
+v 0.06796340 0.25093796 -0.41666671
+v -0.04712117 0.24291805 0.38130364
+v -0.12692807 0.21018491 0.38819145
+v -0.06054708 0.25061998 -0.42258926
+v 0.00996832 0.25102986 -0.43349194
+v -0.08765311 0.23472533 0.37651858
+v -0.04623371 0.19363212 -0.49561636
+v -0.14843461 0.21621809 0.34090908
+v 0.06785502 0.20501550 -0.47712438
+v -0.05986425 0.24767187 0.36423738
+v -0.11715030 0.22231382 0.37757259
+v -0.08841963 0.23663641 -0.43308434
+v -0.04541577 0.23555561 -0.44803842
+v 0.03872596 0.23641673 -0.44887079
+v 0.06554284 0.19139038 -0.49289258
+v -0.10256815 0.23413565 0.36446041
+v -0.11788376 0.22370563 -0.43436319
+v -0.01774950 0.25066901 -0.43320071
+v -0.10366556 0.23687181 -0.42289874
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 9 6 3
+f 9 3 4
+f 10 5 1
+f 10 1 6
+f 12 4 3
+f 12 3 8
+f 12 11 4
+f 13 6 9
+f 14 7 5
+f 14 2 7
+f 15 5 10
+f 16 8 2
+f 17 13 9
+f 17 9 4
+f 17 4 11
+f 18 10 6
+f 18 6 13
+f 18 15 10
+f 20 19 11
+f 20 14 19
+f 21 12 8
+f 21 8 16
+f 21 14 12
+f 22 16 2
+f 22 2 14
+f 22 21 16
+f 22 14 21
+f 23 13 17
+f 23 18 13
+f 23 15 18
+f 23 17 11
+f 24 19 14
+f 24 14 5
+f 24 5 15
+f 25 20 11
+f 25 11 12
+f 25 12 14
+f 25 14 20
+f 26 23 11
+f 26 15 23
+f 26 24 15
+f 26 11 19
+f 26 19 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4e04bda399f8b2c89b3e027c6707e9a18b8f311
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.11820910 -0.22059923 0.37939396
+v -0.11858068 -0.22122702 -0.43655354
+v -0.12708599 -0.12859161 -0.49549755
+v -0.21758029 -0.11760120 0.39311716
+v -0.18770493 -0.18603558 0.34944934
+v -0.23523850 -0.11918814 -0.42476432
+v -0.12447930 -0.18573847 0.43115989
+v -0.11892505 -0.16120282 -0.49700290
+v -0.14576940 -0.21596529 -0.42179102
+v -0.16239935 -0.11898376 -0.49799073
+v -0.23315102 -0.11786665 0.36580874
+v -0.15632570 -0.19988528 0.37481542
+v -0.11718770 -0.20372202 0.40866639
+v -0.14410649 -0.21315577 0.36363405
+v -0.19961082 -0.17230147 -0.42010272
+v -0.15805981 -0.20198301 -0.43121718
+v -0.20012652 -0.17275741 0.34944934
+v -0.15650387 -0.16417712 0.42757095
+v -0.12922971 -0.19846838 0.40552888
+v -0.11927798 -0.19210211 0.42578694
+v -0.13025110 -0.21534559 0.37625644
+v -0.18717429 -0.18539363 -0.42038126
+v -0.21427817 -0.14581373 -0.43121718
+v -0.11900597 -0.19164254 -0.46683815
+v -0.13136267 -0.21722364 -0.43277731
+v -0.17128054 -0.15889419 -0.46033334
+v -0.22992535 -0.13097604 -0.42138491
+v -0.21206721 -0.14441415 0.37456049
+v -0.13593464 -0.18092306 0.42794608
+v -0.20118826 -0.14339320 -0.44587945
+v -0.15815646 -0.13038380 -0.49301444
+v -0.15788214 -0.18661649 -0.44587408
+v -0.22703724 -0.12914772 0.36330185
+v -0.21219834 -0.12934565 0.38979300
+v -0.12920643 -0.15828220 -0.49239984
+f 7 3 4
+f 9 2 1
+f 10 6 4
+f 10 4 3
+f 10 3 8
+f 11 4 6
+f 13 1 2
+f 13 2 8
+f 14 9 1
+f 14 5 9
+f 14 12 5
+f 17 15 5
+f 18 7 4
+f 18 5 12
+f 19 1 13
+f 20 13 8
+f 20 8 3
+f 20 3 7
+f 21 14 1
+f 21 12 14
+f 21 1 19
+f 22 9 5
+f 22 5 15
+f 22 16 9
+f 23 22 15
+f 24 16 8
+f 24 8 2
+f 25 2 9
+f 25 9 16
+f 25 24 2
+f 25 16 24
+f 26 16 22
+f 26 22 23
+f 27 11 6
+f 27 15 17
+f 27 23 15
+f 27 6 23
+f 28 4 11
+f 28 17 5
+f 28 5 18
+f 29 18 12
+f 29 7 18
+f 29 21 19
+f 29 12 21
+f 29 20 7
+f 29 19 13
+f 29 13 20
+f 30 23 6
+f 30 6 10
+f 30 26 23
+f 30 10 26
+f 31 26 10
+f 31 10 8
+f 32 8 16
+f 32 16 26
+f 33 27 17
+f 33 11 27
+f 33 28 11
+f 33 17 28
+f 34 28 18
+f 34 18 4
+f 34 4 28
+f 35 31 8
+f 35 26 31
+f 35 32 26
+f 35 8 32
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..036aec6e1cfe30b77ed724214715c510ab664293
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.09363154 -0.14934363 0.46887658
+v 0.08700466 -0.14136055 0.38636363
+v 0.10238488 0.11637122 0.47175107
+v -0.12523530 0.11628544 0.47265996
+v -0.15480511 -0.17727533 0.41043099
+v -0.12511655 0.11621520 0.38636363
+v 0.03932628 -0.06258219 0.47627709
+v 0.10952734 -0.00272261 0.46887923
+v 0.10215617 0.11621520 0.38636363
+v 0.07013913 0.10029309 0.47636410
+v -0.12532906 -0.14153663 0.47260553
+v 0.10215617 -0.00499692 0.38636363
+v 0.05179892 -0.04941316 0.47623723
+v -0.06286622 0.10028462 0.47685499
+v -0.04808526 -0.05015963 0.47632015
+v -0.03338998 -0.06458170 0.47633837
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 9 6 3
+f 9 2 6
+f 9 3 8
+f 10 3 4
+f 10 8 3
+f 10 1 8
+f 11 5 1
+f 11 1 7
+f 11 4 5
+f 12 8 1
+f 12 1 2
+f 12 9 8
+f 12 2 9
+f 13 10 7
+f 13 7 1
+f 13 1 10
+f 14 10 4
+f 14 7 10
+f 14 4 11
+f 15 14 11
+f 16 15 11
+f 16 11 7
+f 16 7 14
+f 16 14 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234a4af29e3e319f246e6eaeaa1b228ac9e288be
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.08194725 -0.22281609 -0.45193246
+v -0.07634312 -0.20884295 -0.46955005
+v -0.04910562 0.23633356 -0.44606486
+v -0.09158550 0.22937863 -0.43995953
+v -0.22245976 0.05720325 -0.46801965
+v -0.12258405 -0.21283935 -0.44293367
+v -0.04996279 0.17942799 -0.49754340
+v -0.18059376 0.17228645 -0.44135538
+v -0.18394975 -0.07999397 -0.50000000
+v -0.10424715 -0.20286128 -0.46396772
+v -0.04580026 0.22206407 -0.46365448
+v -0.13400324 0.21169121 -0.43698555
+v -0.20892388 -0.09070738 -0.46936293
+v -0.17042484 0.11972430 -0.49059013
+v -0.07699475 -0.18016462 -0.49999993
+v -0.11892505 -0.16120282 -0.49700290
+v -0.04623371 0.19363212 -0.49561636
+v -0.06050979 0.22015601 -0.46196315
+v -0.21387259 0.10014008 -0.46004314
+v -0.19396125 0.05389642 -0.50000000
+v -0.14365335 0.14743606 -0.49143311
+v -0.11880780 -0.20645923 -0.45206702
+v -0.10223038 -0.17374718 -0.49436800
+v -0.10094337 0.17673026 -0.49217013
+v -0.20785252 0.05358418 -0.48493155
+v -0.18627937 0.09182412 -0.49232013
+v -0.17502817 0.16736548 -0.45041450
+v -0.10322904 0.20548048 -0.46159868
+v -0.13059210 0.17562481 -0.47590133
+v -0.07273357 0.18984906 -0.49145388
+v -0.13022700 0.20531103 -0.44611896
+v -0.08882811 0.22250346 -0.44912295
+v -0.05681518 0.20901027 -0.47550255
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 10 2 1
+f 10 1 6
+f 11 3 2
+f 12 8 6
+f 12 6 4
+f 13 6 8
+f 13 5 9
+f 15 2 10
+f 16 9 15
+f 16 13 9
+f 16 6 13
+f 17 11 2
+f 17 15 7
+f 17 2 15
+f 18 4 3
+f 18 3 11
+f 19 13 8
+f 19 5 13
+f 19 8 14
+f 20 5 19
+f 20 15 9
+f 20 7 15
+f 21 20 14
+f 22 10 6
+f 22 6 16
+f 23 16 15
+f 23 15 10
+f 23 22 16
+f 23 10 22
+f 24 17 7
+f 24 7 20
+f 24 20 21
+f 25 20 9
+f 25 9 5
+f 25 5 20
+f 26 20 19
+f 26 19 14
+f 26 14 20
+f 27 21 14
+f 27 14 8
+f 28 12 4
+f 29 24 21
+f 29 21 27
+f 29 27 8
+f 29 8 12
+f 30 17 24
+f 30 24 28
+f 31 28 24
+f 31 24 29
+f 31 29 12
+f 31 12 28
+f 32 30 28
+f 32 28 4
+f 32 4 18
+f 32 18 30
+f 33 30 18
+f 33 17 30
+f 33 18 11
+f 33 11 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84045bd4fc3ed61f915b911329c3f826f6e3aa60
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.12291013 -0.18309032 0.49999685
+v -0.13083250 -0.19647241 0.40728257
+v -0.12511655 0.08591217 0.40151514
+v -0.19125770 0.08828654 0.49698416
+v -0.23565300 -0.07617490 0.39542676
+v -0.12524733 0.08597610 0.47221237
+v -0.21758029 -0.11760120 0.39311716
+v -0.21626031 -0.06191019 0.49999030
+v -0.23418708 0.08070367 0.39459072
+v -0.16413684 -0.17903146 0.39629914
+v -0.20843831 0.08265976 0.49999096
+v -0.17030068 -0.14288571 0.49999389
+v -0.20024741 -0.10107600 0.49999164
+v -0.21505719 0.06677001 0.49999040
+v -0.15793672 -0.15638983 0.49999474
+v -0.13258334 -0.17736123 0.49999638
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 9 4 3
+f 9 7 5
+f 9 3 7
+f 10 2 1
+f 10 7 3
+f 10 3 2
+f 11 1 4
+f 11 4 9
+f 12 7 10
+f 13 8 5
+f 13 5 7
+f 13 7 12
+f 13 12 11
+f 14 9 5
+f 14 5 8
+f 14 11 9
+f 14 13 11
+f 14 8 13
+f 15 12 10
+f 15 11 12
+f 16 15 10
+f 16 10 1
+f 16 1 11
+f 16 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9a3778dac3595caaf6342b1870e02cdc39cfdb5a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/model.xml
@@ -0,0 +1,43 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29d3aef8c0c6b4cd68412e4065925968249728fb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.63137255 0.63137255 0.63137255
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 630.87552300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_3/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac5320dcf8126bb2ddaa2fdfa1ec3a8ebeab7a3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_3/visual/model_normalized_0.obj
@@ -0,0 +1,18181 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.05505823 0.05370742 0.47679934
+v 0.00131407 0.05508015 0.47722137
+v 0.00131407 0.05956046 0.47734771
+v -0.04171476 0.06883344 0.47732324
+v 0.05768651 0.05370686 0.47679941
+v 0.04434290 0.06883344 0.47732324
+v 0.03873233 0.06981576 0.47692884
+v 0.00131407 0.06218593 0.47691678
+v -0.03610419 0.06981576 0.47692891
+v 0.07074714 0.10062528 0.47628329
+v 0.06347546 0.09665226 0.47724997
+v 0.05685123 0.13324764 0.47611838
+v 0.05152736 0.12447115 0.47717656
+v 0.04608534 0.11559480 0.47700190
+v 0.05610709 0.09270525 0.47696537
+v 0.00131407 0.14412179 0.47606348
+v 0.00131414 0.13374413 0.47715223
+v -0.05422302 0.13324764 0.47611838
+v -0.04889915 0.12447115 0.47717663
+v -0.04345713 0.11559480 0.47700190
+v 0.00131414 0.12322463 0.47701403
+v -0.06811893 0.10062528 0.47628322
+v -0.06084725 0.09665226 0.47724997
+v -0.05347888 0.09270525 0.47696537
+v -0.04830653 -0.05442036 0.47622545
+v -0.02684348 -0.07005773 0.47632340
+v -0.01932240 -0.05853046 0.47743746
+v -0.03608540 -0.04538598 0.47735578
+v 0.00082950 -0.07013696 0.47642289
+v 0.00092346 -0.05838918 0.47750667
+v 0.00112427 -0.03919681 0.47779884
+v -0.01156622 -0.03998526 0.47778509
+v -0.02212463 -0.03485996 0.47731315
+v 0.05077376 -0.05442737 0.47622608
+v 0.06030161 -0.00782552 0.47632957
+v 0.04877392 -0.00538746 0.47738698
+v 0.03858572 -0.04541395 0.47735851
+v 0.04026141 0.03471657 0.47744945
+v 0.03325729 0.03055655 0.47691075
+v 0.03725030 -0.00285812 0.47695458
+v 0.02494159 -0.03490672 0.47731497
+v 0.00131407 0.04808451 0.47747021
+v -0.03763278 0.03472120 0.47744896
+v -0.03062635 0.03056370 0.47691012
+v 0.00131407 0.04169482 0.47689617
+v -0.05767305 -0.00782082 0.47632908
+v -0.04614410 -0.00536888 0.47738516
+v -0.03461122 -0.00282944 0.47695184
+v -0.00826602 -0.01479788 0.47737345
+v -0.01547782 -0.01784089 0.47656999
+v 0.00147611 -0.01260130 0.47734589
+v 0.00179324 0.01020734 0.47599855
+v -0.00751656 0.00665873 0.47604420
+v -0.01293817 -0.00200033 0.47560808
+v 0.02143091 -0.05854904 0.47743936
+v 0.01407888 -0.04001099 0.47778474
+v 0.02882585 -0.07006236 0.47632389
+v 0.01165491 -0.01480790 0.47736307
+v 0.01173344 0.00666833 0.47602639
+v 0.01952713 -0.01785526 0.47655443
+v 0.01754006 -0.00199514 0.47558894
+v -0.05505823 0.05370742 0.46628496
+v -0.04171469 0.06883344 0.46578707
+v 0.00131414 0.05956053 0.46576260
+v 0.00131414 0.05508022 0.46588881
+v -0.03610419 0.06981583 0.46622915
+v 0.00131407 0.06218600 0.46624121
+v 0.03873240 0.06981583 0.46622908
+v 0.04434297 0.06883351 0.46578707
+v 0.05768651 0.05370693 0.46628489
+v 0.06347546 0.09665233 0.46586034
+v 0.07074714 0.10062528 0.46676834
+v 0.05610709 0.09270532 0.46619262
+v 0.04608534 0.11559480 0.46615623
+v 0.05152736 0.12447115 0.46593375
+v 0.05685123 0.13324764 0.46693318
+v 0.00131407 0.13374406 0.46595822
+v 0.00131407 0.14412179 0.46698808
+v 0.00131414 0.12322463 0.46614403
+v -0.04345713 0.11559480 0.46615616
+v -0.04889915 0.12447115 0.46593375
+v -0.05422295 0.13324764 0.46693318
+v -0.06084725 0.09665233 0.46586048
+v -0.06811893 0.10062528 0.46676834
+v -0.05347888 0.09270532 0.46619262
+v -0.04830653 -0.05442036 0.46682625
+v -0.03608540 -0.04538598 0.46575454
+v -0.01932240 -0.05853046 0.46567285
+v -0.02684348 -0.07005773 0.46672823
+v -0.02212463 -0.03485996 0.46565946
+v -0.01156622 -0.03998526 0.46532536
+v 0.00112427 -0.03919681 0.46531155
+v 0.00092346 -0.05838918 0.46560379
+v 0.00082950 -0.07013696 0.46662860
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de62248bdf4ccb117e1697d147af9c3688f94059
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,4783 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e08f6f4dcbbb196dcf23c97009dbc6889161bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3fb8d5ec98fee1608b74aa89d383f2c9be07373
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f7a14be843eaec15e2151ff56d7a6edec25c1f6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/collision_mesh_collision_3.obj
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+f 164 165 170
+f 164 170 177
+f 164 177 171
+f 167 178 168
+f 168 178 179
+f 168 179 180
+f 168 180 169
+f 169 181 170
+f 170 181 177
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66225c955845d58d3cbaa9fb54c63e0abf4fc687
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.12833015 0.20837408 0.39697067
+v 0.13648166 0.19092719 -0.45357440
+v 0.05356134 0.26211179 -0.42001665
+v -0.05876454 0.25944066 0.35108690
+v -0.13284491 0.19704516 0.40839571
+v 0.05356134 0.26211179 0.33963342
+v 0.15870416 0.21649991 0.21969697
+v -0.06228053 0.22271537 0.42155542
+v -0.12877109 0.19100736 -0.45609273
+v -0.05976948 0.26235753 -0.42001665
+v 0.12690181 0.23574727 -0.42001665
+v 0.12422071 0.23024808 0.36234883
+v -0.11452293 0.22961179 0.37593243
+v 0.03779410 0.25894323 0.36234883
+v 0.00943187 0.20805091 -0.47686104
+v 0.10869174 0.24462522 -0.42001665
+v 0.10744846 0.24207526 0.35016651
+v -0.07362898 0.24345426 0.37638243
+v -0.11620006 0.21783108 0.39304308
+v -0.10407352 0.24386506 0.35096771
+v -0.11596442 0.23250167 -0.42984561
+v -0.03327174 0.25970909 0.36234883
+v 0.03772425 0.24343243 0.39189103
+v -0.08327439 0.19569419 -0.46896231
+v 0.01167821 0.23660757 -0.45201315
+v 0.06872516 0.24702147 -0.43182640
+v 0.12662150 0.22002120 -0.43414045
+v 0.08131704 0.24315983 0.37629770
+v -0.10506735 0.24675127 -0.42001665
+v -0.04833615 0.24332554 0.39198855
+v 0.09319523 0.22876771 0.39128375
+v -0.07441911 0.23059509 -0.44503497
+v 0.10995532 0.23206550 -0.43065112
+v 0.05296917 0.25906257 0.35116765
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 9 2 5
+f 10 6 3
+f 10 4 6
+f 11 7 2
+f 12 1 7
+f 16 3 6
+f 17 12 7
+f 17 16 6
+f 17 7 11
+f 17 11 16
+f 18 13 8
+f 18 4 13
+f 19 13 5
+f 19 5 8
+f 19 8 13
+f 20 13 4
+f 20 4 10
+f 21 9 5
+f 21 5 13
+f 21 13 20
+f 22 14 6
+f 22 6 4
+f 23 14 22
+f 24 15 2
+f 24 2 9
+f 24 9 21
+f 25 15 10
+f 25 10 3
+f 26 3 16
+f 26 25 3
+f 26 15 25
+f 26 2 15
+f 27 11 2
+f 28 12 17
+f 28 14 23
+f 28 1 12
+f 28 17 6
+f 29 21 20
+f 29 20 10
+f 29 10 21
+f 30 18 8
+f 30 23 22
+f 30 8 23
+f 30 22 4
+f 30 4 18
+f 31 23 8
+f 31 8 1
+f 31 28 23
+f 31 1 28
+f 32 24 21
+f 32 21 10
+f 32 10 15
+f 32 15 24
+f 33 26 16
+f 33 16 11
+f 33 11 27
+f 33 27 2
+f 33 2 26
+f 34 28 6
+f 34 6 14
+f 34 14 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471a054d623a64a65d64740925a3e863a721c0ae
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.18146953 -0.14868261 0.41448448
+v 0.26803132 -0.02308700 -0.42001665
+v 0.26504251 -0.02250618 0.35094180
+v 0.18630401 0.14144668 0.41633269
+v 0.15661416 0.04759992 -0.48687946
+v 0.24145572 0.12043407 -0.41666667
+v 0.24153799 0.04879386 0.39537932
+v 0.23705131 -0.12422080 -0.42001665
+v 0.25213851 0.08942489 -0.41666667
+v 0.18961721 0.14368433 -0.44970004
+v 0.24887859 -0.05261252 0.37602399
+v 0.23593498 0.11767982 0.36234883
+v 0.24931649 -0.09251050 0.35029819
+v 0.23011114 -0.03970233 -0.45374999
+v 0.18549503 -0.15218280 -0.44743339
+v 0.26795803 0.00306726 -0.42001665
+v 0.23056499 0.04697797 -0.45391366
+v 0.22103288 -0.10864655 0.39163308
+v 0.22094399 0.11370645 0.39074408
+v 0.24934853 0.08846392 0.35059066
+v 0.25189751 -0.09376892 -0.42001665
+v 0.25013060 -0.08315879 0.36234883
+v 0.23444960 -0.12295239 0.35038320
+v 0.15940373 -0.01038021 -0.48608186
+v 0.25320932 0.04855004 -0.43143898
+v 0.23516390 0.07364549 0.39156331
+v 0.26490858 0.00285352 0.35098719
+v 0.24914019 0.05808912 0.37577054
+v 0.25338909 -0.03833745 -0.43137323
+v 0.23001449 -0.09787392 -0.43771901
+v 0.23091210 -0.12861457 -0.42357562
+v 0.21083619 -0.12621372 0.39447680
+v 0.23797924 0.04845719 -0.44649323
+v 0.23363050 0.10342027 0.37557510
+v 0.23910312 -0.09491809 -0.43090973
+v 0.22186820 -0.12420532 0.37696098
+f 5 1 4
+f 7 4 1
+f 10 5 4
+f 10 4 6
+f 11 3 7
+f 12 6 4
+f 13 2 3
+f 16 3 2
+f 17 10 6
+f 17 16 2
+f 17 2 14
+f 17 5 10
+f 18 11 7
+f 18 7 1
+f 19 12 4
+f 19 4 7
+f 20 9 6
+f 20 6 12
+f 20 16 9
+f 21 13 8
+f 21 2 13
+f 22 13 3
+f 22 3 11
+f 22 11 18
+f 23 8 13
+f 23 1 15
+f 23 13 22
+f 24 15 1
+f 24 1 5
+f 24 14 15
+f 24 17 14
+f 24 5 17
+f 25 6 9
+f 25 9 16
+f 26 19 7
+f 27 3 16
+f 27 16 20
+f 27 7 3
+f 28 20 12
+f 28 27 20
+f 28 7 27
+f 28 26 7
+f 28 12 26
+f 29 21 14
+f 29 14 2
+f 29 2 21
+f 30 15 14
+f 31 23 15
+f 31 8 23
+f 31 30 8
+f 31 15 30
+f 32 18 1
+f 33 17 6
+f 33 6 25
+f 33 25 16
+f 33 16 17
+f 34 26 12
+f 34 12 19
+f 34 19 26
+f 35 30 14
+f 35 14 21
+f 35 21 8
+f 35 8 30
+f 36 32 1
+f 36 1 23
+f 36 23 22
+f 36 22 18
+f 36 18 32
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a4d681970721b263c3b30d29ae2c9387bad98e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.16174410 -0.19168785 0.38567235
+v 0.24149280 -0.08093108 0.37952847
+v 0.18850407 -0.10756059 0.49820837
+v 0.15870443 0.13304954 0.50000000
+v 0.18630401 0.14144668 0.41633269
+v 0.20363446 0.07322242 0.49865953
+v 0.15549700 -0.15641523 0.49036626
+v 0.21233740 -0.14049747 0.37972755
+v 0.21401580 0.11925453 0.39586184
+v 0.14613455 0.12456844 0.46538218
+v 0.20339946 -0.07713268 0.49808498
+v 0.15985072 -0.14504746 0.50000000
+v 0.17076359 -0.18681867 0.38166039
+v 0.16201639 -0.14891348 0.49036626
+v 0.24769633 0.04922557 0.38341260
+v 0.18106770 0.11746975 0.50000000
+v 0.14734206 0.07992864 0.48216878
+v 0.15483821 -0.18145274 0.40960564
+v 0.16636964 -0.13754578 0.50000000
+v 0.19292936 0.10009859 0.49972929
+v 0.23537887 -0.03778272 0.40719445
+v 0.22702453 0.09121235 0.39538914
+f 8 2 3
+f 9 1 5
+f 10 5 1
+f 10 4 5
+f 11 3 2
+f 13 8 7
+f 13 7 1
+f 13 1 9
+f 14 7 8
+f 14 12 7
+f 15 13 9
+f 15 2 8
+f 15 8 13
+f 15 6 11
+f 16 9 5
+f 16 5 4
+f 16 4 12
+f 17 4 10
+f 17 12 4
+f 17 7 12
+f 18 10 1
+f 18 1 7
+f 18 17 10
+f 18 7 17
+f 19 3 11
+f 19 16 12
+f 19 12 14
+f 19 14 8
+f 19 8 3
+f 20 6 15
+f 20 9 16
+f 20 16 19
+f 20 19 11
+f 20 11 6
+f 21 15 11
+f 21 11 2
+f 21 2 15
+f 22 20 15
+f 22 15 9
+f 22 9 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe38ec25dcb70071763ebb6b6a09e1c261d73f6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.05211719 -0.24087913 0.39467991
+v 0.15829116 -0.18657029 0.39763899
+v 0.06562415 -0.20579763 0.49964972
+v -0.12538521 -0.01098045 0.48216878
+v -0.12538521 -0.01098045 0.40151515
+v 0.16249358 -0.01098045 0.48216878
+v -0.11992946 -0.18160911 0.50000000
+v 0.09744906 -0.22536742 0.39448473
+v 0.16743529 -0.12133508 0.50000000
+v 0.16249358 -0.01098045 0.40151515
+v -0.07142533 -0.20565757 0.49917187
+v -0.12043859 -0.21295548 0.39569199
+v 0.10511093 -0.19027283 0.49834108
+v 0.08047762 -0.20493434 0.49036626
+v -0.13358994 -0.15678639 0.50000000
+v 0.12437864 -0.21152292 0.39430978
+v 0.01029619 -0.24366761 0.39647943
+v -0.10185324 -0.19076218 0.49929526
+v 0.14554761 -0.16292023 0.49785815
+v -0.09001831 -0.22786559 0.39555321
+f 6 5 4
+f 9 7 3
+f 9 6 4
+f 10 5 6
+f 10 9 2
+f 10 6 9
+f 11 3 7
+f 13 9 3
+f 14 3 1
+f 14 1 8
+f 14 13 3
+f 14 8 13
+f 15 9 4
+f 15 7 9
+f 15 12 7
+f 15 4 5
+f 15 5 12
+f 16 5 10
+f 16 12 5
+f 16 8 1
+f 16 1 12
+f 16 10 2
+f 16 13 8
+f 17 1 3
+f 17 3 11
+f 18 11 7
+f 18 7 12
+f 19 2 9
+f 19 9 13
+f 19 16 2
+f 19 13 16
+f 20 12 1
+f 20 1 17
+f 20 17 11
+f 20 18 12
+f 20 11 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815bb83b8120952a7323e1c5cb36960c3361eb5e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.20355387 -0.14404211 -0.43805631
+v -0.17847147 -0.12711911 -0.46360123
+v -0.21065831 0.12225710 -0.44436943
+v -0.22883447 0.11634577 -0.43075152
+v -0.17870743 -0.06907729 -0.50000000
+v -0.18046503 0.10753740 -0.47317521
+v -0.26025886 -0.06585309 -0.42001665
+v -0.17633122 0.07521822 -0.50000000
+v -0.22354458 -0.13708436 -0.42549685
+v -0.26055025 0.06160089 -0.42001665
+v -0.26055025 0.06160089 -0.41666667
+v -0.18283521 0.07100295 -0.49400134
+v -0.26025886 -0.06585309 -0.41666667
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 8 6 2
+f 8 2 5
+f 8 4 3
+f 8 3 6
+f 9 7 5
+f 9 5 1
+f 9 1 4
+f 10 4 8
+f 10 5 7
+f 11 9 4
+f 11 4 10
+f 11 10 7
+f 12 10 8
+f 12 8 5
+f 12 5 10
+f 13 11 7
+f 13 7 9
+f 13 9 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6dd0dd82158793e8c48be6532a0a70c89d8e2ed
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.12538521 0.11023167 0.48216878
+v -0.12106370 0.14928150 -0.50000000
+v -0.12062717 0.17893740 0.50000000
+v -0.11755790 0.23499496 0.36399248
+v -0.24020344 0.10711425 -0.42463670
+v -0.16148283 0.10566906 -0.50000000
+v -0.12013788 0.23881837 -0.42234680
+v -0.23172270 0.10297879 0.37782636
+v -0.21692073 0.15821550 -0.42001665
+v -0.13204481 0.11601908 -0.49142766
+v -0.11862184 0.20626846 -0.44991340
+v -0.18918203 0.10439988 0.50000000
+v -0.23245898 0.13364138 -0.42001665
+v -0.12914854 0.14579024 -0.49752017
+v -0.15815758 0.21264837 0.34995607
+v -0.16788011 0.12082663 0.50000000
+v -0.22696209 0.13096055 0.36234883
+v -0.15971200 0.21495268 -0.42001665
+v -0.13186459 0.23374337 -0.42001665
+v -0.15495884 0.15703771 0.49036626
+v -0.17372780 0.19811738 0.36234883
+v -0.21478967 0.15636367 0.35011939
+v -0.16127020 0.20211039 -0.42969845
+v -0.18356147 0.11681093 0.49910582
+v -0.12844357 0.22867282 0.36234883
+v -0.13103879 0.17191244 0.50000000
+v -0.18426314 0.18647249 0.36234883
+f 1 2 3
+f 3 2 4
+f 8 5 6
+f 10 6 2
+f 10 2 1
+f 10 1 6
+f 11 7 4
+f 11 4 2
+f 11 2 7
+f 12 8 6
+f 12 6 1
+f 13 9 6
+f 13 6 5
+f 14 2 6
+f 14 6 9
+f 16 12 1
+f 16 1 3
+f 16 3 12
+f 17 13 5
+f 17 5 8
+f 17 8 12
+f 19 15 4
+f 19 4 7
+f 19 18 15
+f 19 7 2
+f 19 2 18
+f 21 18 9
+f 21 15 18
+f 22 9 13
+f 22 13 17
+f 22 21 9
+f 23 14 9
+f 23 9 18
+f 23 18 2
+f 23 2 14
+f 24 20 22
+f 24 22 17
+f 24 17 12
+f 25 3 4
+f 25 4 15
+f 25 15 21
+f 26 21 20
+f 26 25 21
+f 26 3 25
+f 26 20 24
+f 26 24 12
+f 26 12 3
+f 27 22 20
+f 27 20 21
+f 27 21 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3be3dbb3544e6813f14cce9a3e922253ae28c9cf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.22996878 -0.06114578 0.40897613
+v -0.18599127 -0.01098045 0.34090909
+v -0.20423994 0.11912973 0.41198895
+v -0.22930685 0.13135067 0.35388451
+v -0.26439963 -0.05383432 0.33963342
+v -0.22923895 -0.01401246 0.42387956
+v -0.25533687 -0.06988616 0.35203240
+v -0.26055025 0.06160089 0.33963342
+v -0.25923312 -0.04004456 0.36234883
+v -0.23678187 0.12022062 0.34704626
+v -0.24220052 0.04582881 0.39124148
+v -0.24333105 -0.05009016 0.39146616
+v -0.26118711 -0.05317968 0.35170095
+v -0.26018106 0.03122676 0.36242525
+v -0.24602119 0.06172240 0.37809792
+v -0.25760773 0.06102926 0.35077133
+v -0.21520683 0.10970142 0.40089100
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 10 4 2
+f 10 2 8
+f 11 6 3
+f 12 1 6
+f 12 6 9
+f 12 7 1
+f 13 9 5
+f 13 5 7
+f 13 12 9
+f 13 7 12
+f 14 8 5
+f 14 5 9
+f 14 9 6
+f 14 6 11
+f 15 14 11
+f 15 4 10
+f 16 15 10
+f 16 10 8
+f 16 8 14
+f 16 14 15
+f 17 15 11
+f 17 11 3
+f 17 3 4
+f 17 4 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f08a8254d5e4c4bb7b775101bdd9080c5c809ea
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.13949346 0.19439388 0.40725920
+v 0.15870416 0.21649991 0.21969697
+v 0.00730940 0.26868374 0.21969697
+v -0.06375359 0.25729347 0.35259036
+v 0.01097842 0.18598925 0.21969697
+v 0.12833015 0.20837408 0.39697067
+v -0.04962764 0.18598925 0.34090909
+v -0.06228053 0.22271537 0.42155542
+v 0.13883830 0.22992788 0.21969697
+v -0.05490956 0.23162466 0.40988116
+f 5 2 1
+f 5 4 3
+f 6 3 4
+f 6 1 2
+f 7 5 1
+f 7 4 5
+f 8 1 6
+f 8 7 1
+f 8 4 7
+f 9 6 2
+f 9 3 6
+f 9 5 3
+f 9 2 5
+f 10 8 6
+f 10 6 4
+f 10 4 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f797d616eb823fb0c0743c9919cbbb879f255739
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.15585232 -0.21325804 0.35286364
+v 0.23091210 -0.12861457 -0.42357562
+v 0.22183082 -0.14822647 0.35020351
+v 0.21638528 -0.12891909 0.38251007
+v 0.16105322 -0.13094095 -0.47600092
+v 0.22741730 -0.12691069 0.36499425
+v 0.16760373 -0.19306800 0.37710185
+v 0.16825643 -0.20918641 -0.42001665
+v 0.22267572 -0.13975053 0.36234883
+v 0.18499887 -0.12541568 -0.46170276
+v 0.17730083 -0.19448444 0.36234883
+v 0.15619603 -0.19861597 0.38055504
+v 0.22397900 -0.15009318 -0.42001665
+v 0.15689114 -0.21479810 -0.42170520
+v 0.18612938 -0.15273200 0.40251779
+v 0.19132139 -0.17835014 0.36234883
+v 0.16658470 -0.20670804 0.35073636
+v 0.16435821 -0.18125120 -0.44434868
+v 0.18270570 -0.13857423 -0.45712390
+v 0.15538566 -0.15631906 -0.46308386
+v 0.20761367 -0.14903836 0.37577958
+v 0.15537498 -0.18224792 -0.44927141
+v 0.21013464 -0.15122909 -0.42963020
+f 6 3 2
+f 9 6 4
+f 9 3 6
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 11 7 1
+f 12 1 7
+f 13 2 3
+f 13 3 8
+f 13 10 2
+f 14 8 1
+f 15 7 11
+f 15 12 7
+f 15 4 5
+f 15 5 12
+f 16 11 3
+f 16 3 9
+f 16 15 11
+f 17 8 3
+f 17 3 11
+f 17 11 1
+f 17 1 8
+f 18 13 8
+f 19 5 10
+f 19 10 13
+f 19 18 5
+f 20 12 5
+f 20 1 12
+f 21 9 4
+f 21 4 15
+f 21 16 9
+f 21 15 16
+f 22 18 8
+f 22 8 14
+f 22 14 1
+f 22 1 20
+f 22 20 5
+f 22 5 18
+f 23 19 13
+f 23 13 18
+f 23 18 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0907fa091fcefbcc44c056bc8644bec36e3a484
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.04717832 -0.25594558 0.36458457
+v -0.04797628 -0.26005302 -0.42307315
+v -0.04962764 -0.16249560 -0.41666667
+v -0.14418858 -0.18413364 0.41630326
+v -0.11871957 -0.23973423 -0.42001665
+v -0.04962764 -0.16249560 0.40151515
+v -0.04789601 -0.22933850 -0.45295226
+v -0.08692225 -0.25181908 0.35104572
+v -0.14682385 -0.18716583 -0.44966411
+v -0.04706386 -0.24020475 0.39457789
+v -0.08826845 -0.25458203 -0.42001665
+v -0.11604003 -0.23423645 0.36234883
+v -0.04920798 -0.22094122 -0.45880433
+v -0.07649687 -0.23572532 0.39222371
+v -0.09134941 -0.21544543 -0.45352213
+v -0.07659968 -0.25140618 0.36234883
+v -0.11572481 -0.21843837 0.39014291
+v -0.12209006 -0.21634302 -0.43937875
+v -0.07801569 -0.21917388 -0.45553618
+v -0.10086301 -0.23418413 0.37533245
+f 6 3 4
+f 8 2 1
+f 9 5 4
+f 9 4 3
+f 10 3 6
+f 10 7 3
+f 10 1 2
+f 10 2 7
+f 10 6 4
+f 11 7 2
+f 11 8 5
+f 11 2 8
+f 12 4 5
+f 12 5 8
+f 13 9 3
+f 13 3 7
+f 14 1 10
+f 14 10 4
+f 16 8 1
+f 16 1 14
+f 16 12 8
+f 17 14 4
+f 17 4 12
+f 18 5 9
+f 18 9 15
+f 18 15 11
+f 18 11 5
+f 19 15 9
+f 19 9 13
+f 19 13 7
+f 19 7 11
+f 19 11 15
+f 20 16 14
+f 20 12 16
+f 20 17 12
+f 20 14 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98c303155ea3976c8a0c9709dc7e1f6cbc463910
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.12515238 -0.20747258 0.40124106
+v -0.11974165 -0.19637443 0.42517457
+v -0.21179150 -0.04966340 0.49856879
+v -0.17452882 0.11203035 0.50000000
+v -0.12538521 0.11023167 0.40151515
+v -0.11992946 -0.18160911 0.50000000
+v -0.23519175 -0.06765735 0.39529212
+v -0.18918203 0.10439988 0.50000000
+v -0.12538521 0.11023167 0.48216878
+v -0.14641927 -0.19728384 0.39422546
+v -0.23410103 0.07750153 0.39494769
+v -0.16918629 -0.13600684 0.49880119
+v -0.21148858 0.04574950 0.49877432
+v -0.20286140 -0.13828123 0.39315567
+v -0.22069028 0.10498727 0.39534203
+v -0.12662187 -0.17678603 0.49838963
+v -0.22870020 0.03099727 0.42241283
+v -0.19845687 0.08638304 0.49898237
+v -0.19625665 -0.09498610 0.49839438
+v -0.22076372 -0.11010872 0.39493131
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 8 6 4
+f 8 3 6
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 5 1
+f 10 1 6
+f 12 6 3
+f 13 7 3
+f 13 3 8
+f 14 7 11
+f 14 10 12
+f 15 5 10
+f 15 14 11
+f 15 10 14
+f 15 4 5
+f 15 8 4
+f 16 12 10
+f 16 10 6
+f 16 6 12
+f 17 13 11
+f 17 11 7
+f 17 7 13
+f 18 13 8
+f 18 11 13
+f 18 15 11
+f 18 8 15
+f 19 14 12
+f 19 12 3
+f 20 19 3
+f 20 3 7
+f 20 7 14
+f 20 14 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0658f91a2df94c7662ec22e9fe477f4bd991fc6e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00545280 -0.26544941 0.35113264
+v 0.00992288 -0.19289271 -0.49751762
+v 0.01097842 -0.16249560 0.40151515
+v -0.04962764 -0.16249560 0.40151515
+v -0.04653208 -0.25261654 -0.43057669
+v -0.05122081 -0.17069829 -0.49228200
+v 0.01078933 -0.22040445 0.44634417
+v 0.00999633 -0.25454415 -0.43278947
+v -0.04600123 -0.24988520 0.37655104
+v 0.01166133 -0.17223169 -0.48971075
+v -0.04603776 -0.18947051 -0.49502914
+v -0.03355175 -0.21834247 0.44584789
+v -0.00523633 -0.26853791 -0.42001665
+v 0.00989334 -0.25306954 0.37835441
+v -0.04918911 -0.22084390 0.43063162
+v -0.01623956 -0.26617204 0.35125639
+v -0.03112817 -0.26646843 -0.42001665
+v -0.03112817 -0.26646843 0.33963342
+f 6 4 3
+f 10 6 3
+f 10 2 6
+f 10 8 2
+f 10 3 7
+f 10 7 8
+f 11 6 2
+f 11 5 6
+f 12 7 3
+f 12 3 4
+f 13 2 8
+f 14 8 7
+f 14 13 8
+f 14 1 13
+f 15 6 5
+f 15 5 9
+f 15 4 6
+f 15 12 4
+f 15 9 12
+f 16 12 9
+f 16 7 12
+f 16 14 7
+f 16 1 14
+f 16 13 1
+f 17 11 2
+f 17 2 13
+f 17 5 11
+f 18 17 13
+f 18 13 16
+f 18 16 9
+f 18 9 5
+f 18 5 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c677ed9e568b9504fe19f7c4d912045222ae9e49
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01406817 -0.26718487 -0.35606061
+v 0.16486949 -0.21147158 -0.41666667
+v 0.16486949 -0.21147158 -0.35606061
+v 0.10188752 0.12538319 -0.35606061
+v 0.01097842 -0.01098045 -0.41666667
+v 0.18961721 0.14368433 -0.44970004
+v 0.10950702 -0.24521761 -0.35606061
+v 0.01262513 -0.24660453 -0.44045266
+v 0.01097842 -0.01098045 -0.35606061
+v 0.16249358 0.12538319 -0.35606061
+v 0.10188752 0.12538319 -0.41666667
+v 0.10620662 -0.23563805 -0.43005291
+f 6 3 2
+f 7 2 3
+f 8 5 6
+f 9 1 4
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 10 4 1
+f 10 1 7
+f 11 6 5
+f 11 5 4
+f 11 4 6
+f 12 7 1
+f 12 1 8
+f 12 2 7
+f 12 8 6
+f 12 6 2
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0415955387038c76683dc6115a5b0035bd84136a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.18106770 0.11746975 0.50000000
+v 0.20708761 0.12480262 0.40097961
+v 0.08034220 0.23348183 0.39398922
+v -0.07530334 0.23316308 0.39418596
+v -0.12138217 0.12190418 0.48216878
+v 0.19599123 0.14761960 0.39407422
+v -0.04348157 0.21355302 0.49937854
+v 0.19685189 0.11789722 0.42491286
+v -0.16372229 0.15869796 0.42771705
+v -0.11620006 0.21783108 0.39304308
+v 0.12061175 0.18228417 0.49791670
+v -0.12918062 0.16131142 0.50000000
+v 0.13764738 0.20513506 0.39388989
+v -0.08878811 0.19802338 0.49920483
+v 0.17471460 0.12833487 0.49812892
+v 0.03766131 0.21280447 0.49934764
+v -0.11391853 0.18414610 0.49869452
+v 0.09209435 0.19620199 0.49788469
+f 6 1 2
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 2 5
+f 10 4 3
+f 10 6 2
+f 10 2 9
+f 12 5 1
+f 12 9 5
+f 13 10 3
+f 13 6 10
+f 13 11 6
+f 13 3 11
+f 14 7 4
+f 14 4 10
+f 14 12 7
+f 15 11 1
+f 15 1 6
+f 15 6 11
+f 16 1 11
+f 16 12 1
+f 16 7 12
+f 16 3 7
+f 17 10 9
+f 17 9 12
+f 17 14 10
+f 17 12 14
+f 18 16 11
+f 18 11 3
+f 18 3 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..038c233a4a43ed3a7b6d71d8783811d8d60e1279
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01146583 -0.00580840 0.47864335
+v 0.01097842 -0.01098045 0.26515152
+v 0.01097842 0.12538319 0.26515152
+v -0.12138217 0.12190418 0.48216878
+v -0.12538521 -0.01098045 0.48216878
+v 0.01097842 0.12538319 0.48216878
+v -0.12538521 0.12538319 0.26515152
+v -0.12538521 -0.01098045 0.26515152
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 5 4
+f 7 6 3
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dc7946f596612c9defa12b54d931e8c64dbe445
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.16249358 -0.01098045 0.48216878
+v 0.16249358 -0.01098045 -0.23484848
+v 0.17204797 0.13182972 0.46478864
+v 0.01097842 0.12538319 0.48216878
+v 0.01097842 -0.01098045 -0.23484848
+v 0.15456724 0.13025825 0.48860642
+v 0.01097842 -0.01098045 0.46654100
+v 0.01097842 0.12538319 -0.23484848
+v 0.01146583 -0.00580840 0.47864335
+v 0.16249358 0.12538319 -0.23484848
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 6 4
+f 9 1 6
+f 9 7 1
+f 9 4 7
+f 10 8 3
+f 10 3 2
+f 10 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4647774f005560d09a93e521c752bf535d09ef
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.15603847 -0.16746692 0.42562274
+v -0.12889839 -0.13623506 -0.49777175
+v -0.12538521 0.11023167 0.40151515
+v -0.20423994 0.11912973 0.41198895
+v -0.17847147 -0.12711911 -0.46360123
+v -0.13204481 0.11601908 -0.49142766
+v -0.19455395 -0.13796931 0.40684353
+v -0.16789504 0.10140762 -0.49415556
+v -0.17178197 -0.09230153 -0.49615256
+v -0.15411045 -0.12090413 -0.49412666
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 9 8 2
+f 9 5 8
+f 10 9 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23affad3c5d26b5198d7939c5e935491a21bd45c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01097842 -0.16249560 0.26515152
+v 0.01097842 -0.16249560 -0.23484848
+v 0.01097842 0.12538319 0.26515152
+v -0.12538521 0.12538319 0.26515152
+v -0.12538521 -0.16249560 -0.23484848
+v -0.12538521 0.12538319 -0.23484848
+v -0.12538521 -0.16249560 0.26515152
+v 0.01097842 0.12538319 -0.23484848
+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/can/can_4/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7d525d375b238515e7fd34d040cc3d244b69a7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17554469 -0.15868546 0.41043508
+v 0.19888608 -0.17896898 -0.23484848
+v 0.16249358 -0.01098045 0.40151515
+v 0.01097842 -0.01098045 0.40151515
+v 0.01097842 -0.14734409 -0.23484848
+v 0.01097842 -0.14734409 0.40151515
+v 0.16249358 -0.01098045 -0.23484848
+v 0.01097842 -0.01098045 -0.23484848
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 4 3
+f 8 5 4
+f 8 4 7
+f 8 7 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b061a8db5d9b5d93ee712f1ca78959e30d181a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16319245 0.16106202 0.42589942
+v 0.15870416 0.21649991 -0.35606061
+v 0.13949346 0.19439388 0.40725920
+v -0.13284491 0.19704516 0.40839571
+v -0.12538521 0.12538319 -0.35606061
+v -0.14955406 0.22180699 -0.35606061
+v 0.13219054 0.12538319 -0.35606061
+v -0.16372229 0.15869796 0.42771705
+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/can/can_4/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf1dfa0bf06955805f48ef66d23b22a2f7a97a5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01097842 -0.16249560 -0.23484848
+v 0.01097842 -0.16249560 -0.41666667
+v 0.01097842 -0.01098045 -0.23484848
+v -0.12538521 -0.01098045 -0.23484848
+v -0.14682385 -0.18716583 -0.44966411
+v -0.12538521 -0.16249560 -0.23484848
+v 0.01097842 -0.01098045 -0.41666667
+v -0.12538521 -0.01098045 -0.41666667
+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/can/can_4/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d9c7f762a7d983faa90a2e0de98e10080bdd66
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19888608 -0.17896898 -0.23484848
+v 0.19888608 -0.17896898 -0.35606061
+v 0.16249358 0.12538319 -0.23484848
+v 0.01097842 0.12538319 -0.23484848
+v 0.01097842 -0.14734409 -0.35606061
+v 0.01097842 -0.14734409 -0.23484848
+v 0.16249358 0.12538319 -0.35606061
+v 0.01097842 0.12538319 -0.35606061
+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 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/can/can_4/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..403121afa715b03f260416b4d733d07bb41d3a85
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10188752 -0.01098045 -0.35606061
+v 0.10187647 -0.01097830 -0.48618345
+v 0.10247356 0.12605754 -0.48669069
+v 0.01097842 0.12538319 -0.35606061
+v 0.01097842 -0.01098045 -0.35606061
+v 0.01097626 0.12537207 -0.48614188
+v 0.10188752 0.12538319 -0.35606061
+v 0.01097014 -0.01097326 -0.48633960
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 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/can/can_4/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5955d96cf151ec03295d08217c01dde32d934776
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.19455395 -0.13796931 0.40684353
+v -0.20355387 -0.14404211 -0.43805631
+v -0.20840701 0.10638653 -0.45326324
+v -0.22930685 0.13135067 0.35388451
+v -0.26118711 -0.05317968 0.35170095
+v -0.21520683 0.10970142 0.40089100
+v -0.23250083 -0.12268200 0.36243967
+v -0.26025886 -0.06585309 -0.41666667
+v -0.21065831 0.12225710 -0.44436943
+v -0.22923895 -0.01401246 0.42387956
+v -0.21297730 -0.08559527 -0.45683368
+v -0.24190853 -0.11020617 0.35040989
+v -0.26055025 0.06160089 -0.41666667
+v -0.22782153 -0.09542089 0.39127036
+v -0.24378148 0.07643890 0.37692084
+v -0.20818528 -0.11156921 -0.45224583
+v -0.25748408 -0.06489711 0.35052887
+v -0.23725556 -0.12588965 -0.42044074
+v -0.24730596 0.10318988 -0.42001665
+v -0.23229658 0.06199909 -0.44741386
+v -0.21533761 -0.12132475 0.39149079
+v -0.24179729 -0.07986482 0.37547781
+v -0.23088763 0.08742051 0.39249837
+v -0.26055025 0.06160089 0.33963342
+v -0.24465258 -0.11115096 -0.42001665
+v -0.24765368 0.06203903 -0.43247378
+v -0.23089194 0.07687774 -0.44596928
+v -0.23172270 0.10297879 0.37782636
+v -0.24457552 0.10185795 0.35091801
+v -0.21784990 -0.10865764 -0.44592315
+v -0.24624904 0.07691768 -0.43102920
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 10 1 6
+f 12 7 5
+f 13 8 5
+f 14 1 10
+f 16 11 3
+f 16 3 2
+f 17 12 5
+f 17 5 8
+f 17 8 12
+f 18 2 7
+f 18 7 12
+f 18 16 2
+f 19 4 9
+f 19 9 3
+f 20 11 8
+f 20 3 11
+f 21 14 7
+f 21 7 1
+f 21 1 14
+f 22 14 10
+f 22 10 5
+f 22 5 7
+f 22 7 14
+f 23 15 10
+f 23 10 6
+f 24 5 10
+f 24 10 15
+f 24 13 5
+f 24 19 13
+f 25 18 12
+f 25 12 8
+f 25 8 11
+f 26 20 8
+f 26 8 13
+f 27 19 3
+f 27 3 20
+f 28 23 6
+f 28 6 4
+f 28 15 23
+f 29 24 15
+f 29 4 19
+f 29 19 24
+f 29 28 4
+f 29 15 28
+f 30 25 11
+f 30 11 16
+f 30 16 18
+f 30 18 25
+f 31 26 13
+f 31 13 19
+f 31 19 27
+f 31 27 20
+f 31 20 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dee7536f53d9a41bb183587c0e6efd470e06bb9a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01097842 -0.16249560 0.40151515
+v 0.01097842 -0.16249560 0.26515152
+v 0.01097842 -0.01098045 0.40151515
+v -0.12538521 -0.01098045 0.40151515
+v -0.14418858 -0.18413364 0.41630326
+v 0.01097842 -0.01098045 0.26515152
+v -0.12538521 -0.01098045 0.26515152
+v -0.12538521 -0.16249560 0.26515152
+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 4 6
+f 7 6 2
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..785bc19e136431ac75d99a8d2494574768b1cab6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01097842 -0.01098045 -0.23484848
+v 0.01097014 -0.01097326 -0.48633960
+v 0.01097842 0.12538319 -0.25000000
+v -0.12538521 0.12538319 -0.23484848
+v -0.12538521 -0.01098045 -0.23484848
+v -0.12550812 0.12549000 -0.49212621
+v 0.01097842 0.12538319 -0.23484848
+v 0.01097626 0.12537207 -0.48614188
+v -0.12537391 -0.01097966 -0.48614067
+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 6 3
+f 8 2 6
+f 8 1 2
+f 8 3 1
+f 9 6 2
+f 9 5 6
+f 9 2 1
+f 9 1 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47a19f631db77e8e4088faa273a2a191a67a0edb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.11843018 -0.22398745 0.37817616
+v -0.11698840 -0.15283367 -0.49904412
+v -0.15603847 -0.16746692 0.42562274
+v -0.22045522 -0.12477748 0.37952403
+v -0.20205977 -0.17882004 -0.42001665
+v -0.12889839 -0.13623506 -0.49777175
+v -0.19997347 -0.17697333 0.34989353
+v -0.12043859 -0.21295548 0.39569199
+v -0.11913400 -0.22543267 -0.43256905
+v -0.20840961 -0.12687296 0.39660839
+v -0.23725556 -0.12588965 -0.42044074
+v -0.14889258 -0.22502204 -0.42001665
+v -0.14548549 -0.21988078 0.36234883
+v -0.14616841 -0.12576887 -0.49992254
+v -0.18618178 -0.16476751 0.39124444
+v -0.23479903 -0.12423222 0.35222795
+v -0.23058561 -0.13654093 -0.42001665
+v -0.13329198 -0.20824169 0.39298662
+v -0.18640162 -0.17583530 0.37477040
+v -0.21375069 -0.15055712 0.36234883
+v -0.22098057 -0.12513078 -0.43422484
+v -0.22824912 -0.13496449 0.35010023
+f 8 1 2
+f 8 6 3
+f 8 2 6
+f 9 2 1
+f 10 3 6
+f 12 7 5
+f 12 9 1
+f 12 5 2
+f 12 2 9
+f 13 1 8
+f 13 12 1
+f 13 7 12
+f 14 10 6
+f 14 4 10
+f 14 6 2
+f 14 2 5
+f 15 3 10
+f 15 13 3
+f 15 10 4
+f 16 4 14
+f 17 5 7
+f 17 14 5
+f 17 11 14
+f 18 13 8
+f 18 8 3
+f 18 3 13
+f 19 15 7
+f 19 7 13
+f 19 13 15
+f 20 15 4
+f 20 7 15
+f 20 16 7
+f 20 4 16
+f 21 16 14
+f 21 14 11
+f 21 11 16
+f 22 16 11
+f 22 11 17
+f 22 17 7
+f 22 7 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeabc53369c7446d3c9426a548099787d13aefd5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.07997185 -0.24892479 0.36234883
+v 0.19888608 -0.17896898 -0.35606061
+v 0.17554469 -0.15868546 0.41043508
+v 0.01097842 -0.14734409 0.40151515
+v 0.00999633 -0.25454415 -0.43278947
+v 0.01097842 -0.14734409 -0.35606061
+v 0.01029619 -0.24366761 0.39647943
+v 0.15081974 -0.22095099 0.33963342
+v 0.00999040 -0.23930302 -0.44784966
+v 0.07988049 -0.23350812 0.39065751
+v 0.00989334 -0.25306954 0.37835441
+v 0.12297124 -0.23974046 -0.42001665
+v 0.12628738 -0.19920123 -0.45146607
+v 0.05109943 -0.25096526 0.37683974
+v 0.13578686 -0.20597464 0.39085711
+v 0.15081974 -0.22095099 -0.42001665
+v 0.04021972 -0.23825627 -0.44679099
+v 0.12128772 -0.23724525 0.35081125
+v 0.08196450 -0.25470671 -0.42001665
+v 0.01093461 -0.22247631 -0.46117639
+v 0.15613306 -0.19852301 -0.43548830
+v 0.15064774 -0.20554386 0.37543753
+v 0.10103861 -0.20548627 -0.45819435
+v 0.04022600 -0.25349740 -0.43173017
+v 0.15274285 -0.19349875 0.39252144
+v 0.12280832 -0.20919653 -0.44518642
+v 0.09649296 -0.22259524 -0.44540181
+v 0.09664962 -0.23820147 -0.43073583
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 2 3
+f 9 4 6
+f 10 3 7
+f 11 9 5
+f 11 7 4
+f 11 4 9
+f 14 10 7
+f 14 1 10
+f 14 7 11
+f 15 3 10
+f 16 2 8
+f 16 8 12
+f 17 5 9
+f 18 12 8
+f 18 15 10
+f 18 10 1
+f 19 1 14
+f 19 14 11
+f 19 11 5
+f 19 18 1
+f 19 12 18
+f 20 9 6
+f 20 17 9
+f 21 13 6
+f 21 6 2
+f 21 16 13
+f 21 2 16
+f 22 8 3
+f 22 18 8
+f 22 15 18
+f 23 17 20
+f 23 20 6
+f 23 6 13
+f 24 19 5
+f 24 5 17
+f 24 17 19
+f 25 22 3
+f 25 3 15
+f 25 15 22
+f 26 23 13
+f 26 12 23
+f 26 16 12
+f 26 13 16
+f 27 19 17
+f 27 17 23
+f 27 23 12
+f 28 27 12
+f 28 12 19
+f 28 19 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b02b6d0f9ab40c661fb1160144badf2513c55bcd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.10620662 -0.23563805 -0.43005291
+v 0.19153873 -0.10089986 -0.46536624
+v 0.10188752 -0.01098045 -0.41666667
+v -0.12538521 -0.01098045 -0.41666667
+v -0.11179416 -0.16200663 -0.49376748
+v 0.10187647 -0.01097830 -0.48618345
+v 0.16486949 -0.21147158 -0.41666667
+v 0.09011348 -0.17535138 -0.49354843
+v -0.12872994 -0.22996132 -0.42437178
+v 0.16389876 -0.05712019 -0.48956241
+v -0.12537391 -0.01097966 -0.48614067
+v 0.15613306 -0.19852301 -0.43548830
+v 0.00992288 -0.19289271 -0.49751762
+v 0.15049786 -0.12176756 -0.49698186
+v -0.13062265 -0.12306781 -0.49296018
+v 0.04998705 -0.18923874 -0.49438711
+v -0.07495658 -0.21289939 -0.46016835
+v 0.16825663 -0.07439669 -0.49583860
+v 0.13106681 -0.14809702 -0.49307435
+v -0.08641722 -0.17502378 -0.49439810
+f 6 4 3
+f 7 3 4
+f 7 2 3
+f 9 7 4
+f 9 1 7
+f 10 6 3
+f 10 3 2
+f 11 4 6
+f 12 7 1
+f 12 1 8
+f 14 8 13
+f 14 2 7
+f 14 7 12
+f 15 9 4
+f 15 4 11
+f 15 5 9
+f 15 13 5
+f 16 13 8
+f 16 8 1
+f 16 1 13
+f 17 13 1
+f 17 1 9
+f 18 10 2
+f 18 2 14
+f 18 6 10
+f 18 11 6
+f 18 15 11
+f 18 14 13
+f 18 13 15
+f 19 14 12
+f 19 12 8
+f 19 8 14
+f 20 17 9
+f 20 9 5
+f 20 5 13
+f 20 13 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328622c5d48ce17b59312613cdfb8befbf64e45a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.13219054 0.12538319 -0.35606061
+v 0.13580562 0.12954306 -0.49748756
+v 0.15870416 0.21649991 -0.35606061
+v -0.14955406 0.22180699 -0.35606061
+v -0.13032019 0.12967184 -0.49560950
+v 0.01114874 0.24416446 -0.44450956
+v -0.12538521 0.12538319 -0.35606061
+v 0.12957732 0.21093233 -0.44094969
+v -0.10790735 0.22469145 -0.43975961
+v -0.05917260 0.18486586 -0.49610242
+v 0.07012931 0.23910123 -0.43926292
+v -0.12285891 0.21254812 -0.44240975
+v -0.11557285 0.15629527 -0.49588426
+v -0.06064924 0.21945453 -0.45816138
+v 0.11291108 0.22297702 -0.43746027
+v 0.06376979 0.18510928 -0.49569128
+v -0.09883910 0.16910183 -0.49399902
+v 0.11890625 0.15555194 -0.49407818
+v 0.01167821 0.23660757 -0.45201315
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 9 4 6
+f 11 6 3
+f 12 5 4
+f 12 4 9
+f 13 10 2
+f 13 2 5
+f 13 5 12
+f 14 10 9
+f 14 9 6
+f 14 6 10
+f 15 11 3
+f 15 3 8
+f 16 2 10
+f 16 6 11
+f 16 15 8
+f 16 11 15
+f 17 13 12
+f 17 12 9
+f 17 9 10
+f 17 10 13
+f 18 16 8
+f 18 8 2
+f 18 2 16
+f 19 16 10
+f 19 10 6
+f 19 6 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff21a6644b9189eb3706c6aef9f573b7ef70511e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.22606176 0.11715929 0.37877760
+v 0.22703440 0.11781490 -0.43330903
+v 0.19436545 0.18551044 -0.42001665
+v 0.12545177 0.23277301 0.35191891
+v 0.13580562 0.12954306 -0.49748756
+v 0.19257851 0.18345410 0.34975193
+v 0.22410888 0.14614438 -0.42001665
+v 0.15192215 0.11824920 -0.49907782
+v 0.16319245 0.16106202 0.42589942
+v 0.12690181 0.23574727 -0.42001665
+v 0.22164600 0.14448267 0.35066647
+v 0.19546051 0.17298419 -0.42867039
+v 0.12833015 0.20837408 0.39697067
+v 0.19252238 0.17038290 0.37497097
+v 0.21401580 0.11925453 0.39586184
+v 0.12410061 0.14637739 -0.49935593
+v 0.13914362 0.22977903 -0.42001665
+v 0.14945164 0.21643448 0.36234883
+v 0.22051368 0.12856764 0.37532476
+v 0.19044316 0.15902817 0.39062159
+v 0.12632175 0.21940610 0.37945485
+v 0.14705754 0.13012032 -0.49516497
+v 0.12625750 0.20412309 -0.44845343
+v 0.13600566 0.20324686 -0.44467282
+v 0.13789038 0.22720842 0.35025154
+v 0.14765079 0.19921031 0.38984069
+v 0.13917514 0.21469232 0.37674947
+f 7 1 2
+f 7 3 6
+f 8 2 1
+f 8 7 2
+f 11 7 6
+f 11 1 7
+f 12 3 7
+f 12 7 8
+f 13 5 9
+f 14 11 6
+f 15 8 1
+f 15 9 5
+f 15 5 8
+f 16 4 10
+f 16 5 13
+f 16 8 5
+f 16 3 12
+f 17 6 3
+f 18 14 6
+f 18 9 14
+f 19 14 1
+f 19 1 11
+f 19 11 14
+f 20 14 9
+f 20 9 15
+f 20 15 1
+f 20 1 14
+f 21 16 13
+f 21 4 16
+f 22 16 12
+f 22 12 8
+f 22 8 16
+f 23 16 10
+f 23 10 17
+f 24 17 3
+f 24 3 16
+f 24 23 17
+f 24 16 23
+f 25 17 10
+f 25 10 4
+f 25 4 18
+f 25 18 6
+f 25 6 17
+f 26 13 9
+f 26 9 18
+f 27 18 4
+f 27 4 21
+f 27 21 13
+f 27 26 18
+f 27 13 26
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4de242bdb01ff499952df46cbd57a44ef54618af
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.18549503 -0.15218280 -0.44743339
+v 0.23414161 -0.13018905 -0.41666667
+v 0.10188752 -0.08673803 -0.41666667
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6e7d96216d7107d5f5590858be4a26a29c13dab7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/model.xml
@@ -0,0 +1,31 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_4/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/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/can/can_4/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ac5b638a95a91f82afec409cf5636ba40607c0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_4/visual/model_normalized_0.obj
@@ -0,0 +1,4559 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e5cfdf48b247ac1f6e62470c585fe431deca7e0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,811 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..170b4616b244581b12fef12ebf62613df9a4e364
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_1.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345da31dac5ec6c51e573a6bfb749042e04135d0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5311d89d2fca1e640b5a9a0559fc944e0fb922a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd687635b6bd496dd99e8b10b0148babd18c0105
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c3d279595fa81a8fa8f92befd128abc2d6f1a45
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,670 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dba76c98f7fdfdb7592b33f7a4140a51388a319
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
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+v 0.08436702 0.20078847 -0.47604316
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..913bb977481982b0a030fa70b0e5ceb676ad8f01
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1fe3c590f22c79a035fef420b5c85717c146271
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.10633798 -0.21116278 0.40115594
+v -0.09984456 -0.19842193 0.42131494
+v -0.23271001 -0.07363178 0.39417388
+v -0.19425522 0.10521847 0.42307681
+v -0.10656790 -0.12070483 0.40151514
+v -0.18271274 -0.05775971 0.49463917
+v -0.15730878 -0.18659726 0.39161873
+v -0.23260345 0.07462837 0.39409710
+v -0.16632173 0.09098206 0.49463917
+v -0.13248443 -0.20300709 0.39466254
+v -0.15521428 -0.11277838 0.49463917
+v -0.22285651 0.08890709 0.39759513
+v -0.22481370 -0.01177469 0.41880608
+v -0.18761181 -0.15629420 0.39161873
+v -0.18255595 0.05874944 0.49463917
+v -0.10140119 -0.11553811 0.49173323
+v -0.11277840 -0.15523936 0.49463917
+v -0.22470931 0.01277246 0.41873111
+v -0.10343087 -0.16000065 0.49463917
+f 5 2 1
+f 8 5 7
+f 9 5 4
+f 10 7 5
+f 10 5 1
+f 11 6 3
+f 11 9 6
+f 12 4 5
+f 12 5 8
+f 12 9 4
+f 12 8 9
+f 13 8 3
+f 13 3 6
+f 14 8 7
+f 14 3 8
+f 14 11 3
+f 15 9 8
+f 15 6 9
+f 15 13 6
+f 16 2 5
+f 16 5 9
+f 17 7 10
+f 17 9 11
+f 17 14 7
+f 17 11 14
+f 18 15 8
+f 18 8 13
+f 18 13 15
+f 19 17 10
+f 19 10 1
+f 19 1 2
+f 19 2 16
+f 19 16 9
+f 19 9 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51f4d74cace6da019a515bef18b3a502b84ac0e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.17746817 -0.14615055 0.41184195
+v -0.15869513 -0.11532017 -0.49506478
+v -0.16717398 0.03081032 -0.41666668
+v -0.21068296 0.03770200 0.43276300
+v -0.24139663 -0.05745269 -0.44696971
+v -0.21244152 -0.12804406 -0.45150179
+v -0.24139663 -0.05745269 0.38464142
+v -0.21831306 0.03410526 -0.47297858
+v -0.20384393 -0.05870463 -0.48145685
+v -0.16232924 -0.13100942 -0.48397753
+v -0.22515749 -0.09649470 0.38965808
+v -0.22781741 -0.09785531 -0.45150179
+v -0.16509612 -0.08934372 -0.50000000
+v -0.24221742 0.02829725 0.39092913
+v -0.17447491 -0.12800218 -0.47873684
+v -0.20009381 -0.12947050 -0.45992833
+v -0.24018442 -0.04211310 0.39067614
+v -0.20983436 -0.12671026 0.38954360
+v -0.20078429 -0.08436772 -0.47603525
+v -0.24592718 0.02888266 -0.44696971
+v -0.17342228 -0.08586813 -0.49526028
+f 1 2 3
+f 1 3 4
+f 8 4 3
+f 9 5 8
+f 10 2 1
+f 11 1 4
+f 12 7 5
+f 12 11 7
+f 12 5 9
+f 13 8 3
+f 13 3 2
+f 13 9 8
+f 15 2 10
+f 16 10 1
+f 16 1 6
+f 16 15 10
+f 16 2 15
+f 16 6 12
+f 17 11 4
+f 17 7 11
+f 17 14 7
+f 17 4 14
+f 18 6 1
+f 18 1 11
+f 18 12 6
+f 18 11 12
+f 19 12 9
+f 19 16 12
+f 19 13 2
+f 19 2 16
+f 20 14 4
+f 20 4 8
+f 20 8 5
+f 20 5 7
+f 20 7 14
+f 21 19 9
+f 21 9 13
+f 21 13 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4863f640f9f27eb425441bf5e69d3f7a8562e68f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01256169 -0.24391666 0.39206932
+v 0.01327400 -0.24840732 -0.41666668
+v 0.01188532 -0.13357106 -0.47250590
+v -0.12265107 -0.18255851 0.42663854
+v -0.09766044 -0.22443944 0.38986172
+v -0.10273789 -0.20409878 -0.46687906
+v 0.01464420 -0.15100787 0.40151514
+v -0.05810183 -0.23805586 0.39004351
+v -0.06093422 -0.21048345 -0.47586200
+v -0.10656790 -0.15100787 -0.41666668
+v -0.09907029 -0.22721195 -0.45150179
+v -0.05860728 -0.24123255 -0.41666668
+v -0.05907475 -0.22905223 -0.46121844
+v -0.07407893 -0.22812250 -0.46005822
+f 7 4 1
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 10 6 4
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 11 5 4
+f 11 4 6
+f 12 8 5
+f 12 5 11
+f 12 2 8
+f 13 9 2
+f 14 11 6
+f 14 6 9
+f 14 9 13
+f 14 12 11
+f 14 13 2
+f 14 2 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3dfd812ace8996a879909431a0c9f9e60163f63
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.05710439 -0.23815799 0.39013868
+v 0.13299739 -0.20600418 -0.45436008
+v 0.13161249 -0.20328698 0.39488487
+v 0.01723262 -0.22796067 0.41325564
+v 0.01327400 -0.24840732 -0.44696971
+v 0.05992983 -0.21054663 -0.47594088
+v 0.09681305 -0.22476753 0.39003968
+v 0.01256169 -0.24391666 0.39206932
+v 0.10180819 -0.20426539 -0.46710591
+v 0.01723630 -0.22797685 -0.46739199
+v 0.09827020 -0.22763266 -0.45150179
+v 0.07307693 -0.22818558 -0.46013793
+v 0.12845224 -0.21224382 -0.45150179
+v 0.05761870 -0.24139192 -0.44696971
+v 0.05807094 -0.22911614 -0.46129625
+v 0.12702876 -0.20944470 0.38992505
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 3 2
+f 10 4 6
+f 10 8 4
+f 10 5 8
+f 11 9 2
+f 12 10 6
+f 12 6 9
+f 12 9 11
+f 13 11 2
+f 13 2 3
+f 14 1 5
+f 14 12 11
+f 14 5 12
+f 14 11 7
+f 14 7 1
+f 15 12 5
+f 15 5 10
+f 15 10 12
+f 16 13 3
+f 16 3 7
+f 16 7 11
+f 16 11 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a54355e072f65fbc487c62ab248c647e7a388bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.02179691 0.21234575 0.43395716
+v 0.01301511 0.15690636 -0.47985040
+v 0.01311373 0.24842844 -0.45150179
+v -0.05844242 0.24123971 0.38464142
+v -0.11829457 0.19018307 0.41982940
+v 0.01245485 0.24425639 0.39158496
+v 0.01346514 0.19002751 -0.49827819
+v -0.04310824 0.24006749 0.39060528
+v -0.09865711 0.22740520 -0.45150179
+v -0.09735920 0.22486295 0.38942463
+v -0.05844242 0.24123971 -0.45150179
+v -0.11660615 0.18686863 -0.47421957
+v -0.01353874 0.19924963 -0.49087780
+v -0.01446920 0.18996410 -0.49820058
+v -0.08773015 0.19024392 -0.48241722
+v -0.05901260 0.22967452 -0.46072687
+v -0.08529720 0.20062158 -0.47581250
+v -0.04377923 0.21399594 -0.47522335
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 10 9 5
+f 10 5 4
+f 10 4 9
+f 11 9 4
+f 11 4 3
+f 12 2 5
+f 12 5 9
+f 13 11 3
+f 13 3 7
+f 14 7 2
+f 14 2 12
+f 14 13 7
+f 15 14 12
+f 16 9 11
+f 16 11 13
+f 16 13 14
+f 17 9 16
+f 17 15 12
+f 17 12 9
+f 17 14 15
+f 18 17 16
+f 18 16 14
+f 18 14 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75d13ecaab068b760e3b28cbb620f53df4c9ec65
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.09175255 -0.09175257 -0.47123024
+v 0.07943543 -0.07943546 -0.46572339
+v -0.11219404 0.14249357 -0.50000000
+v 0.02248576 0.24694273 -0.41666668
+v 0.10421433 0.22458649 -0.41666668
+v -0.10718340 -0.09101729 -0.47451970
+v 0.09203908 0.15523838 -0.50000000
+v -0.12930108 0.21179180 -0.41666668
+v -0.07045254 0.18607217 -0.49179704
+v 0.08343383 0.18380606 -0.48866159
+v -0.09486528 -0.07869919 -0.46901187
+v -0.09896573 0.15169917 -0.50000000
+v -0.11173980 0.20762512 -0.46100979
+v -0.10070813 0.17082878 -0.49166878
+f 5 2 1
+f 6 1 2
+f 7 5 1
+f 7 6 3
+f 7 1 6
+f 8 3 6
+f 8 5 4
+f 8 2 5
+f 10 4 5
+f 10 5 7
+f 10 9 4
+f 10 7 9
+f 11 8 6
+f 11 6 2
+f 11 2 8
+f 12 9 7
+f 12 7 3
+f 13 8 4
+f 13 4 9
+f 13 3 8
+f 14 12 3
+f 14 9 12
+f 14 13 9
+f 14 3 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c4bb584117f8eba273e7206d403fc555b06b644
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.07040950 -0.18696616 0.45456023
+v 0.08756041 -0.17573689 0.45768313
+v -0.10343087 -0.16000065 0.49463917
+v -0.06608287 0.17693209 0.46988965
+v 0.06521073 0.17721178 0.47010927
+v -0.10150557 -0.17138004 0.45421338
+v 0.06631038 -0.17891954 0.49463917
+v -0.06112205 0.16719101 0.49242246
+v -0.12171943 -0.01464423 0.49173323
+v 0.08446777 -0.16966650 0.49463917
+v -0.07128252 -0.18668644 0.45433776
+v 0.06031937 0.16760695 0.49237882
+v -0.13195145 -0.13094318 0.47238536
+v -0.10656790 0.12171941 0.48602169
+v -0.11047161 -0.13976006 0.49463917
+v 0.09540151 0.11156760 0.48602169
+v -0.06711483 -0.17849868 0.49463917
+v 0.09102209 -0.15222526 0.49463917
+v -0.12544638 -0.12443180 0.49193672
+v 0.09040179 0.10656790 0.49173323
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 10 7 1
+f 10 1 2
+f 10 3 7
+f 11 6 1
+f 11 1 7
+f 12 5 4
+f 12 4 8
+f 13 6 3
+f 13 4 6
+f 14 9 8
+f 14 8 4
+f 14 13 9
+f 14 4 13
+f 15 8 9
+f 15 12 8
+f 15 3 10
+f 16 2 5
+f 16 5 12
+f 17 11 7
+f 17 7 3
+f 17 3 6
+f 17 6 11
+f 18 15 10
+f 18 12 15
+f 18 10 2
+f 18 2 16
+f 19 13 3
+f 19 3 15
+f 19 15 9
+f 19 9 13
+f 20 18 16
+f 20 16 12
+f 20 12 18
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130768398d353c7779ebb83a7a4d2758e5aed9f7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.21834046 -0.11646219 -0.41666668
+v -0.16509612 -0.08934372 -0.50000000
+v -0.16468010 0.09014585 -0.50000000
+v -0.21793016 0.11726779 -0.41666668
+v -0.24592718 0.02888266 -0.45150179
+v -0.24139663 -0.05745269 -0.45150179
+v -0.22458225 -0.10420719 -0.41666668
+v -0.19930775 -0.01253774 -0.49095764
+v -0.19024324 0.08773106 -0.48241479
+v -0.18379827 -0.08343633 -0.48865443
+v -0.22417195 0.10501278 -0.41666668
+v -0.24592718 0.02888266 -0.44696971
+v -0.18607014 0.07045352 -0.49179195
+v -0.21406223 -0.04277021 -0.47529783
+v -0.24139663 -0.05745269 -0.44696971
+v -0.19924309 0.01353448 -0.49087698
+v -0.22973206 -0.05801145 -0.46080591
+v -0.21492014 0.02877670 -0.47637173
+f 1 2 3
+f 1 3 4
+f 7 6 1
+f 8 3 2
+f 8 6 5
+f 9 5 4
+f 9 4 3
+f 10 2 1
+f 10 1 6
+f 10 8 2
+f 11 4 5
+f 11 7 1
+f 11 1 4
+f 12 5 6
+f 12 11 5
+f 12 7 11
+f 13 5 9
+f 13 9 3
+f 14 8 10
+f 15 12 6
+f 15 6 7
+f 15 7 12
+f 16 8 5
+f 16 13 3
+f 16 3 8
+f 17 14 10
+f 17 10 6
+f 17 6 8
+f 17 8 14
+f 18 16 5
+f 18 5 13
+f 18 13 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cbbd8e8ad62b465bb3de6c7befb6028b182e7d4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.15100784 -0.01464423 0.40151514
+v 0.15100784 -0.01464423 0.00757577
+v 0.15929287 0.19062111 0.00757577
+v 0.01732451 0.18409695 0.47427571
+v 0.01464420 -0.01464423 0.40151514
+v 0.14615356 0.17747118 0.41184203
+v 0.15708953 0.10966745 0.46696197
+v 0.01464420 0.16717395 0.00757577
+v 0.11709685 0.16114379 0.45709584
+v 0.15100784 0.03081032 0.48602169
+v 0.01464420 -0.01464423 0.00757577
+v 0.01464420 0.03081032 0.47707863
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 4 3
+f 9 7 6
+f 9 6 4
+f 9 4 7
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 11 2 5
+f 11 5 8
+f 11 8 3
+f 11 3 2
+f 12 8 5
+f 12 4 8
+f 12 10 4
+f 12 5 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f10319a59efc996614d1c8c25a8d56f99e54f43
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.08446777 -0.16966650 0.49463917
+v 0.18692946 -0.10869551 0.43010133
+v 0.15222523 -0.09102209 0.49463917
+v 0.09040179 0.03081032 0.49173323
+v 0.09040179 0.03081032 0.40151514
+v 0.15045595 0.03072304 0.49173323
+v 0.14158461 -0.12643310 0.49463917
+v 0.09040179 -0.09040181 0.40151514
+v 0.15100784 0.03081032 0.40151514
+v 0.12627774 -0.15657489 0.45250886
+v 0.09649570 -0.16353704 0.49463917
+v 0.10063391 -0.17165846 0.45443551
+v 0.08756041 -0.17573689 0.45768313
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 1 5
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 8 5
+f 9 2 8
+f 10 2 7
+f 11 10 7
+f 11 7 1
+f 12 8 2
+f 12 2 10
+f 12 11 1
+f 12 10 11
+f 13 12 1
+f 13 1 8
+f 13 8 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..050ab02a96184c2c19ccb21d14f0331dbcaed49d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.19060505 -0.15929805 0.14393940
+v -0.11270114 -0.14198960 -0.50000000
+v -0.10656790 -0.13585636 0.14393940
+v -0.18252201 0.16737744 0.14393940
+v -0.16737050 0.18252208 -0.44696971
+v -0.15708858 -0.12576635 -0.48999198
+v -0.10407440 0.17743328 -0.48565535
+v -0.10314109 0.16045064 -0.49827328
+v -0.11417275 0.19724748 -0.46761452
+v -0.10656790 0.15202245 0.14393940
+v -0.15688384 0.12658080 -0.48963286
+v -0.15834708 0.17349453 -0.46188199
+v -0.14096055 0.17125850 -0.47313650
+v -0.12658098 0.15687928 -0.48963401
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 8 3 2
+f 9 5 4
+f 9 7 8
+f 10 4 3
+f 10 8 7
+f 10 3 8
+f 10 9 4
+f 10 7 9
+f 11 8 2
+f 11 2 6
+f 11 6 5
+f 12 5 9
+f 12 11 5
+f 13 12 9
+f 13 9 8
+f 14 13 8
+f 14 8 11
+f 14 11 12
+f 14 12 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13427ab6beae32e568c0dd6c09274dd0d2f95cd5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01327400 -0.24840732 -0.41666668
+v 0.09850753 -0.22751166 -0.41666668
+v -0.11133297 -0.22095959 -0.41666668
+v -0.09486528 -0.07869919 -0.46901187
+v 0.09245382 -0.15503449 -0.50000000
+v 0.07943543 -0.07943546 -0.46572339
+v 0.05761870 -0.24139192 -0.45150179
+v -0.11270114 -0.14198960 -0.50000000
+v 0.09175255 -0.09175257 -0.47123024
+v 0.08453057 -0.20009364 -0.47648573
+v 0.05761870 -0.24139192 -0.44696971
+v -0.05860728 -0.24123255 -0.45150179
+v -0.11026291 -0.09409682 -0.47589667
+v 0.09414349 -0.10929502 -0.47568621
+v -0.05860728 -0.24123255 -0.41666668
+v -0.10273789 -0.20409878 -0.46687906
+v 0.02760297 -0.19775999 -0.49028806
+v 0.05807094 -0.22911614 -0.46129625
+v 0.08360059 -0.18310632 -0.48910799
+v -0.09938360 -0.15149024 -0.50000000
+v -0.02860705 -0.19769952 -0.49020940
+v -0.10087810 -0.17013735 -0.49211879
+v -0.08453320 -0.18294529 -0.48887683
+v -0.05907475 -0.22905223 -0.46121844
+v -0.08546537 -0.19992738 -0.47625765
+f 6 3 2
+f 6 4 3
+f 8 4 6
+f 9 6 2
+f 9 8 6
+f 9 5 8
+f 10 5 2
+f 10 2 7
+f 11 7 2
+f 11 2 1
+f 11 1 7
+f 12 7 1
+f 13 8 3
+f 13 3 4
+f 13 4 8
+f 14 9 2
+f 14 2 5
+f 14 5 9
+f 15 12 1
+f 15 3 12
+f 15 1 2
+f 15 2 3
+f 16 12 3
+f 16 3 8
+f 17 7 12
+f 18 10 7
+f 18 7 17
+f 19 17 5
+f 19 5 10
+f 19 18 17
+f 19 10 18
+f 20 8 5
+f 21 20 5
+f 21 5 17
+f 21 17 12
+f 22 16 8
+f 22 8 20
+f 22 20 21
+f 23 22 21
+f 24 23 21
+f 24 21 12
+f 25 24 12
+f 25 12 16
+f 25 23 24
+f 25 16 22
+f 25 22 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c9626ed45a53a83dd07b6a9e26104a0b8d9402
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.10656790 0.15202245 0.14393940
+v -0.10117385 0.14142757 -0.48457156
+v -0.10478589 0.22428252 0.31060605
+v -0.10164145 0.18781142 -0.47905085
+v -0.18252201 0.16737744 0.14393940
+v -0.17484218 0.15969416 -0.46034014
+v -0.16737050 0.18252208 0.31060605
+v -0.11798585 0.17500033 -0.48228909
+v -0.12884358 0.21202493 -0.45150179
+v -0.10407440 0.17743328 -0.48565535
+v -0.10348972 0.22174010 -0.45384273
+v -0.15221899 0.19766675 -0.45150179
+v -0.13039798 0.19992743 -0.45970064
+v -0.14620113 0.17650149 -0.46712257
+v -0.15221899 0.19766675 0.31060605
+v -0.14319417 0.18864468 -0.46187958
+v -0.12884358 0.21202493 0.31060605
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 2 5
+f 7 5 1
+f 7 1 3
+f 8 2 6
+f 10 8 4
+f 10 4 2
+f 10 2 8
+f 11 9 3
+f 11 3 4
+f 12 6 5
+f 13 12 9
+f 13 9 11
+f 13 11 4
+f 13 4 8
+f 14 8 6
+f 15 7 3
+f 15 9 12
+f 15 12 5
+f 15 5 7
+f 16 13 8
+f 16 12 13
+f 16 8 14
+f 16 14 6
+f 16 6 12
+f 17 15 3
+f 17 3 9
+f 17 9 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ca2d6c823959cc791a909f3919e1601bb9ae019
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.21831276 0.10225995 0.39478719
+v 0.22109058 0.10367682 -0.45426887
+v 0.19718881 0.15274230 0.38464142
+v 0.13417205 0.20932278 0.38464142
+v 0.14199321 0.11270094 -0.50000000
+v 0.15172399 0.19818658 -0.45150179
+v 0.16631682 0.13702841 0.43206333
+v 0.20913430 0.12788514 0.38971760
+v 0.17014131 0.10087743 -0.49212017
+v 0.19718881 0.15274230 -0.45150179
+v 0.15172399 0.19818658 0.38464142
+v 0.12800421 0.17447336 -0.47873679
+v 0.15119439 0.16736048 0.41689734
+v 0.21184213 0.12927010 -0.45150179
+v 0.19935752 0.14481437 0.39135384
+v 0.12877657 0.14494268 -0.49523465
+v 0.13281217 0.20665533 -0.45395411
+v 0.16770951 0.11479005 -0.48875525
+v 0.19924389 0.13056895 -0.46015622
+v 0.17045793 0.14116451 -0.47349628
+f 7 5 1
+f 8 1 2
+f 9 2 1
+f 9 1 5
+f 10 6 3
+f 11 6 4
+f 11 3 6
+f 13 5 7
+f 13 11 4
+f 14 8 2
+f 14 3 8
+f 14 10 3
+f 15 7 1
+f 15 1 8
+f 15 8 3
+f 15 13 7
+f 15 3 11
+f 15 11 13
+f 16 4 12
+f 16 13 4
+f 16 5 13
+f 17 12 4
+f 17 4 6
+f 17 6 12
+f 18 9 5
+f 18 5 16
+f 19 18 10
+f 19 10 14
+f 19 14 2
+f 19 2 9
+f 19 9 18
+f 20 18 16
+f 20 10 18
+f 20 16 12
+f 20 12 6
+f 20 6 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18225bf38b8ce482d54f389c3e208c74430933b0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.10226013 -0.21831308 0.39478552
+v -0.10087810 -0.17013735 -0.49211879
+v -0.13702154 -0.16630995 0.43206521
+v -0.20375202 -0.13133240 0.39444986
+v -0.15272627 -0.19715970 -0.45150179
+v -0.11270114 -0.14198960 -0.50000000
+v -0.15272627 -0.19715970 0.38464142
+v -0.10367018 -0.22107959 -0.45425752
+v -0.20666309 -0.13281725 -0.45394554
+v -0.14494083 -0.12877472 -0.49523525
+v -0.12787600 -0.20911629 0.38974729
+v -0.19967339 -0.14440522 0.39120344
+v -0.13056001 -0.19923082 -0.46014652
+v -0.12925231 -0.21182312 -0.45150179
+v -0.11478439 -0.16770317 -0.48875588
+v -0.19819111 -0.15171545 -0.45150179
+v -0.17447491 -0.12800218 -0.47873684
+v -0.19819111 -0.15171545 0.38464142
+v -0.14115830 -0.17044675 -0.47349227
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 8 2 1
+f 10 4 6
+f 11 1 3
+f 11 3 7
+f 11 8 1
+f 12 7 3
+f 12 3 4
+f 14 7 5
+f 14 13 8
+f 14 5 13
+f 14 11 7
+f 14 8 11
+f 15 13 5
+f 15 2 8
+f 15 8 13
+f 15 10 6
+f 15 6 2
+f 16 5 7
+f 17 9 4
+f 17 4 10
+f 17 16 9
+f 18 12 4
+f 18 4 9
+f 18 9 16
+f 18 16 7
+f 18 7 12
+f 19 15 5
+f 19 10 15
+f 19 17 10
+f 19 5 16
+f 19 16 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6447e986f2da2dc220b21be48cd9ad1b1922aecd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01786290 0.04256818 0.49646549
+v 0.01464420 0.03081032 0.40151514
+v 0.02179691 0.21234575 0.43395716
+v -0.03770175 0.21068128 0.43276332
+v -0.03519928 0.03463965 0.49537954
+v -0.03081034 0.16717395 0.48602169
+v -0.03081034 0.03081032 0.40151514
+v 0.01464420 0.16717395 0.48602169
+v 0.01032113 0.06167241 0.49770337
+v -0.04215737 0.08020389 0.49173323
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 3 4
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 8 3 6
+f 9 5 1
+f 9 8 6
+f 9 1 8
+f 10 6 4
+f 10 9 6
+f 10 5 9
+f 10 7 5
+f 10 4 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac02ababeaf66adcd596bde5a49114ea3f8e46b5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.22663862 0.03302946 0.41157712
+v -0.20563366 0.02970022 -0.48369794
+v -0.21570618 0.09298492 0.40396556
+v -0.20470656 0.04470909 -0.48253556
+v -0.24592718 0.02888266 -0.45150179
+v -0.24221742 0.02829725 0.39092913
+v -0.23353461 0.08663028 -0.45150179
+v -0.21492014 0.02877670 -0.47637173
+v -0.23000684 0.08482923 0.39122471
+v -0.20722633 0.08866422 -0.46979764
+v -0.24123969 0.05844237 -0.45150179
+v -0.24123969 0.05844237 0.38464142
+v -0.21760455 0.08623242 -0.46319274
+v -0.22967276 0.05901663 -0.46072226
+v -0.24004960 0.04310539 0.39063453
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 8 6 5
+f 8 2 6
+f 9 1 3
+f 9 3 7
+f 10 7 3
+f 10 3 4
+f 12 1 9
+f 12 9 7
+f 12 7 11
+f 12 11 5
+f 12 5 6
+f 13 10 4
+f 13 4 7
+f 13 7 10
+f 14 11 7
+f 14 7 4
+f 14 5 11
+f 14 8 5
+f 14 4 2
+f 14 2 8
+f 15 12 6
+f 15 6 1
+f 15 1 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f0bb9a992ccc2dd8be81a65522f86889e904806
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15100784 -0.01464423 0.00757577
+v 0.15100784 -0.01464423 -0.35606062
+v 0.15100784 0.10656790 0.00757577
+v -0.10656790 0.10656790 0.00757577
+v -0.10656790 -0.01464423 -0.35606062
+v -0.10656790 0.10656790 -0.35606062
+v -0.10656790 -0.01464423 0.00757577
+v 0.15100784 0.10656790 -0.35606062
+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/can/can_6/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..396496218703da69f7c51c64b0c02437e2da622f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01464420 -0.01464423 0.26515151
+v 0.01464420 -0.01464423 0.00757577
+v 0.01464420 0.16717395 0.26515151
+v -0.12930108 0.21179180 0.26515151
+v -0.10656790 -0.01464423 0.00757577
+v -0.12930108 0.21179180 0.00757577
+v -0.10656790 -0.01464423 0.26515151
+v 0.01464420 0.16717395 0.00757577
+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/can/can_6/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b3bfd076f9602ac2c4f4f86925568664aebf84c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13585633 0.10656790 0.00757577
+v 0.15929287 0.19062111 -0.41666668
+v 0.15929287 0.19062111 0.00757577
+v -0.12930108 0.21179180 0.00757577
+v -0.09412585 0.09413357 -0.47229923
+v 0.13585633 0.10656790 -0.41666668
+v -0.10656790 0.10656790 0.00757577
+v -0.12930108 0.21179180 -0.41666668
+f 1 3 4
+f 6 5 2
+f 6 1 5
+f 6 2 3
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 8 3 2
+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/can/can_6/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23f81f78c5994f06ba0522587be84585da9b694d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17495511 -0.17496596 -0.35606062
+v 0.17495511 -0.17496596 -0.41666668
+v 0.15100784 0.10656790 -0.41666668
+v -0.10656790 0.10656790 -0.35606062
+v -0.10656790 -0.15100787 -0.41666668
+v 0.15100784 0.10656790 -0.35606062
+v -0.10656790 -0.15100787 -0.35606062
+v -0.09412585 0.09413357 -0.47229923
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..655e098d88aa2b45e86f0b926e560699f45c8176
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.07373857 -0.23237007 0.39465843
+v 0.18692946 -0.10869551 0.43010133
+v -0.09742749 -0.17853150 0.44784303
+v -0.06439645 0.21820411 0.41640194
+v 0.09040179 0.03081032 0.40151514
+v 0.09040179 0.03081032 0.49173323
+v -0.10226013 -0.21831308 0.39478552
+v 0.06633112 -0.19411706 0.44819011
+v 0.14652850 -0.19198307 0.39702290
+v -0.10123034 0.17185255 0.45378522
+v -0.03770175 0.21068128 0.43276332
+v 0.13161249 -0.20328698 0.39488487
+v -0.11013733 0.20448062 0.40708976
+v -0.01287936 -0.22436940 0.41921566
+v -0.06720469 -0.19383677 0.44796733
+v 0.16144660 -0.09571793 0.47042829
+v -0.03322826 0.18243388 0.47308076
+v -0.07473529 -0.23226351 0.39458165
+v 0.12123806 -0.16668361 0.44745139
+v 0.07262033 -0.22530797 0.40473782
+v -0.05992204 0.18995581 0.45671931
+v 0.01188156 -0.22447381 0.41929064
+v 0.13639267 -0.15153521 0.44745452
+v -0.07318903 -0.22529259 0.40462835
+v 0.08181973 -0.20992988 0.41841359
+v -0.08408264 0.18307645 0.45065698
+f 6 2 5
+f 9 5 2
+f 11 6 5
+f 11 5 4
+f 12 7 5
+f 12 5 9
+f 13 4 5
+f 13 5 7
+f 13 7 3
+f 13 3 10
+f 15 6 3
+f 15 3 7
+f 16 2 6
+f 16 15 8
+f 16 6 15
+f 17 10 3
+f 17 3 6
+f 17 6 11
+f 17 11 4
+f 18 12 1
+f 18 7 12
+f 19 12 9
+f 19 8 12
+f 19 16 8
+f 20 1 12
+f 21 4 13
+f 21 17 4
+f 21 10 17
+f 22 15 14
+f 22 8 15
+f 22 20 8
+f 22 1 20
+f 22 18 1
+f 22 14 18
+f 23 9 2
+f 23 2 16
+f 23 19 9
+f 23 16 19
+f 24 15 7
+f 24 7 18
+f 24 18 14
+f 24 14 15
+f 25 20 12
+f 25 12 8
+f 25 8 20
+f 26 21 13
+f 26 13 10
+f 26 10 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4fbba2d761077dfa87ab45969b6efd3a977c7ad
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01464420 -0.15100787 0.26515151
+v 0.01464420 -0.15100787 -0.35606062
+v 0.01464420 -0.01464423 0.26515151
+v -0.10656790 -0.01464423 0.26515151
+v -0.10656790 -0.15100787 -0.35606062
+v -0.10656790 -0.01464423 -0.35606062
+v -0.10656790 -0.15100787 0.26515151
+v 0.01464420 -0.01464423 -0.35606062
+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/can/can_6/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02984362e505e5a897660c5077fa9f03898d7ea0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.12265107 -0.18255851 0.42663854
+v 0.01464420 -0.15100787 0.26515151
+v 0.02179691 0.21234575 0.43395716
+v -0.11829457 0.19018307 0.41982940
+v -0.12930108 0.21179180 0.26515151
+v 0.01464420 -0.15100787 0.40151514
+v -0.10656790 -0.15100787 0.26515151
+v 0.01464420 0.16717395 0.26515151
+f 1 3 4
+f 5 1 4
+f 5 4 3
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 3 2
+f 8 2 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a3634580e00ffb9b5edb387614ed2fed9c8389b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.10656790 0.09141637 0.49173323
+v 0.09127323 0.19861289 0.42654631
+v -0.05874786 0.18255224 0.49463917
+v -0.07462892 0.23260327 0.39409712
+v -0.10656790 0.09141637 0.40151514
+v 0.07363140 0.23271009 0.39417388
+v -0.20347266 0.13220459 0.39422541
+v 0.06041532 0.16779524 0.49463917
+v 0.01177540 0.22481387 0.41880623
+v -0.16632173 0.09098206 0.49463917
+v -0.13220439 0.20347218 0.39422713
+v -0.21877868 0.10198031 0.39434841
+v 0.05775969 0.18271277 0.49463917
+v 0.07828598 0.17313485 0.46686485
+v -0.01277144 0.22470894 0.41873085
+v -0.21648608 0.08566036 0.40767462
+v -0.10198011 0.21877820 0.39435011
+v -0.11277840 0.15521431 0.49463917
+v -0.22285651 0.08890709 0.39759513
+v -0.15521428 0.11277838 0.49463917
+f 6 2 5
+f 7 4 6
+f 9 6 4
+f 10 8 3
+f 10 1 8
+f 11 4 7
+f 12 7 6
+f 12 6 5
+f 12 10 7
+f 13 2 6
+f 13 6 9
+f 13 9 3
+f 13 3 8
+f 14 5 2
+f 14 13 8
+f 14 2 13
+f 14 8 1
+f 14 1 5
+f 15 9 4
+f 15 4 3
+f 15 3 9
+f 16 5 1
+f 16 1 10
+f 17 3 4
+f 17 4 11
+f 18 10 3
+f 18 17 11
+f 18 3 17
+f 19 12 5
+f 19 5 16
+f 19 16 10
+f 19 10 12
+f 20 7 10
+f 20 10 18
+f 20 18 11
+f 20 11 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85fe9f36f05babc076dbd3e59ca91dd1d563926c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.21068296 0.03770200 0.43276300
+v -0.16045011 0.10314236 -0.49827188
+v -0.16717398 0.03081032 -0.41666668
+v -0.15979476 0.19009442 0.38464142
+v -0.23353461 0.08663028 -0.45150179
+v -0.16200286 0.17715436 0.39632917
+v -0.23000684 0.08482923 0.39122471
+v -0.15979476 0.19009442 -0.45150179
+v -0.19635134 0.03063168 -0.49101997
+v -0.22663862 0.03302946 0.41157712
+v -0.19768381 0.15222250 0.38464142
+v -0.15911939 0.14396783 -0.47837944
+v -0.17326013 0.08679794 -0.49503191
+v -0.16468010 0.09014585 -0.50000000
+v -0.20563366 0.02970022 -0.48369794
+v -0.22489208 0.09737398 0.38937829
+v -0.19768381 0.15222250 -0.45150179
+v -0.17211353 0.17211353 0.39127383
+v -0.20956970 0.12758994 0.38926333
+v -0.20062143 0.08529923 -0.47580989
+v -0.22740710 0.09866091 -0.45150179
+v -0.17126494 0.14096190 -0.47313795
+v -0.19993101 0.13040211 -0.45970295
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 10 7 5
+f 10 1 7
+f 10 3 1
+f 11 4 8
+f 12 8 4
+f 12 4 2
+f 14 2 3
+f 14 3 9
+f 14 9 13
+f 15 10 5
+f 15 5 9
+f 15 9 3
+f 15 3 10
+f 16 11 5
+f 16 5 7
+f 17 11 8
+f 18 11 6
+f 18 6 4
+f 18 4 11
+f 19 1 6
+f 19 6 11
+f 19 11 16
+f 19 16 7
+f 19 7 1
+f 20 13 9
+f 20 9 5
+f 21 5 11
+f 21 11 17
+f 22 12 2
+f 22 2 17
+f 22 17 8
+f 22 8 12
+f 23 21 17
+f 23 17 2
+f 23 20 5
+f 23 5 21
+f 23 13 20
+f 23 14 13
+f 23 2 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a689ac3377c84f147f5b1be602bafeb8a5cca43
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.15045595 0.03072304 0.49173323
+v 0.21116398 0.10633859 0.40115702
+v 0.11277835 0.15521431 0.49463917
+v 0.07496187 0.22721413 0.40106461
+v 0.12070483 0.10656790 0.40151514
+v 0.14620088 0.20319397 0.38464142
+v 0.06009875 0.10656790 0.49173323
+v 0.18255552 0.05891012 0.49463917
+v 0.15100784 0.03081032 0.48602169
+v 0.19645773 0.15201776 0.38635968
+v 0.05999136 0.18211471 0.49463917
+v 0.13417205 0.20932278 0.38464142
+v 0.09040179 0.03081032 0.49173323
+v 0.18961590 0.06002888 0.45720386
+v 0.18960961 0.16031807 0.38464142
+v 0.20300674 0.13248423 0.39466419
+v 0.15523933 0.11277838 0.49463917
+v 0.05892447 0.19006263 0.45679604
+v 0.10110834 0.21905847 0.39457121
+v 0.17850908 0.06711581 0.49463917
+v 0.05586119 0.14369659 0.49173323
+v 0.05780598 0.18300055 0.46687540
+f 7 4 5
+f 9 5 2
+f 10 2 5
+f 11 3 6
+f 11 8 3
+f 12 5 4
+f 12 11 6
+f 13 1 8
+f 13 9 1
+f 13 7 5
+f 13 5 9
+f 13 11 7
+f 13 8 11
+f 14 8 1
+f 14 1 9
+f 14 9 2
+f 14 2 8
+f 15 6 3
+f 15 12 6
+f 15 10 5
+f 15 5 12
+f 16 8 2
+f 16 2 10
+f 17 3 8
+f 17 16 10
+f 17 15 3
+f 17 10 15
+f 18 11 4
+f 18 4 7
+f 19 12 4
+f 19 4 11
+f 19 11 12
+f 20 17 8
+f 20 8 16
+f 20 16 17
+f 21 18 7
+f 21 7 11
+f 22 21 11
+f 22 11 18
+f 22 18 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b330680254321c5653a61a4a5ec848ee681ff0a9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.09850753 -0.22751166 -0.41666668
+v 0.24840667 -0.01327348 -0.45150179
+v 0.24840667 -0.01327348 -0.41666668
+v 0.08582793 0.23395453 -0.41666668
+v 0.08603357 -0.17273261 -0.49571440
+v 0.24123250 0.05860725 -0.45150179
+v 0.18254115 -0.16738335 -0.45150179
+v 0.08789662 -0.20669834 -0.47047196
+v 0.24123250 0.05860725 -0.41666668
+v 0.08586696 0.17342824 -0.49526616
+v 0.14660891 -0.20298632 -0.41666668
+v 0.18311461 -0.08360485 -0.48910749
+v 0.14660891 -0.20298632 -0.45150179
+v 0.12804324 0.21244545 -0.45150179
+v 0.08530078 0.21777099 -0.46342448
+v 0.18254115 -0.16738335 -0.44696971
+v 0.16787372 -0.11385921 -0.48898627
+v 0.20183820 -0.11572454 -0.46374862
+v 0.19776214 -0.02759743 -0.49029517
+v 0.12804324 0.21244545 -0.41666668
+v 0.18295135 0.08453303 -0.48888021
+v 0.08582793 0.23395453 -0.45150179
+v 0.11385876 -0.16786668 -0.48898620
+v 0.20009757 -0.08453746 -0.47648999
+v 0.17065798 -0.14035499 -0.47385461
+v 0.19770971 0.02860367 -0.49021661
+v 0.19993437 0.08546617 -0.47626313
+v 0.12576948 0.15708710 -0.48999281
+v 0.14035364 -0.17065182 -0.47385323
+v 0.22905807 0.05907989 -0.46123082
+v 0.11369057 0.16856231 -0.48853341
+v 0.12946857 0.20009459 -0.45993116
+f 6 3 2
+f 7 2 3
+f 8 1 4
+f 8 4 5
+f 9 3 6
+f 9 1 3
+f 9 4 1
+f 11 3 1
+f 13 7 11
+f 13 11 1
+f 13 1 8
+f 14 9 6
+f 15 10 5
+f 15 5 4
+f 16 11 7
+f 16 7 3
+f 16 3 11
+f 17 5 12
+f 18 2 7
+f 19 12 5
+f 19 5 10
+f 20 14 4
+f 20 4 9
+f 20 9 14
+f 22 15 4
+f 22 4 14
+f 23 5 17
+f 23 13 8
+f 23 8 5
+f 24 2 18
+f 24 19 2
+f 24 12 19
+f 24 18 17
+f 24 17 12
+f 25 18 7
+f 25 17 18
+f 25 23 17
+f 26 6 2
+f 26 2 19
+f 26 19 10
+f 26 10 21
+f 27 14 6
+f 28 21 10
+f 28 27 21
+f 29 25 7
+f 29 7 13
+f 29 13 23
+f 29 23 25
+f 30 26 21
+f 30 21 27
+f 30 27 6
+f 30 6 26
+f 31 28 10
+f 32 14 27
+f 32 27 28
+f 32 28 31
+f 32 22 14
+f 32 15 22
+f 32 31 10
+f 32 10 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..430287b5fd9d8bcccaf0bc1d383d9f8faf605cdd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.13702154 -0.16630995 0.43206521
+v -0.10656790 -0.13585636 0.14393940
+v -0.10656790 -0.12070483 0.48602169
+v -0.10198011 0.21877820 0.39435011
+v -0.16737050 0.18252208 0.14393940
+v -0.16632173 0.09098206 0.49463917
+v -0.19060505 -0.15929805 0.14393940
+v -0.12317230 0.21491448 0.14393940
+v -0.16760783 -0.06031975 0.49237872
+v -0.10656790 0.09141637 0.49173323
+v -0.15221899 0.19766675 0.38464142
+v -0.10478589 0.22428252 0.31060605
+v -0.16114382 -0.11709685 0.45709584
+v -0.17746817 -0.14615055 0.41184195
+v -0.10656790 -0.01464423 0.49173323
+v -0.14887139 0.09753403 0.49463917
+v -0.12758281 0.20955044 0.38928858
+v -0.15221899 0.19766675 0.31060605
+v -0.12884358 0.21202493 0.31060605
+v -0.16738365 0.06122022 0.49463917
+v -0.12171943 -0.06009878 0.49173323
+f 1 2 3
+f 3 2 4
+f 7 5 2
+f 7 2 1
+f 7 6 5
+f 8 2 5
+f 11 5 6
+f 12 4 2
+f 12 2 8
+f 13 1 3
+f 13 3 9
+f 14 13 9
+f 14 7 1
+f 14 1 13
+f 15 3 4
+f 15 4 10
+f 16 10 4
+f 16 4 6
+f 16 15 10
+f 17 11 6
+f 17 6 4
+f 17 12 11
+f 17 4 12
+f 18 8 5
+f 18 5 11
+f 19 12 8
+f 19 11 12
+f 19 18 11
+f 19 8 18
+f 20 14 9
+f 20 6 7
+f 20 7 14
+f 20 16 6
+f 21 9 3
+f 21 3 15
+f 21 20 9
+f 21 15 16
+f 21 16 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f853982bdb719a75612923d6693ee83881f7cddf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.14468581 -0.19920935 0.39163807
+v 0.24138914 -0.05761748 -0.45150179
+v 0.23816784 -0.05710596 0.39012342
+v 0.15708953 0.10966745 0.46696197
+v 0.14048892 0.10120732 -0.48431181
+v 0.22721802 0.09908134 -0.45150179
+v 0.15523933 -0.11277838 0.49463917
+v 0.19610389 -0.15064235 0.38841264
+v 0.14660891 -0.20298632 -0.45150179
+v 0.14350570 -0.05627611 0.49173323
+v 0.24840667 -0.01327348 -0.45150179
+v 0.22445713 0.09766943 0.38983226
+v 0.20410749 0.10274371 -0.46688602
+v 0.22762832 -0.09827576 -0.45150179
+v 0.15062386 -0.19607841 0.38845552
+v 0.22477918 -0.09681898 0.39002002
+v 0.15100784 0.06111335 0.48602169
+v 0.14916035 -0.11885734 0.49463917
+v 0.20601563 -0.01375576 -0.48544019
+v 0.24123250 0.05860725 -0.41666668
+v 0.23804001 0.05809930 0.39006791
+v 0.19769608 -0.15223525 -0.45150179
+v 0.17891951 -0.06631040 0.49463917
+v 0.22813502 0.07407763 -0.46006626
+v 0.20415654 -0.04376798 -0.48311548
+v 0.18255552 0.05891012 0.49463917
+v 0.15223127 -0.19767953 -0.45150179
+v 0.21529795 -0.01282432 -0.47811814
+v 0.22819520 -0.07308039 -0.46014437
+v 0.15083552 -0.18113848 -0.46182081
+v 0.16719424 0.06164090 0.49463917
+v 0.22447401 -0.01188224 0.41929079
+v 0.18902876 -0.13206927 -0.46698875
+v 0.22436907 0.01287833 0.41921541
+v 0.19940582 -0.12963689 -0.46038358
+f 9 1 5
+f 10 5 1
+f 11 3 2
+f 12 6 4
+f 13 5 4
+f 13 4 6
+f 15 1 9
+f 16 7 8
+f 16 8 14
+f 16 14 2
+f 16 2 3
+f 17 4 5
+f 17 5 10
+f 18 10 1
+f 18 1 15
+f 18 15 8
+f 18 8 7
+f 19 5 13
+f 20 11 6
+f 20 6 12
+f 21 3 11
+f 21 20 12
+f 21 11 20
+f 22 14 8
+f 23 16 3
+f 23 7 16
+f 23 18 7
+f 24 19 13
+f 24 13 6
+f 24 6 11
+f 25 5 19
+f 26 21 12
+f 26 12 4
+f 26 18 23
+f 27 15 9
+f 27 22 8
+f 27 8 15
+f 28 24 11
+f 28 19 24
+f 29 2 14
+f 29 25 19
+f 29 19 28
+f 29 28 11
+f 29 11 2
+f 30 9 5
+f 30 5 25
+f 30 27 9
+f 30 22 27
+f 31 26 4
+f 31 4 17
+f 31 17 10
+f 31 10 18
+f 31 18 26
+f 32 26 23
+f 32 23 3
+f 32 3 21
+f 33 29 14
+f 33 25 29
+f 33 30 25
+f 33 22 30
+f 34 32 21
+f 34 21 26
+f 34 26 32
+f 35 33 14
+f 35 14 22
+f 35 22 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f3e9fd2a9633c8c7fff405dfe33dd513a8599c4c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/model.xml
@@ -0,0 +1,39 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c87f888c088bd7eca24dc85ca28c420cce3782ee
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.08627451 0.08627451 0.08627451
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 386.03755400
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de0c47ec033ff97adc31ed32d52222b412873f4c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/visual/model_normalized_0.obj
@@ -0,0 +1,12162 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.04469050 -0.00082667 0.48614695
+v -0.04584283 -0.00060122 0.48499461
+v -0.04526666 -0.00573662 0.48381723
+v -0.04413938 -0.00591197 0.48496956
+v -0.04621859 -0.00030061 0.48361682
+v -0.04561738 -0.00546106 0.48243944
+v -0.04489090 -0.00999524 0.48141236
+v -0.04454019 -0.01027080 0.48276510
+v -0.04351311 -0.01039605 0.48391743
+v -0.04584283 0.00002505 0.48223903
+v -0.04526666 -0.00513540 0.48108670
+v -0.04469050 0.00032566 0.48111175
+v -0.04413938 -0.00478469 0.47998447
+v -0.04351311 -0.00926877 0.47898244
+v -0.04454019 -0.00966958 0.48008467
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_6/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_6/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988109ccd4dcc757d15be2901e1bd6b901dc5017
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_6/visual/model_normalized_1.obj
@@ -0,0 +1,4656 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ad4ad1cc04c152c512bea71ebe02f09563928d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_0.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3554ccea1173207db845d718c1ab2c52f68811ba
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,487 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b65a7cc16896236f232dc513addc27fd583140e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_10.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e69228e8f8eede4fab9ee47c4a35591212c6810c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_11.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd62f60f9a4727f0102853672366defe3ca3cc26
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_12.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46d34c6bf9dc8c9b15e568b4a71964388e391dce
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_13.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abbc18001a29c8562a60460b7326a76e19b29763
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_14.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..114791d7ae218c38f85b24e0ab02c3173eeefd55
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_15.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..655159e57afe9f2679b098636c0f0c2a93061294
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_2.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96fd65d158f00664b4e77899071599a8c648c45f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_3.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..929348c4add4418c62d1683329ee163d014ff27f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v -0.24724780 0.23076692 -0.03951237
+v -0.24724780 0.23098058 -0.04112814
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dad8b5b41deeaaa307e4e8071acd6e275bbe232b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ee21093389f17d22ff1227ca6745537977484ac
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d829265c3bb78b5ba584d678d294c9502367128
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+v -0.12911445 -0.18733798 -0.21702190
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+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041dcb55679a0304eef832ced42698e55ed5a1c3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+v -0.14567807 0.30766481 -0.34007230
+v -0.14567807 0.30624303 -0.43423080
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+v -0.15502863 0.30512592 -0.21702676
+v -0.31247428 -0.10353570 -0.21702676
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+v -0.26240668 -0.20808768 -0.43773097
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..add5c15aec59b85b4fb29ccd991a6c3de2920f65
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.06122036 -0.24056341 -0.09867581
+v 0.06116743 -0.24052535 -0.09860052
+v 0.06323152 -0.24052535 -0.09867581
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+v 0.00912862 -0.24052535 -0.09110664
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+v 0.03500248 -0.29605070 -0.03951817
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+v 0.00294959 -0.24052535 -0.06500547
+v 0.01045175 -0.29068568 -0.03951817
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+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..673e7763216c8604b956ff3146f6a495cb352633
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.16922266 0.15429928 0.26514950
+v 0.19141262 0.26069546 -0.35275716
+v 0.18160493 0.26227103 0.26488264
+v -0.16000332 0.28789545 0.26469123
+v -0.13380685 0.15429928 -0.23484919
+v -0.16339857 0.29342411 -0.23561620
+v -0.13380685 0.15429928 0.26514950
+v 0.16922266 0.15429928 -0.35606099
+v 0.01770791 0.23005666 -0.35606099
+v 0.01770791 0.15429928 -0.35606099
+f 1 2 3
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+f 7 4 6
+f 8 2 1
+f 8 1 5
+f 9 6 2
+f 9 2 8
+f 10 9 8
+f 10 8 5
+f 10 5 6
+f 10 6 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58dc95c2f24c8b98bc8f232c2e6b549d1dd35e9a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.19324366 -0.27485642 0.06810954
+v 0.33524582 -0.05393443 -0.45545519
+v 0.31853820 0.04748249 0.01999801
+v 0.19952561 0.15429928 0.00757442
+v 0.19142424 -0.24581263 -0.47805235
+v 0.30397813 0.14406979 -0.45858707
+v 0.22213985 -0.24780816 0.08322003
+v 0.33389271 0.04551241 -0.26511255
+v 0.27875986 0.14713597 0.00768515
+v 0.19952411 0.15441744 -0.48493934
+v 0.19895564 -0.26932665 0.08329803
+v 0.31861978 -0.11154379 -0.08538336
+v 0.20540302 -0.27491447 -0.45199313
+v 0.30312739 0.14394988 -0.28297061
+v 0.33579775 0.03074758 -0.45679191
+v 0.23326051 0.15655906 -0.49792962
+v 0.20649696 -0.26231723 0.08374477
+v 0.28251950 -0.16023927 0.05296976
+v 0.33418475 -0.04205799 -0.08586700
+v 0.19576867 -0.27883695 -0.45347980
+v 0.28875554 -0.18183544 -0.45344561
+v 0.19999466 -0.26924149 0.06731055
+v 0.31956752 0.10287774 -0.45793373
+v 0.33347898 0.02916445 -0.06995295
+v 0.29172460 -0.05423019 -0.49028698
+v 0.21468001 -0.19394946 -0.49240050
+v 0.31684673 -0.06845294 0.00504730
+v 0.33404954 -0.05375395 -0.14400795
+v 0.27293885 -0.19666455 -0.08491321
+v 0.32070234 -0.11467087 -0.45449938
+v 0.23419951 -0.21355093 -0.47409354
+v 0.33330513 0.04538456 -0.19152988
+v 0.27708792 0.10418682 -0.49018603
+v 0.31880464 -0.02689822 0.02015897
+v 0.31777946 0.08695985 -0.13124696
+v 0.22890837 -0.17397668 -0.49271279
+v 0.30212548 -0.12504459 0.00546347
+v 0.27249188 -0.18227716 0.03768580
+v 0.28653625 -0.17029829 -0.04004061
+v 0.23277240 -0.18504101 -0.48936551
+v 0.31675886 0.10173187 -0.26774878
+v 0.25058367 0.14865778 -0.49385423
+v 0.30689572 0.13431696 -0.45923793
+v 0.29185642 0.04632351 -0.49062720
+v 0.33357298 0.00341865 -0.07080745
+v 0.30361973 0.11348469 -0.09958880
+v 0.31983147 0.05419496 0.00771635
+v 0.27676572 -0.17274289 0.05292680
+v 0.22910947 -0.24037794 0.06794962
+v 0.28841034 -0.18172374 -0.41686703
+v 0.26153806 -0.14211595 -0.48926656
+v 0.27838893 0.14718198 -0.47511325
+v 0.26391965 0.13243358 -0.49124512
+v 0.30718365 0.07458408 -0.47501710
+v 0.30772511 -0.12731704 -0.45993953
+v 0.27650017 -0.11172188 -0.48901431
+v 0.32229988 0.08895072 -0.45956717
+f 5 1 4
+f 9 7 3
+f 9 4 7
+f 10 5 4
+f 11 4 1
+f 16 14 6
+f 16 9 14
+f 16 10 4
+f 16 4 9
+f 17 7 4
+f 17 4 11
+f 18 3 7
+f 19 2 15
+f 20 13 1
+f 20 1 5
+f 20 5 13
+f 22 11 1
+f 22 1 13
+f 22 17 11
+f 22 13 7
+f 22 7 17
+f 23 6 14
+f 23 8 15
+f 24 19 15
+f 24 15 8
+f 25 15 2
+f 26 5 10
+f 26 10 16
+f 27 12 19
+f 28 19 12
+f 28 2 19
+f 29 7 13
+f 29 13 21
+f 30 12 21
+f 30 28 12
+f 30 2 28
+f 30 25 2
+f 31 21 13
+f 31 13 5
+f 32 8 23
+f 32 24 8
+f 34 24 3
+f 34 27 19
+f 34 3 18
+f 34 18 27
+f 35 24 32
+f 36 26 16
+f 36 16 25
+f 37 27 18
+f 37 18 12
+f 37 12 27
+f 39 38 29
+f 40 31 5
+f 40 5 26
+f 40 26 36
+f 40 21 31
+f 41 32 23
+f 41 23 14
+f 41 35 32
+f 41 14 35
+f 42 33 16
+f 43 33 6
+f 43 6 23
+f 44 25 16
+f 44 16 33
+f 44 15 25
+f 45 34 19
+f 45 19 24
+f 45 24 34
+f 46 35 14
+f 46 14 9
+f 47 3 24
+f 47 24 35
+f 47 35 46
+f 47 46 9
+f 47 9 3
+f 48 18 7
+f 48 7 38
+f 48 38 39
+f 48 39 12
+f 48 12 18
+f 49 38 7
+f 49 7 29
+f 49 29 38
+f 50 39 29
+f 50 29 21
+f 50 21 12
+f 50 12 39
+f 51 21 40
+f 51 40 36
+f 52 42 16
+f 52 16 6
+f 53 6 33
+f 53 33 42
+f 53 52 6
+f 53 42 52
+f 54 44 33
+f 54 15 44
+f 55 30 21
+f 55 21 51
+f 56 25 30
+f 56 55 51
+f 56 30 55
+f 56 51 36
+f 56 36 25
+f 57 23 15
+f 57 15 54
+f 57 54 33
+f 57 43 23
+f 57 33 43
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c07836f624a06002141ad8110f9a77dc033d37c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.14553409 -0.29297262 0.40627980
+v -0.14536428 -0.29226928 0.19961722
+v -0.14895832 -0.10327579 0.14393769
+v -0.24863671 -0.09811808 0.48558115
+v -0.30247147 -0.15000108 0.01063799
+v -0.14412842 -0.17026285 0.49630244
+v -0.19761193 -0.26837319 0.20469477
+v -0.17360420 -0.14349500 0.00749291
+v -0.31707316 -0.09817683 0.07028834
+v -0.14876477 -0.16365334 0.49945881
+v -0.14169089 -0.19908446 0.12824140
+v -0.17121481 -0.28752435 0.20500238
+v -0.27014400 -0.19663187 0.40240658
+v -0.30876161 -0.10265345 0.00756597
+v -0.23889261 -0.10248818 0.49137704
+v -0.17125478 -0.28438617 0.40381171
+v -0.14366152 -0.25869271 0.43090391
+v -0.14781160 -0.16230150 0.08330708
+v -0.14401139 -0.25896407 0.17316326
+v -0.27538236 -0.19294078 0.08888791
+v -0.31358915 -0.11229022 0.40301870
+v -0.19626080 -0.11900765 0.00781933
+v -0.19680121 -0.16749939 0.47486578
+v -0.21304374 -0.25406818 0.40332474
+v -0.29781584 -0.15295462 0.31043501
+v -0.29713591 -0.12697687 0.41713665
+v -0.31666689 -0.09823774 0.40546228
+v -0.17414496 -0.15459130 0.49563411
+v -0.22664394 -0.22768940 0.41362683
+v -0.27654043 -0.10014024 0.45514685
+v -0.24359861 -0.16510123 0.44446719
+f 8 2 5
+f 9 4 3
+f 10 6 3
+f 11 3 6
+f 12 5 2
+f 12 2 1
+f 14 8 5
+f 14 5 9
+f 14 9 3
+f 15 10 3
+f 15 3 4
+f 15 4 13
+f 16 1 6
+f 16 6 10
+f 16 12 1
+f 16 7 12
+f 17 11 6
+f 17 6 1
+f 17 1 2
+f 18 11 8
+f 18 8 3
+f 18 3 11
+f 19 2 8
+f 19 8 11
+f 19 17 2
+f 19 11 17
+f 20 12 7
+f 20 5 12
+f 21 9 5
+f 22 14 3
+f 22 3 8
+f 22 8 14
+f 24 7 16
+f 24 20 7
+f 24 13 20
+f 24 16 23
+f 25 21 5
+f 25 13 21
+f 25 20 13
+f 25 5 20
+f 26 21 13
+f 26 13 4
+f 27 4 9
+f 27 9 21
+f 28 23 16
+f 28 16 10
+f 28 10 15
+f 28 15 23
+f 29 24 23
+f 29 23 15
+f 29 13 24
+f 30 26 4
+f 30 4 27
+f 30 27 21
+f 30 21 26
+f 31 29 15
+f 31 15 13
+f 31 13 29
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7a4da40366c99d4f5df3497e44ce3840957dc4e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.22471570 -0.10327579 0.26514950
+v -0.22178730 -0.11642386 -0.31295283
+v -0.23986264 0.13879010 -0.48478091
+v -0.26771953 0.18549875 0.26464838
+v -0.32062350 -0.09952362 0.26509231
+v -0.30480919 -0.14623903 0.00753727
+v -0.28869865 0.14888075 0.26523739
+v -0.27557746 -0.13869050 0.01495567
+v -0.32897590 0.04780443 -0.41688781
+v -0.27045132 -0.13304924 -0.31061498
+v -0.24561860 -0.12290015 0.01542537
+v -0.31698571 -0.10157162 -0.35740089
+v -0.31510525 0.07479047 0.26521186
+v -0.30196591 0.13283094 -0.41855467
+v -0.27921206 0.04644225 -0.48333121
+v -0.24200679 -0.11843729 -0.34167325
+v -0.27026756 0.17231583 -0.34891759
+v -0.31597314 0.10257893 -0.41867219
+v -0.23986289 0.04790394 -0.48334634
+v -0.29015968 0.14127252 -0.46864168
+v -0.30285479 0.11811974 0.26524482
+f 1 2 3
+f 1 3 4
+f 6 1 5
+f 7 1 4
+f 8 1 6
+f 10 8 6
+f 10 2 8
+f 11 8 2
+f 11 2 1
+f 11 1 8
+f 12 6 5
+f 12 5 9
+f 12 10 6
+f 13 9 5
+f 13 5 1
+f 14 7 4
+f 15 12 9
+f 16 2 10
+f 16 10 12
+f 16 12 15
+f 17 14 4
+f 17 4 3
+f 18 7 14
+f 18 9 13
+f 19 16 15
+f 19 15 3
+f 19 3 2
+f 19 2 16
+f 20 17 3
+f 20 14 17
+f 20 18 14
+f 20 3 15
+f 20 15 9
+f 20 9 18
+f 21 18 13
+f 21 7 18
+f 21 13 1
+f 21 1 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44dda4a43ab6a67f5e90cb5fa011f36ce0bbe39a
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.15096514 -0.29518406 0.38628078
+v 0.26948023 -0.18998188 0.00705078
+v 0.26775449 -0.18602198 0.42548377
+v 0.01770791 -0.19418465 0.40151277
+v 0.01468212 -0.28541784 0.00757893
+v 0.01704722 -0.30169409 0.42479987
+v 0.24555081 -0.22409707 0.40294368
+v 0.15365575 -0.29956798 0.00756974
+v 0.00870325 -0.22965072 0.00690057
+v 0.19515667 -0.26296860 0.40715708
+v 0.23100362 -0.19542756 0.43353910
+v 0.26373029 -0.19464571 0.41915137
+v 0.17566954 -0.28605994 0.00747634
+v 0.20583796 -0.26059248 0.40370050
+v 0.26232052 -0.19994777 0.00640470
+v 0.19073861 -0.27077616 0.38613353
+f 3 2 4
+f 8 6 5
+f 8 1 6
+f 9 4 2
+f 9 8 5
+f 9 6 4
+f 9 5 6
+f 10 6 1
+f 11 3 4
+f 11 4 6
+f 11 10 3
+f 11 6 10
+f 12 7 2
+f 12 2 3
+f 12 3 7
+f 13 1 8
+f 14 7 3
+f 14 3 10
+f 14 13 7
+f 14 10 1
+f 15 2 7
+f 15 7 13
+f 15 9 2
+f 15 13 8
+f 15 8 9
+f 16 14 1
+f 16 1 13
+f 16 13 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd5dbe1946bd1811bc1acdea909c6ed75aee886
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.18437418 -0.11843234 0.49210030
+v 0.31286086 0.06976176 0.42647979
+v 0.14706349 0.18650965 0.49161244
+v -0.05713591 0.33026930 0.39447780
+v -0.14895832 -0.11842727 0.40151277
+v 0.17729627 0.29594909 0.39472104
+v 0.26807168 0.06166471 0.49596477
+v 0.18437413 -0.11842727 0.40151277
+v -0.14895827 -0.11843313 0.49205056
+v 0.10697299 0.32912865 0.39418321
+v 0.21878716 0.14029081 0.49092361
+v 0.28614307 0.16113710 0.41236368
+v -0.15389831 0.18006704 0.49403277
+v 0.04565707 0.21654820 0.49027686
+v 0.17490926 0.29247654 0.39851851
+v 0.23007497 0.12659950 0.49196914
+v 0.21143425 0.27094142 0.39529572
+v -0.15098157 0.29342994 0.40080796
+v 0.06013370 0.29287775 0.42983406
+v 0.11885348 0.20024992 0.48935650
+v -0.12880205 0.26428358 0.44529512
+v 0.25781492 0.08479593 0.49402656
+v 0.07589269 0.23131326 0.47463062
+v -0.04127158 0.21605609 0.49054391
+v -0.14603976 0.28009992 0.43035265
+v 0.26088453 0.12702600 0.46219655
+v -0.11485512 0.20081767 0.49041695
+v -0.02610996 0.29170018 0.42980076
+v -0.14406917 0.18878564 0.49113830
+f 7 1 2
+f 8 2 1
+f 8 5 6
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 6 5
+f 10 5 4
+f 12 2 8
+f 12 7 2
+f 13 5 9
+f 13 9 7
+f 13 7 3
+f 14 13 3
+f 15 10 3
+f 15 6 10
+f 15 11 6
+f 15 3 11
+f 16 11 3
+f 16 3 7
+f 17 12 8
+f 17 8 6
+f 17 6 11
+f 17 16 12
+f 17 11 16
+f 18 4 5
+f 18 5 13
+f 19 10 4
+f 20 14 3
+f 20 3 10
+f 22 16 7
+f 22 7 12
+f 23 19 14
+f 23 10 19
+f 23 20 10
+f 23 14 20
+f 24 13 14
+f 24 14 19
+f 25 18 13
+f 25 21 4
+f 25 4 18
+f 26 22 12
+f 26 12 16
+f 26 16 22
+f 27 24 21
+f 27 13 24
+f 28 24 19
+f 28 19 4
+f 28 4 21
+f 28 21 24
+f 29 25 13
+f 29 21 25
+f 29 27 21
+f 29 13 27
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5e6a4ef46a00ae8eeadddcea68ab01da1f4e416
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.10229008 -0.31361742 0.40432807
+v 0.25265805 -0.20407076 0.38287933
+v 0.18869437 -0.13998716 0.49913603
+v -0.14895827 -0.11843313 0.49205056
+v -0.14895832 -0.11842727 0.40151277
+v -0.09755253 -0.19669665 0.48952476
+v 0.22119435 -0.24565775 0.40400103
+v -0.09975113 -0.31487569 0.40126614
+v 0.22982856 -0.11842727 0.40151277
+v 0.09008037 -0.19727985 0.49061443
+v -0.14895605 -0.13381994 0.49229344
+v 0.15096514 -0.29518406 0.38628078
+v 0.23939602 -0.12755768 0.47522783
+v 0.16055108 -0.25610098 0.42809711
+v -0.01210008 -0.27265680 0.44467264
+v -0.15303414 -0.27859822 0.41387326
+v 0.19052629 -0.27062754 0.40366717
+v 0.22191568 -0.24624217 0.38622477
+v 0.10236579 -0.31363833 0.40124459
+v 0.15407118 -0.19418465 0.38636130
+v 0.24242337 -0.19174477 0.42831263
+v 0.18437418 -0.11843234 0.49210030
+v 0.13336735 -0.18227412 0.49094737
+v -0.09969471 -0.31484135 0.40430686
+v 0.04653854 -0.22743838 0.47523095
+v -0.14342677 -0.18065075 0.48936331
+v 0.20529123 -0.22649754 0.42866279
+v 0.16382125 -0.16744644 0.49139936
+v 0.19073861 -0.27077616 0.38613353
+v 0.23885320 -0.20285549 0.42282991
+v 0.11880652 -0.21133713 0.47439474
+v -0.05490672 -0.22681266 0.47427183
+v 0.03134968 -0.27258298 0.44449145
+v 0.07620760 -0.28726035 0.42895468
+v 0.23740227 -0.18616930 0.43585340
+v 0.17769907 -0.15438904 0.49434824
+v 0.16197182 -0.28843062 0.38617335
+v -0.07005828 -0.28741894 0.42881794
+v 0.08982054 -0.24180883 0.45900972
+v 0.19117612 -0.25661509 0.41364655
+v 0.19000710 -0.19579978 0.45841176
+f 9 2 5
+f 10 3 6
+f 11 6 3
+f 11 3 4
+f 12 8 5
+f 13 2 9
+f 16 5 8
+f 16 11 4
+f 16 4 5
+f 17 1 12
+f 17 14 1
+f 18 2 7
+f 18 7 17
+f 19 12 1
+f 19 1 8
+f 19 8 12
+f 20 12 5
+f 20 5 2
+f 20 2 12
+f 21 2 13
+f 22 13 9
+f 22 4 3
+f 22 3 13
+f 22 9 5
+f 22 5 4
+f 23 3 10
+f 24 8 1
+f 24 1 15
+f 24 16 8
+f 25 10 6
+f 26 6 11
+f 26 11 16
+f 26 24 6
+f 26 16 24
+f 27 17 7
+f 27 13 3
+f 28 23 14
+f 28 3 23
+f 29 2 18
+f 29 18 17
+f 29 17 12
+f 30 7 2
+f 30 2 21
+f 30 27 7
+f 31 23 10
+f 31 1 14
+f 31 14 23
+f 32 25 6
+f 32 15 25
+f 33 25 15
+f 33 15 1
+f 34 10 25
+f 34 33 1
+f 34 25 33
+f 35 21 13
+f 35 13 27
+f 35 30 21
+f 35 27 30
+f 36 27 3
+f 36 3 28
+f 37 29 12
+f 37 12 2
+f 37 2 29
+f 38 24 15
+f 38 15 32
+f 38 32 6
+f 38 6 24
+f 39 31 10
+f 39 10 34
+f 39 34 1
+f 39 1 31
+f 40 36 28
+f 40 17 27
+f 40 28 14
+f 40 14 17
+f 41 40 27
+f 41 27 36
+f 41 36 40
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41dbcb51fc1269d9ca41f39b691127d670856abb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.25454975 -0.18179378 0.42420703
+v -0.15947662 -0.17871913 0.12279719
+v -0.14895832 0.13914781 0.40151277
+v -0.26974677 0.16068466 0.43194416
+v -0.26679428 0.18482745 0.14344739
+v -0.14895832 -0.16388170 0.40151277
+v -0.27740502 -0.18691419 0.26550549
+v -0.14895832 0.15429928 0.14393769
+v -0.26771953 0.18549875 0.26464838
+v -0.21227677 -0.18608024 0.12788416
+v -0.28385819 0.15939228 0.26482111
+v -0.14895832 0.15429928 0.26514950
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 1 4
+f 8 2 5
+f 8 6 2
+f 8 3 6
+f 9 4 3
+f 9 8 5
+f 10 7 5
+f 10 5 2
+f 10 2 1
+f 10 1 7
+f 11 7 4
+f 11 5 7
+f 11 9 5
+f 11 4 9
+f 12 9 3
+f 12 3 8
+f 12 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e80c602c04227a6bacac48655901bd1693087459
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.02503748 -0.25400732 -0.27003466
+v 0.01770532 -0.19398027 -0.47947642
+v 0.01770791 0.15429928 -0.23484919
+v -0.14895832 0.15429928 -0.23484919
+v -0.14896091 -0.19398079 -0.47950990
+v 0.01793283 -0.23382328 -0.23494095
+v 0.01770641 0.15441686 -0.48497584
+v -0.04512760 -0.25375814 -0.42214272
+v -0.14297548 -0.17078876 -0.23497812
+v -0.14895982 0.15441633 -0.48500935
+v -0.03324878 -0.25886180 -0.39507327
+v -0.08020642 -0.20679089 -0.23512691
+v -0.11096606 -0.19263159 -0.23511133
+v -0.03870028 -0.22210857 -0.23512508
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 7 4 3
+f 8 5 2
+f 9 6 4
+f 9 4 5
+f 10 5 4
+f 10 4 7
+f 10 7 2
+f 10 2 5
+f 11 8 2
+f 11 2 1
+f 11 5 8
+f 12 6 9
+f 12 11 1
+f 13 9 5
+f 13 5 11
+f 13 12 9
+f 13 11 12
+f 14 12 1
+f 14 1 6
+f 14 6 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f8dfa8cc2d929483019e28e304b615524330837
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.07779539 -0.32728826 0.00752286
+v 0.19192372 -0.27243385 -0.45978731
+v 0.19952561 0.15429928 0.00757442
+v 0.01770791 0.15429928 0.00757442
+v 0.01856932 -0.29048910 -0.49091599
+v 0.19343045 -0.27516082 0.00750574
+v 0.01778624 -0.34354130 -0.44700389
+v 0.19952411 0.15441744 -0.48493934
+v 0.13347765 -0.31565900 -0.45136447
+v 0.01468212 -0.28541784 0.00757893
+v 0.01770641 0.15441686 -0.48497584
+v 0.19142424 -0.24581263 -0.47805235
+v 0.15822659 -0.29747972 -0.03816503
+v 0.18999948 -0.28456065 -0.45184397
+v 0.08856022 -0.33225960 -0.45111144
+v 0.03109730 -0.33918046 -0.27478784
+v 0.11940047 -0.28819612 -0.47728832
+v 0.11772751 -0.31420703 0.00731526
+v 0.07659555 -0.33473272 -0.45107482
+v 0.13381711 -0.28616899 -0.47474181
+v 0.17566954 -0.28605994 0.00747634
+v 0.13215160 -0.31223943 -0.20483661
+v 0.08715609 -0.32863232 -0.18966544
+v 0.16111904 -0.27159830 -0.47378473
+f 8 6 2
+f 8 3 6
+f 8 4 3
+f 10 3 4
+f 10 6 3
+f 10 1 6
+f 11 5 7
+f 11 8 5
+f 11 4 8
+f 11 10 4
+f 11 7 10
+f 12 8 2
+f 12 5 8
+f 14 2 6
+f 14 13 9
+f 16 10 7
+f 16 1 10
+f 17 5 12
+f 17 15 5
+f 17 9 15
+f 18 15 9
+f 19 7 5
+f 19 5 15
+f 19 16 7
+f 19 1 16
+f 20 17 12
+f 20 14 9
+f 20 9 17
+f 21 18 13
+f 21 6 1
+f 21 1 18
+f 21 14 6
+f 21 13 14
+f 22 18 9
+f 22 9 13
+f 22 13 18
+f 23 18 1
+f 23 15 18
+f 23 19 15
+f 23 1 19
+f 24 20 12
+f 24 12 2
+f 24 2 14
+f 24 14 20
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0696253d8262452921e2713e284ae30ee86cc217
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.07656065 -0.33467610 -0.44714420
+v 0.12906712 -0.29971097 -0.46533252
+v 0.01770791 -0.19418465 -0.41666689
+v -0.14604133 -0.18749944 -0.44515659
+v -0.18973887 -0.21961996 -0.49030200
+v -0.03120731 -0.28900165 -0.39593837
+v -0.05223604 -0.30136959 -0.47850346
+v 0.01770532 -0.19398027 -0.47947642
+v -0.11734091 -0.19236680 -0.41669722
+v 0.12007145 -0.32054769 -0.44712844
+v 0.08854007 -0.30180983 -0.47535657
+v -0.04965903 -0.33680060 -0.44387872
+v 0.12142760 -0.27863666 -0.48431309
+v -0.14896091 -0.19398079 -0.47950990
+v -0.19182588 -0.21999234 -0.47145507
+v 0.12014737 -0.32058561 -0.45128938
+v 0.07659555 -0.33473272 -0.45107482
+v -0.15082084 -0.25435974 -0.48080087
+v 0.10347609 -0.31636694 -0.45945843
+v -0.09323942 -0.28330908 -0.47957825
+v -0.18776112 -0.22755948 -0.47449559
+f 8 4 3
+f 9 6 3
+f 9 3 4
+f 10 6 1
+f 10 2 3
+f 10 3 6
+f 12 1 6
+f 13 8 3
+f 13 3 2
+f 13 2 11
+f 13 5 8
+f 13 11 7
+f 13 7 5
+f 14 8 5
+f 14 5 4
+f 14 4 8
+f 15 9 4
+f 15 4 5
+f 15 6 9
+f 15 12 6
+f 16 2 10
+f 16 11 2
+f 17 7 11
+f 17 12 7
+f 17 1 12
+f 17 16 10
+f 17 10 1
+f 19 17 11
+f 19 11 16
+f 19 16 17
+f 20 18 5
+f 20 5 7
+f 20 7 12
+f 20 12 18
+f 21 15 5
+f 21 5 18
+f 21 18 12
+f 21 12 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e72697607d644995b45a1f210d7fb6b1038ea4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.10236579 -0.31363833 0.40124459
+v 0.16040977 -0.29542288 0.00764583
+v 0.15625078 -0.28857243 0.40625575
+v -0.06156240 -0.29943070 0.42180038
+v 0.01988148 -0.33396402 0.00459127
+v 0.01792158 -0.27944176 -0.04707549
+v 0.14728317 -0.29703409 0.40122155
+v 0.08576408 -0.32650038 -0.02279093
+v -0.05676105 -0.32516726 0.40142810
+v 0.08096976 -0.28479128 -0.05303572
+v 0.03018323 -0.32887265 0.38609514
+v 0.14806716 -0.30299040 0.00737738
+v 0.08267180 -0.29974908 -0.05303844
+v -0.06753848 -0.32472136 0.26577311
+v 0.06070213 -0.33001726 0.00686091
+v -0.02716121 -0.33056503 0.26491072
+v 0.00317032 -0.32982588 0.38611085
+v -0.05724693 -0.32719635 0.26509675
+v -0.02713352 -0.32984915 0.31035385
+f 1 3 4
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 9 1 4
+f 10 6 3
+f 10 3 2
+f 11 8 1
+f 11 1 9
+f 12 8 2
+f 12 2 7
+f 12 7 1
+f 12 1 8
+f 13 8 5
+f 13 5 6
+f 13 6 10
+f 13 10 2
+f 13 2 8
+f 14 6 5
+f 14 9 4
+f 14 4 6
+f 15 11 5
+f 15 5 8
+f 15 8 11
+f 17 11 9
+f 17 16 5
+f 17 5 11
+f 18 14 5
+f 18 5 16
+f 18 16 9
+f 18 9 14
+f 19 17 9
+f 19 9 16
+f 19 16 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d1191a7296da69e08cc5ee4d973d6279ea44d5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.16922266 0.15429928 -0.35606099
+v 0.16922116 0.15441734 -0.48494540
+v 0.18174753 0.27765334 -0.44510503
+v -0.09804480 0.32134954 -0.23461499
+v -0.30649280 0.13500014 -0.45856649
+v 0.10374471 0.31246660 -0.23599720
+v 0.19141262 0.26069546 -0.35275716
+v -0.28721403 0.13301575 -0.31243912
+v -0.04074140 0.29249717 -0.49062079
+v 0.17244196 0.21948133 -0.49893508
+v 0.10861676 0.23005666 -0.23484919
+v -0.25968581 0.13454350 -0.49344588
+v -0.14895987 0.13926862 -0.48477025
+v -0.25340376 0.22299197 -0.23473431
+v -0.18544924 0.27630908 -0.46077270
+v 0.08950718 0.31984653 -0.46140475
+v 0.01770791 0.15429928 -0.23484919
+v -0.01318282 0.33606993 -0.23460940
+v -0.30196591 0.13283094 -0.41855467
+v -0.23803681 0.14896600 -0.49790433
+v -0.14895832 0.13914781 -0.23484919
+v -0.16940481 0.28975415 -0.23459370
+v -0.25409347 0.21842523 -0.45987284
+v 0.10432618 0.31819876 -0.34062753
+v 0.04483122 0.29281111 -0.49076297
+v 0.14905139 0.29514576 -0.46249670
+v -0.08567838 0.32232315 -0.46147897
+v -0.28135025 0.13732021 -0.23481954
+v -0.18429204 0.23455706 -0.48925925
+v -0.21177333 0.26152929 -0.23462588
+v -0.28614853 0.17425309 -0.45918201
+v 0.10037059 0.31780612 -0.26738093
+v 0.16088117 0.24914249 -0.49011532
+v 0.14999509 0.29695895 -0.44683088
+v -0.01319205 0.33583130 -0.24975711
+v -0.02524243 0.33552347 -0.23460015
+v -0.14218086 0.30263174 -0.38607318
+v -0.09877392 0.27812068 -0.49075533
+v -0.22567735 0.24505492 -0.46028747
+v -0.22800142 0.19142419 -0.48958810
+v -0.30073897 0.14749997 -0.45876265
+v 0.08637857 0.32038073 -0.23676460
+v 0.10278295 0.27826430 -0.49040354
+v 0.13155456 0.30522238 -0.46116551
+v -0.02520526 0.33528980 -0.24974793
+v -0.14296218 0.30474527 -0.23459195
+v -0.12838498 0.30653960 -0.46123840
+v -0.16833047 0.28800365 -0.38608061
+v -0.07099738 0.30735852 -0.47509991
+v -0.19876067 0.24898991 -0.47287195
+v -0.21008474 0.25970509 -0.44671741
+v -0.25872776 0.14626701 -0.49023000
+v 0.13173834 0.30536440 -0.44672502
+v -0.14098344 0.26280402 -0.48880159
+v -0.28936980 0.16387669 -0.46186205
+f 7 1 2
+f 7 3 6
+f 10 7 2
+f 10 3 7
+f 11 7 6
+f 11 1 7
+f 13 2 1
+f 13 12 2
+f 13 8 12
+f 17 1 11
+f 18 11 6
+f 18 17 11
+f 19 12 8
+f 19 5 12
+f 20 10 2
+f 20 2 12
+f 20 9 10
+f 21 13 1
+f 21 8 13
+f 21 1 17
+f 24 16 18
+f 25 10 9
+f 27 25 9
+f 27 16 25
+f 28 14 5
+f 28 5 19
+f 28 19 8
+f 28 8 21
+f 28 21 17
+f 30 22 15
+f 30 14 28
+f 30 28 17
+f 30 17 22
+f 31 14 23
+f 32 6 3
+f 33 26 3
+f 33 3 10
+f 34 3 26
+f 34 32 3
+f 34 24 32
+f 35 18 16
+f 35 16 27
+f 36 27 4
+f 36 22 17
+f 36 17 18
+f 37 4 27
+f 38 9 20
+f 38 20 29
+f 39 29 23
+f 39 23 14
+f 39 14 30
+f 40 29 20
+f 40 20 12
+f 40 23 29
+f 41 5 14
+f 41 14 31
+f 42 32 24
+f 42 24 18
+f 42 18 6
+f 42 6 32
+f 43 33 10
+f 43 10 25
+f 43 25 16
+f 43 26 33
+f 44 34 26
+f 44 16 24
+f 44 43 16
+f 44 26 43
+f 45 35 27
+f 45 27 36
+f 45 36 18
+f 45 18 35
+f 46 4 37
+f 46 36 4
+f 46 22 36
+f 47 37 27
+f 47 15 37
+f 47 27 38
+f 48 37 15
+f 48 15 22
+f 48 46 37
+f 48 22 46
+f 49 38 27
+f 49 27 9
+f 49 9 38
+f 50 39 15
+f 50 15 29
+f 50 29 39
+f 51 39 30
+f 51 30 15
+f 51 15 39
+f 52 40 12
+f 52 31 23
+f 52 23 40
+f 53 44 24
+f 53 24 34
+f 53 34 44
+f 54 47 38
+f 54 38 29
+f 54 29 15
+f 54 15 47
+f 55 41 31
+f 55 31 52
+f 55 52 12
+f 55 12 5
+f 55 5 41
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e69a4a7ca0a61a368673b66dc64f1826add5c4f6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.14876477 -0.16365334 0.49945881
+v -0.14895832 -0.16388170 0.40151277
+v -0.14895832 0.13914781 0.40151277
+v -0.29725759 0.14479094 0.41099811
+v -0.25454975 -0.18179378 0.42420703
+v -0.21218878 0.14150640 0.49463282
+v -0.14895766 0.13907779 0.48798587
+v -0.26791248 -0.04938624 0.49381418
+v -0.22527377 -0.12202614 0.49032112
+v -0.26866832 0.05783589 0.49532720
+v -0.31844257 0.05651742 0.42359488
+v -0.25255614 -0.08183476 0.49358846
+v -0.18712976 -0.15205327 0.49204461
+v -0.24029370 0.11466052 0.49342494
+v -0.27654043 -0.10014024 0.45514685
+v -0.27221579 0.13083855 0.44952622
+v -0.26969716 -0.09769666 0.46486511
+v -0.22931063 0.12860059 0.49180296
+v -0.27008616 0.11433686 0.46263149
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 7 6 1
+f 7 1 3
+f 7 3 6
+f 10 8 1
+f 10 1 6
+f 11 4 5
+f 11 10 4
+f 11 8 10
+f 12 5 9
+f 12 9 1
+f 12 1 8
+f 13 9 5
+f 13 5 1
+f 13 1 9
+f 14 10 6
+f 15 11 5
+f 15 8 11
+f 16 6 4
+f 17 12 8
+f 17 8 15
+f 17 15 5
+f 17 5 12
+f 18 16 14
+f 18 14 6
+f 18 6 16
+f 19 16 4
+f 19 4 10
+f 19 10 14
+f 19 14 16
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43bf07a05ff33b52d73744bfadba320205df0dfe
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.13380685 0.15429928 0.26514950
+v -0.13380685 0.15429928 -0.23484919
+v -0.12826739 0.30727173 -0.02371558
+v -0.13242110 0.30300777 0.26500774
+v -0.28869865 0.14888075 0.26523739
+v -0.28795200 0.14853715 0.14403116
+v -0.15500132 0.29097172 0.26530883
+v -0.25340376 0.22299197 -0.23473431
+v -0.25459242 0.20360349 0.26533102
+v -0.14296218 0.30474527 -0.23459195
+v -0.27559647 0.14982383 -0.23477659
+v -0.28383900 0.18089143 -0.12424396
+v -0.18376868 0.27331798 0.26533570
+v -0.12963191 0.30967184 -0.23467008
+v -0.26807295 0.20235604 -0.08538407
+v -0.28294487 0.16138436 0.26528034
+v -0.28405899 0.15328703 -0.13998700
+v -0.19842303 0.27247915 -0.08500121
+v -0.21177333 0.26152929 -0.23462588
+v -0.26883318 0.20294279 -0.15889967
+v -0.19860133 0.27279991 -0.17395912
+v -0.16940481 0.28975415 -0.23459370
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 1 4
+f 10 7 4
+f 11 8 2
+f 11 2 6
+f 12 6 5
+f 12 8 11
+f 13 9 1
+f 13 1 7
+f 14 10 4
+f 14 4 3
+f 14 3 2
+f 14 2 8
+f 15 9 8
+f 16 12 5
+f 16 15 12
+f 16 9 15
+f 16 5 1
+f 16 1 9
+f 17 12 11
+f 17 11 6
+f 17 6 12
+f 18 8 9
+f 18 9 13
+f 18 13 7
+f 18 7 10
+f 19 14 8
+f 19 8 18
+f 20 15 8
+f 20 8 12
+f 20 12 15
+f 21 19 18
+f 22 19 21
+f 22 10 14
+f 22 14 19
+f 22 21 18
+f 22 18 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2443a464f57b7db8325c65084347b55478042d64
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.15771567 -0.16079791 -0.28011489
+v -0.15834018 -0.16165807 -0.35583243
+v -0.26743502 -0.10164877 -0.23809200
+v -0.30917807 -0.10225078 -0.25001555
+v -0.30473307 -0.15222050 -0.37139435
+v -0.26139236 -0.12720876 -0.24581969
+v -0.18451324 -0.13617936 -0.27979137
+v -0.31698571 -0.10157162 -0.35740089
+v -0.30903147 -0.10317599 -0.25024008
+v -0.30474853 -0.15100397 -0.29432659
+v -0.28814656 -0.14341066 -0.37129700
+v -0.16993753 -0.15323013 -0.35517435
+v -0.27709601 -0.09838265 -0.24460169
+v -0.31515848 -0.11649729 -0.35757843
+v -0.29442155 -0.14674598 -0.37148478
+v -0.31554906 -0.10139408 -0.34238900
+v -0.30717621 -0.14560788 -0.37126006
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 9 6 3
+f 9 3 4
+f 10 5 1
+f 10 1 6
+f 10 6 9
+f 10 9 4
+f 12 8 7
+f 12 7 2
+f 12 11 8
+f 12 2 11
+f 13 3 7
+f 13 7 8
+f 13 4 3
+f 14 10 4
+f 14 4 8
+f 15 11 2
+f 15 2 5
+f 16 13 8
+f 16 8 4
+f 16 4 13
+f 17 14 8
+f 17 5 10
+f 17 10 14
+f 17 15 5
+f 17 8 11
+f 17 11 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06ef22c0f77e8f5c0544241d5f4cfd4a7c304cac
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.19952561 -0.01236694 0.40151277
+v 0.19952561 -0.01236694 0.26514950
+v 0.18160493 0.26227103 0.26488264
+v -0.16711659 0.28236310 0.40082863
+v -0.14895832 -0.01236694 0.40151277
+v 0.17921399 0.25928749 0.42066780
+v 0.19952561 0.15429928 0.40151277
+v -0.17101006 0.28114158 0.26476373
+v 0.19952561 0.15429928 0.26514950
+v -0.14895832 -0.01236694 0.26514950
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 3 2
+f 8 5 4
+f 8 4 3
+f 9 7 2
+f 9 2 3
+f 9 3 7
+f 10 8 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a1f5938173e89ef5139612193786048ab3a2409
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.25048438 -0.11185633 0.47349871
+v -0.23986717 -0.10327579 0.26514950
+v -0.23986672 0.04819137 0.48940690
+v -0.26974677 0.16068466 0.43194416
+v -0.32895193 -0.07021377 0.29920125
+v -0.28385819 0.15939228 0.26482111
+v -0.31269964 0.04711788 0.43549054
+v -0.23986687 -0.01239943 0.49036328
+v -0.32062350 -0.09952362 0.26509231
+v -0.27267286 0.04398691 0.49616307
+v -0.32909698 -0.07031371 0.40040087
+v -0.32896552 0.07455462 0.39108356
+v -0.32956032 0.01736740 0.26923143
+v -0.31557969 0.11681177 0.40458797
+v -0.27515952 -0.01036077 0.49702053
+v -0.31666689 -0.09823774 0.40546228
+v -0.32710229 0.07383662 0.40411328
+v -0.32730872 -0.03964375 0.26926117
+v -0.31510525 0.07479047 0.26521186
+v -0.27515616 0.11919029 0.45404037
+v -0.31445987 0.13156987 0.39721705
+v -0.28332028 0.04395168 0.48098567
+v -0.31276400 -0.02484429 0.43492346
+v -0.28384730 -0.06491727 0.46413034
+v -0.32833185 -0.05520905 0.40489892
+v -0.28201856 0.08753806 0.46369971
+v -0.30285479 0.11811974 0.26524482
+v -0.27847684 0.13480814 0.44039055
+v -0.29679801 0.07383628 0.44956682
+v -0.31290136 -0.08174168 0.41762412
+v -0.28307265 -0.09706249 0.44830358
+v -0.28476912 0.13172325 0.43448752
+f 6 3 2
+f 6 4 3
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 9 6 2
+f 10 3 4
+f 10 8 3
+f 11 5 9
+f 13 5 11
+f 13 11 12
+f 15 1 8
+f 15 8 10
+f 16 11 9
+f 16 9 1
+f 18 13 9
+f 18 9 5
+f 18 5 13
+f 19 6 9
+f 19 9 13
+f 19 13 12
+f 20 10 4
+f 21 4 6
+f 21 19 12
+f 21 17 14
+f 21 12 17
+f 21 14 20
+f 22 15 10
+f 22 7 15
+f 22 17 7
+f 23 15 7
+f 24 15 11
+f 24 1 15
+f 25 7 17
+f 25 23 7
+f 25 11 15
+f 25 15 23
+f 25 17 12
+f 25 12 11
+f 26 20 14
+f 26 14 10
+f 26 10 20
+f 27 21 6
+f 27 6 19
+f 27 19 21
+f 28 20 4
+f 28 4 21
+f 29 22 10
+f 29 10 14
+f 29 14 17
+f 29 17 22
+f 30 24 11
+f 30 11 16
+f 30 16 24
+f 31 24 16
+f 31 16 1
+f 31 1 24
+f 32 28 21
+f 32 21 20
+f 32 20 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a0dbbbc53a413f588134235e101808cb814d7ea
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01147076 -0.25545913 0.00758372
+v 0.01793283 -0.23382328 -0.23494095
+v 0.01770791 -0.01236694 0.00757442
+v -0.14895832 -0.01236694 0.00757442
+v -0.14297548 -0.17078876 -0.23497812
+v 0.01823662 -0.24080619 -0.08374873
+v -0.08020642 -0.20679089 -0.23512691
+v -0.14117354 -0.16830570 0.00740664
+v 0.01770791 -0.01236694 -0.23484919
+v -0.03870028 -0.22210857 -0.23512508
+v -0.11096606 -0.19263159 -0.23511133
+v -0.14895832 -0.01236694 -0.23484919
+v -0.12404668 -0.18073509 0.00736407
+v -0.11024373 -0.19106233 -0.11392415
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 8 1 4
+f 8 4 5
+f 9 6 2
+f 9 3 6
+f 9 4 3
+f 10 2 1
+f 10 1 7
+f 10 9 2
+f 10 7 9
+f 11 7 1
+f 11 9 7
+f 12 5 4
+f 12 4 9
+f 12 11 5
+f 12 9 11
+f 13 1 8
+f 13 8 5
+f 13 5 11
+f 14 13 11
+f 14 11 1
+f 14 1 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d3002bd42fdec855b170189adbafbea6e56d841
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.10861676 0.23005666 0.00757442
+v 0.16569888 0.22457187 -0.48605353
+v 0.18689156 0.25440459 0.00719362
+v 0.10622803 0.30062466 0.00765585
+v 0.10862456 0.22943836 -0.48614177
+v 0.16231418 0.29106698 -0.46093586
+v 0.15808690 0.27531738 0.00781441
+v 0.10067018 0.31017668 -0.20619503
+v 0.16529228 0.25507428 -0.48419720
+v 0.13123389 0.28911703 0.00783644
+v 0.10737880 0.31579556 -0.44688848
+v 0.15271841 0.25748460 -0.48844227
+v 0.12503589 0.30366943 -0.28227771
+v 0.14905139 0.29514576 -0.46249670
+v 0.16245844 0.26641499 -0.47826540
+v 0.13173834 0.30536440 -0.44672502
+v 0.15044776 0.26781035 -0.48175845
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 3 2
+f 10 4 1
+f 10 1 7
+f 11 5 8
+f 12 9 2
+f 12 2 5
+f 12 5 11
+f 13 10 7
+f 13 7 6
+f 13 4 10
+f 13 11 8
+f 13 8 4
+f 14 11 6
+f 14 6 12
+f 15 12 6
+f 15 6 9
+f 15 9 12
+f 16 13 6
+f 16 6 11
+f 16 11 13
+f 17 14 12
+f 17 12 11
+f 17 11 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dabab4093729d5c6e7cac09a961506b11ac7d76
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.14895766 0.13907779 0.48798587
+v -0.14895832 0.13914781 0.26514950
+v -0.14406917 0.18878564 0.49113830
+v -0.14671534 0.29769641 0.41904707
+v -0.30473438 0.13399912 0.40801000
+v -0.14460839 0.29700497 0.26470453
+v -0.21957771 0.13393389 0.49475123
+v -0.14603976 0.28009992 0.43035265
+v -0.28694673 0.18361019 0.39752852
+v -0.29445244 0.13637714 0.26519444
+v -0.15389831 0.18006704 0.49403277
+v -0.22747451 0.24320598 0.32593989
+v -0.19520294 0.26407897 0.42909494
+v -0.28511022 0.15971050 0.41705464
+v -0.30030364 0.16232337 0.39673447
+v -0.30228737 0.13307347 0.36019701
+v -0.15841321 0.29289583 0.42004414
+v -0.25459242 0.20360349 0.26533102
+v -0.22748974 0.24316421 0.35220569
+v -0.20240518 0.15876433 0.48928981
+v -0.18522072 0.27499562 0.42671505
+v -0.25477045 0.20380529 0.41613166
+v -0.18376868 0.27331798 0.26533570
+v -0.23998756 0.22900781 0.29708357
+v -0.28294487 0.16138436 0.26528034
+v -0.20173457 0.18806625 0.47242567
+v -0.22750402 0.15709853 0.47395263
+v -0.15500132 0.29097172 0.26530883
+v -0.22746962 0.20251859 0.44359830
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 10 6 2
+f 11 7 1
+f 11 1 3
+f 14 5 7
+f 15 14 9
+f 15 5 14
+f 16 7 5
+f 16 15 10
+f 16 5 15
+f 16 10 2
+f 16 2 7
+f 17 4 6
+f 17 3 4
+f 19 12 9
+f 20 7 11
+f 21 11 3
+f 21 3 17
+f 21 12 19
+f 21 19 9
+f 21 9 13
+f 22 13 9
+f 22 9 14
+f 23 21 17
+f 23 12 21
+f 23 6 18
+f 24 18 9
+f 24 9 12
+f 24 23 18
+f 24 12 23
+f 25 15 9
+f 25 9 18
+f 25 10 15
+f 25 18 6
+f 25 6 10
+f 26 13 7
+f 26 7 20
+f 26 21 13
+f 26 20 11
+f 26 11 21
+f 27 14 7
+f 27 7 13
+f 28 23 17
+f 28 17 6
+f 28 6 23
+f 29 22 14
+f 29 14 27
+f 29 27 13
+f 29 13 22
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759ed7ad73dff3c8d1a3176e49ed8b898d242b98
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02419854 -0.34044277 -0.28522809
+v 0.01778624 -0.34354130 -0.44700389
+v 0.01771411 -0.28558379 -0.47803047
+v 0.01336224 -0.25363585 -0.28750179
+v -0.05763365 -0.28506088 -0.44742858
+v 0.01810148 -0.25474849 -0.28056579
+v -0.04965903 -0.33680060 -0.44387872
+v 0.02021297 -0.34117204 -0.29125967
+v -0.04275184 -0.25477887 -0.41672883
+v 0.00537940 -0.25286781 -0.30341915
+v -0.03908011 -0.34113124 -0.42507100
+v -0.02651017 -0.25348122 -0.37815704
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 5 3
+f 7 3 2
+f 8 6 4
+f 8 1 6
+f 8 5 7
+f 8 2 1
+f 9 3 5
+f 10 8 4
+f 10 5 8
+f 10 4 3
+f 11 8 7
+f 11 7 2
+f 11 2 8
+f 12 9 5
+f 12 5 10
+f 12 10 3
+f 12 3 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f0e7fdcb7379e6e33625404919e513517f7914
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.20174110 -0.21888234 0.43592078
+v 0.18437413 -0.19418465 0.00757442
+v 0.18437413 -0.01236694 0.40151277
+v -0.14895832 -0.01236694 0.40151277
+v -0.17125878 -0.22422111 0.44518726
+v -0.14895832 -0.01236694 0.00757442
+v 0.18437413 -0.01236694 0.00757442
+v -0.12404668 -0.18073509 0.00736407
+v -0.14117354 -0.16830570 0.00740664
+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 8 2 5
+f 8 7 2
+f 8 6 7
+f 9 8 5
+f 9 5 6
+f 9 6 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b2c06c3726c74f1652f4c442fc1088c54d2db4d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.26775449 -0.18602198 0.42548377
+v 0.30575716 -0.11487152 0.00558636
+v 0.33544948 0.01860823 0.39075203
+v 0.28067866 0.17845971 0.40691669
+v 0.18437413 0.15429928 0.00757442
+v 0.30382040 0.08744115 0.00766971
+v 0.27213210 0.04413819 0.49575798
+v 0.30261608 -0.09914537 0.43370325
+v 0.18437413 -0.19418465 0.00757442
+v 0.31839568 0.11757216 0.29813560
+v 0.27875986 0.14713597 0.00768515
+v 0.31892262 0.11766178 0.39756383
+v 0.19952608 0.06334011 0.48923340
+v 0.28849802 -0.14109518 0.43226512
+v 0.33363748 0.01848072 0.40571913
+v 0.28800139 -0.15581862 0.00557999
+v 0.33539462 0.04570620 0.39870296
+v 0.28985690 0.17062213 0.22774849
+v 0.26807168 0.06166471 0.49596477
+v 0.18437413 0.15429928 0.26514950
+v 0.18013775 -0.18816005 0.46887689
+v 0.27274971 -0.03721304 0.49250908
+v 0.26421416 -0.19714159 0.00794283
+v 0.27434182 -0.17184869 0.43274775
+v 0.33374367 0.02921204 0.40549834
+v 0.29518704 0.16896800 0.22525931
+v 0.30324645 0.14761614 0.40296620
+v 0.31965766 0.10264305 0.40395275
+v 0.17769907 -0.15438904 0.49434824
+v 0.26653992 0.13178718 0.45296564
+v 0.28877752 -0.11094643 0.44578894
+v 0.30215652 -0.05358619 0.44851835
+v 0.30586285 0.12546663 0.17395326
+v 0.28729439 0.13238758 0.02282894
+v 0.28950316 0.17447607 0.40059506
+v 0.30409997 0.08521901 0.43406481
+v 0.26590233 0.06607369 0.49589486
+v 0.24724863 -0.09555522 0.49144599
+v 0.18437443 -0.01239844 0.49042656
+v 0.26717818 0.14919628 0.43886925
+v 0.27628931 0.12723925 0.44731025
+v 0.26087669 -0.14009667 0.45923598
+v 0.26060099 -0.10962850 0.47404233
+v 0.19066975 -0.15128771 0.49002757
+f 6 3 2
+f 8 2 3
+f 11 6 2
+f 11 2 5
+f 14 2 8
+f 15 8 3
+f 16 9 5
+f 16 5 2
+f 16 2 14
+f 17 3 6
+f 17 6 10
+f 17 10 12
+f 17 15 3
+f 18 11 5
+f 18 5 4
+f 20 13 4
+f 20 4 5
+f 22 15 7
+f 23 16 1
+f 23 9 16
+f 23 21 9
+f 23 1 21
+f 24 16 14
+f 24 1 16
+f 24 21 1
+f 25 17 7
+f 25 7 15
+f 25 15 17
+f 26 11 18
+f 26 12 10
+f 26 18 4
+f 27 19 12
+f 28 17 12
+f 28 12 19
+f 29 7 19
+f 29 22 7
+f 29 20 5
+f 29 5 9
+f 29 9 21
+f 31 14 8
+f 31 8 22
+f 31 24 14
+f 32 22 8
+f 32 8 15
+f 32 15 22
+f 33 26 10
+f 33 10 6
+f 33 6 26
+f 34 26 6
+f 34 6 11
+f 34 11 26
+f 35 26 4
+f 35 27 12
+f 35 12 26
+f 36 28 19
+f 36 19 7
+f 36 7 17
+f 36 17 28
+f 37 29 19
+f 37 30 13
+f 38 22 29
+f 39 13 20
+f 39 20 29
+f 39 37 13
+f 39 29 37
+f 40 30 4
+f 40 4 13
+f 40 13 30
+f 41 27 35
+f 41 30 37
+f 41 37 19
+f 41 19 27
+f 41 35 4
+f 41 4 30
+f 43 31 22
+f 43 22 38
+f 43 38 42
+f 43 42 24
+f 43 24 31
+f 44 42 38
+f 44 38 29
+f 44 24 42
+f 44 29 21
+f 44 21 24
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd63d8757024cc3ac725a8d521ace559913b1d65
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01770791 -0.01236694 0.26514950
+v 0.01770791 -0.01236694 -0.23484919
+v 0.01770791 0.15429928 0.26514950
+v -0.14895832 0.15429928 0.26514950
+v -0.14895832 -0.01236694 -0.23484919
+v -0.14895832 0.15429928 -0.23484919
+v -0.14895832 -0.01236694 0.26514950
+v 0.01770791 0.15429928 -0.23484919
+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/can/can_8/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c036736b0d94f5e04194b9f39c919db9ef95b71
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18437413 -0.01236694 0.26514950
+v 0.18437413 -0.01236694 0.00757442
+v 0.18437413 0.15429928 0.26514950
+v 0.01770791 0.15429928 0.26514950
+v 0.01770791 -0.01236694 0.26514950
+v 0.01770791 0.15429928 0.00757442
+v 0.18437413 0.15429928 0.00757442
+v 0.01770791 -0.01236694 0.00757442
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+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/can/can_8/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8fb372c437fb8a51bbf00f1d27f464f197b29e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.14896101 -0.22427619 -0.47903168
+v -0.14613167 -0.21741980 -0.46045086
+v -0.30710112 -0.14558012 -0.35610900
+v -0.27567392 0.16522005 -0.35044581
+v -0.14895987 0.13926862 -0.48477025
+v -0.17796229 -0.14754757 -0.29669241
+v -0.28705521 -0.07057770 -0.49106580
+v -0.32204616 0.04613170 -0.35713237
+v -0.14895832 0.13914781 -0.35606099
+v -0.26997215 -0.21013627 -0.45311107
+v -0.19672884 -0.21123443 -0.49220512
+v -0.30360675 0.13387003 -0.46107618
+v -0.31363442 -0.12790701 -0.35640441
+v -0.15834018 -0.16165807 -0.35583243
+v -0.17523000 -0.15517631 -0.30111565
+v -0.24326259 0.14176483 -0.49779171
+v -0.25742857 -0.13876276 -0.49336813
+v -0.19827632 -0.21273174 -0.48729877
+v -0.31221054 0.11541015 -0.43438433
+v -0.31437614 -0.12739416 -0.45442607
+v -0.28654271 0.07548155 -0.49008123
+v -0.22525300 -0.18041927 -0.49269748
+v -0.31489519 0.11674647 -0.45828005
+v -0.30473307 -0.15222050 -0.37139435
+v -0.30177145 -0.14332522 -0.45936974
+v -0.33104354 -0.07049826 -0.45532751
+v -0.25968581 0.13454350 -0.49344588
+v -0.30196591 0.13283094 -0.41855467
+v -0.32833599 0.05914410 -0.43397729
+v -0.27251870 -0.11343201 -0.49102993
+v -0.32926427 -0.02819142 -0.37302288
+v -0.31783820 -0.09822790 -0.46055259
+v -0.33102708 0.05989699 -0.45738591
+v -0.27201343 0.11815190 -0.48964013
+v -0.32805891 -0.03985488 -0.37290611
+v -0.31769234 0.10445848 -0.46020870
+v -0.32907711 0.01725544 -0.38819469
+v -0.32827859 0.04397877 -0.40368139
+f 5 2 1
+f 8 6 4
+f 9 5 4
+f 9 4 6
+f 9 2 5
+f 10 1 2
+f 11 5 1
+f 13 3 6
+f 13 6 8
+f 14 2 9
+f 15 10 2
+f 15 6 3
+f 15 3 10
+f 15 2 14
+f 15 14 9
+f 15 9 6
+f 16 5 11
+f 16 12 4
+f 16 4 5
+f 17 16 11
+f 17 7 16
+f 18 11 1
+f 18 1 10
+f 18 10 11
+f 19 8 4
+f 20 3 13
+f 21 16 7
+f 22 17 11
+f 22 11 10
+f 22 10 17
+f 24 20 10
+f 24 10 3
+f 24 3 20
+f 25 17 10
+f 25 10 20
+f 26 20 13
+f 27 12 16
+f 27 16 21
+f 27 23 12
+f 28 23 19
+f 28 19 4
+f 28 4 12
+f 28 12 23
+f 29 8 19
+f 29 19 23
+f 30 25 20
+f 30 7 17
+f 30 17 25
+f 31 13 8
+f 32 26 7
+f 32 20 26
+f 32 30 20
+f 32 7 30
+f 33 21 7
+f 33 7 26
+f 33 29 23
+f 33 26 31
+f 34 27 21
+f 35 31 26
+f 35 26 13
+f 35 13 31
+f 36 33 23
+f 36 21 33
+f 36 34 21
+f 36 23 27
+f 36 27 34
+f 37 33 31
+f 37 31 8
+f 38 37 8
+f 38 33 37
+f 38 8 29
+f 38 29 33
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aa7b411c58090e6ca0a11e5b941b428b0c1b25f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.05676105 -0.32516726 0.40142810
+v 0.01817822 -0.30295690 -0.02477080
+v 0.01770791 -0.19418465 0.40151277
+v -0.17125878 -0.22422111 0.44518726
+v -0.14236060 -0.30080293 0.20521779
+v -0.10277232 -0.19259534 0.00754948
+v -0.08819765 -0.23878910 0.46095673
+v 0.01704722 -0.30169409 0.42479987
+v -0.04624665 -0.33232930 0.10630528
+v -0.14100051 -0.29830903 0.40403758
+v 0.01795079 -0.24836641 -0.07656446
+v -0.14473138 -0.18822200 0.12213038
+v 0.02013472 -0.33502261 0.09831522
+v -0.11160099 -0.31495836 0.20544744
+v 0.01642731 -0.30215832 -0.02546576
+v -0.10254931 -0.23761173 0.45922376
+v 0.00870325 -0.22965072 0.00690057
+v 0.01822202 -0.25634387 -0.06900425
+v 0.01822535 -0.33231990 0.26493841
+v -0.11089431 -0.31339997 0.32548627
+v 0.01052294 -0.24779140 -0.07684361
+v -0.14678573 -0.26532788 0.42522703
+v -0.10127461 -0.25769897 0.44538207
+v -0.04229007 -0.32998009 0.26490149
+v -0.09975113 -0.31487569 0.40126614
+v -0.08629624 -0.25864967 0.44668171
+f 7 3 4
+f 8 7 1
+f 8 3 7
+f 10 4 5
+f 12 4 3
+f 12 3 6
+f 12 6 5
+f 12 5 4
+f 13 3 8
+f 13 9 2
+f 14 5 9
+f 15 2 9
+f 15 9 5
+f 15 5 6
+f 16 7 4
+f 17 11 6
+f 17 6 3
+f 17 3 11
+f 18 11 3
+f 18 3 13
+f 18 13 2
+f 18 2 15
+f 19 13 8
+f 19 8 1
+f 19 9 13
+f 20 14 9
+f 20 9 1
+f 20 10 5
+f 20 5 14
+f 21 15 6
+f 21 6 11
+f 21 18 15
+f 21 11 18
+f 22 16 4
+f 22 4 10
+f 22 10 16
+f 23 16 10
+f 23 7 16
+f 24 19 1
+f 24 1 9
+f 24 9 19
+f 25 20 1
+f 25 10 20
+f 25 23 10
+f 25 1 23
+f 26 23 1
+f 26 1 7
+f 26 7 23
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e8375c09be4d2cf28eedc6ac7ebbd924950f5d
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.30070008 0.16059809 0.26505213
+v 0.29548015 0.14832807 -0.46274946
+v 0.20501329 0.26246070 -0.46047573
+v 0.16720260 0.27272743 0.26519303
+v 0.16922266 0.15429928 0.26514950
+v 0.28087505 0.19292014 0.26581196
+v 0.30453171 0.15365243 0.21970507
+v 0.16922116 0.15441734 -0.48494540
+v 0.20770838 0.25091068 0.27488832
+v 0.26454433 0.20524772 -0.45956068
+v 0.25058367 0.14865778 -0.49385423
+v 0.16206879 0.28078487 -0.34197464
+v 0.17707984 0.28085365 -0.46200437
+v 0.17944214 0.26882376 0.27204197
+v 0.29285820 0.16193032 -0.45898138
+v 0.20322561 0.21976234 -0.48842515
+v 0.16371500 0.23780179 -0.49604711
+v 0.18800213 0.27480231 -0.46067396
+v 0.16540512 0.28254927 -0.46603557
+v 0.27542819 0.19058832 -0.45932710
+v 0.24796174 0.16226004 -0.49008617
+v 0.22911570 0.16331250 -0.49803707
+v 0.16245844 0.26641499 -0.47826540
+v 0.17964308 0.21425693 -0.49885116
+f 7 5 2
+f 7 1 5
+f 7 6 1
+f 9 6 3
+f 9 5 1
+f 9 1 6
+f 10 3 6
+f 11 2 5
+f 11 5 8
+f 12 5 4
+f 14 4 5
+f 14 5 9
+f 14 13 4
+f 15 7 2
+f 16 3 10
+f 17 8 5
+f 17 5 12
+f 17 3 16
+f 18 9 3
+f 18 14 9
+f 18 13 14
+f 19 12 4
+f 19 4 13
+f 20 10 6
+f 20 6 7
+f 20 7 15
+f 20 15 2
+f 21 16 10
+f 21 10 20
+f 21 20 2
+f 21 2 11
+f 22 11 8
+f 22 21 11
+f 22 16 21
+f 23 17 12
+f 23 12 19
+f 23 19 13
+f 23 3 17
+f 23 18 3
+f 23 13 18
+f 24 17 16
+f 24 16 22
+f 24 22 8
+f 24 8 17
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd7632caf81005b4853bd0db0af87167be578fcc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.14781160 -0.16230150 0.08330708
+v -0.14443459 -0.17277701 -0.41677128
+v -0.14895832 0.15429928 -0.23484919
+v -0.26679428 0.18482745 0.14344739
+v -0.24200679 -0.11843729 -0.34167325
+v -0.14895832 0.15429928 0.14393769
+v -0.18112389 -0.16050293 -0.41672761
+v -0.22471570 -0.10327579 0.14393769
+v -0.27026756 0.17231583 -0.34891759
+v -0.14173663 -0.16908163 -0.06833860
+v -0.22841027 -0.11156761 0.01261767
+v -0.14895832 -0.10327579 0.14393769
+v -0.26969859 0.16751247 -0.23506678
+v -0.14895832 0.13914781 -0.35606099
+v -0.17471964 -0.15696869 -0.41651885
+v -0.15438495 -0.16558406 -0.41689130
+f 6 3 4
+f 7 1 5
+f 8 4 5
+f 8 6 4
+f 9 4 3
+f 9 7 5
+f 10 3 6
+f 10 7 2
+f 10 1 7
+f 11 8 5
+f 11 5 1
+f 11 1 8
+f 12 8 1
+f 12 6 8
+f 12 10 6
+f 12 1 10
+f 13 9 5
+f 13 5 4
+f 13 4 9
+f 14 9 3
+f 14 10 2
+f 14 3 10
+f 15 7 9
+f 15 9 14
+f 16 15 14
+f 16 14 2
+f 16 2 7
+f 16 7 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0362a39ba28f38355b7d0785740f6871fad37cb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.31286086 0.06976176 0.42647979
+v 0.31616971 0.06968404 0.25193173
+v 0.27462673 0.20511854 0.39617441
+v 0.16715995 0.30123247 0.39538991
+v 0.19952561 0.06339043 0.26514950
+v 0.27873149 0.19650754 0.27188568
+v 0.19810067 0.15231733 0.49452339
+v 0.30070008 0.16059809 0.26505213
+v 0.19952561 0.06339043 0.40151277
+v 0.20344347 0.27542470 0.29562083
+v 0.16316523 0.28244925 0.27361477
+v 0.22346563 0.14622649 0.48282686
+v 0.16389978 0.17452177 0.49416776
+v 0.18722199 0.28874798 0.39483672
+v 0.16922266 0.15429928 0.26514950
+v 0.17528610 0.29349149 0.29300158
+v 0.28305217 0.14808426 0.42408727
+v 0.16922560 0.15398713 0.48779798
+v 0.17719555 0.17103521 0.49122323
+v 0.16292658 0.25148745 0.43489657
+v 0.23207450 0.24813570 0.39927109
+v 0.16471501 0.29615272 0.28854932
+v 0.18699535 0.28854717 0.37147986
+v 0.24527330 0.17321617 0.44565628
+v 0.19075308 0.15832085 0.49434487
+v 0.26194646 0.21742452 0.39869023
+v 0.20680086 0.23032261 0.42902838
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 9 5 2
+f 9 2 1
+f 9 1 7
+f 10 3 6
+f 11 8 2
+f 11 6 8
+f 12 7 1
+f 15 11 2
+f 15 2 5
+f 15 13 11
+f 16 10 6
+f 16 6 11
+f 17 12 1
+f 17 1 3
+f 18 9 7
+f 18 7 13
+f 18 13 15
+f 18 15 5
+f 18 5 9
+f 19 4 13
+f 20 13 4
+f 20 11 13
+f 21 3 10
+f 21 10 14
+f 21 7 12
+f 22 16 11
+f 22 4 16
+f 22 20 4
+f 22 11 20
+f 23 14 10
+f 23 10 16
+f 23 16 4
+f 23 4 14
+f 24 17 3
+f 24 12 17
+f 24 21 12
+f 25 19 13
+f 25 13 7
+f 25 14 4
+f 25 4 19
+f 26 24 3
+f 26 3 21
+f 26 21 24
+f 27 21 14
+f 27 14 25
+f 27 25 7
+f 27 7 21
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1491e79550ca47cb908e6eff58813fc86f2aaa2f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.17921399 0.25928749 0.42066780
+v 0.17969039 0.25963278 0.00734882
+v 0.07488247 0.33681078 0.39405550
+v -0.07073487 0.33556725 0.38830801
+v -0.17101006 0.28114158 0.26476373
+v -0.02524243 0.33552347 -0.23460015
+v -0.08680831 0.26978709 0.43999637
+v 0.16180198 0.30472798 0.39457935
+v -0.16339857 0.29342411 -0.23561620
+v -0.13193917 0.30907845 0.41446718
+v 0.01770791 0.23005666 -0.23484919
+v 0.13104236 0.31888340 0.39434975
+v 0.10374471 0.31246660 -0.23599720
+v -0.09804480 0.32134954 -0.23461499
+v -0.16711659 0.28236310 0.40082863
+v -0.11608834 0.31812026 0.40513190
+v 0.10861676 0.23005666 -0.23484919
+v 0.01770791 0.23005666 0.00757442
+v 0.16107530 0.30350250 0.29516907
+v 0.01709334 0.33537731 -0.20429552
+v 0.08637857 0.32038073 -0.23676460
+v -0.04009453 0.33364114 -0.20426744
+v -0.14789446 0.28681232 0.42575946
+v -0.13915391 0.30575587 0.41525156
+v -0.12963191 0.30967184 -0.23467008
+v -0.10513598 0.26914158 0.43802673
+v 0.10861676 0.23005666 0.00757442
+v 0.00194603 0.33548499 -0.23460017
+v 0.07412400 0.33386371 0.19524299
+v 0.13049913 0.31782377 0.31089098
+v -0.14671534 0.29769641 0.41904707
+v -0.11130677 0.31771007 -0.15845991
+f 6 4 3
+f 7 1 3
+f 8 1 2
+f 10 7 3
+f 10 3 4
+f 11 5 9
+f 12 3 1
+f 12 1 8
+f 14 6 9
+f 16 10 4
+f 17 2 1
+f 17 13 2
+f 18 15 5
+f 18 5 11
+f 18 11 17
+f 19 8 2
+f 19 2 13
+f 19 12 8
+f 21 19 13
+f 21 9 6
+f 21 11 9
+f 21 17 11
+f 21 13 17
+f 22 14 4
+f 22 4 6
+f 22 6 14
+f 23 7 10
+f 24 9 5
+f 24 5 15
+f 24 16 9
+f 24 10 16
+f 25 14 9
+f 25 9 16
+f 26 18 1
+f 26 1 7
+f 26 15 18
+f 26 23 15
+f 26 7 23
+f 27 18 17
+f 27 17 1
+f 27 1 18
+f 28 6 3
+f 28 3 20
+f 28 21 6
+f 28 20 21
+f 29 21 20
+f 29 20 3
+f 30 12 19
+f 30 19 21
+f 30 21 29
+f 30 29 3
+f 30 3 12
+f 31 24 15
+f 31 15 23
+f 31 23 10
+f 31 10 24
+f 32 25 16
+f 32 16 4
+f 32 4 14
+f 32 14 25
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..73b7dd36e97861b5e1618a191e84801bec8cbf30
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/model.xml
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..10bd1caaad001f01d92125e86be0b045fab4ff7b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.01176471 0.01176471 0.01176471
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc827ec8d355bc6cc93680b29f3ca9dd26126620
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/visual/model_normalized_0.obj
@@ -0,0 +1,3780 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.17217609 0.22136212 -0.48607074
+v -0.17217348 0.22115757 -0.49902800
+v -0.12452419 0.25039433 -0.49947992
+v -0.12452679 0.25059886 -0.48652266
+v -0.12452679 0.25059886 -0.48652266
+v -0.12452419 0.25039433 -0.49947992
+v -0.07208596 0.26977450 -0.49977531
+v -0.07208856 0.26997902 -0.48681806
+v -0.21320506 0.18339275 -0.48547969
+v -0.21320244 0.18318824 -0.49843694
+v -0.17217348 0.22115757 -0.49902800
+v -0.17217609 0.22136212 -0.48607074
+v -0.07208856 0.26997902 -0.48681806
+v -0.07208596 0.26977450 -0.49977531
+v -0.01687399 0.27855338 -0.49990277
+v -0.01687660 0.27875791 -0.48694551
+v -0.24603759 0.13814925 -0.48477203
+v -0.24603498 0.13794472 -0.49772928
+v -0.21320244 0.18318824 -0.49843694
+v -0.21320506 0.18339275 -0.48547969
+v -0.01687660 0.27875791 -0.48694551
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce43ed8cee0f08cbe569403dce939c06356a4062
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/visual/model_normalized_1.obj
@@ -0,0 +1,2970 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_8/visual/model_normalized_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_8/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ca7946c50b0f06eb48af780a95f3c7269adda0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_8/visual/model_normalized_2.obj
@@ -0,0 +1,2953 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca83e34903041e3e0015950548e36a53468b09f9
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_0.obj
@@ -0,0 +1,1243 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..753a96d084d37c069f0ac354d9b49a18e7cf4ee2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_1.obj
@@ -0,0 +1,499 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d5f647a4bff9eb419c10d1d5aaad46c0078c926
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_10.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d181b1bb5068ade98568b0cadf46c2da493d021c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_11.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5190cb2fbe6dc22d1a89a1843fecca8b778cb231
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_12.obj
@@ -0,0 +1,751 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcb4d6d253c2f14f0a1ee9324160910f53a252ec
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_13.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5252ff7cfcd26aa0bdd867e41a3eed1a8e2230c0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_14.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3441598d7ddf07279bc49a541d45f2685176822b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_15.obj
@@ -0,0 +1,454 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..356568c152c4e69703b450e2530ce0983a77db5e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_2.obj
@@ -0,0 +1,859 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfbe9a7da89aa4198a9a847f202acbf425979f5f
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_3.obj
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8169f7ea41605bc0c8c58fe63a5c7c817a99b581
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_4.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b6fc2a15b323c6072142dc04953075facc72fc4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_5.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ca3ac42b2638f62230d14bbd8500d12d0851dbe
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_6.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..822a68b7a92ff05d6b6e35b624b9174ea4070ed5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_7.obj
@@ -0,0 +1,646 @@
+# https://github.com/mikedh/trimesh
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e57261c9e59dfd5da01fc81abfa089e29ce90d83
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_8.obj
@@ -0,0 +1,634 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d8a3d468c3771a633db8c97688163c14331c9d3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/collision_mesh_collision_9.obj
@@ -0,0 +1,499 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c07040bffec78080e741cb83bb933441771f5dd
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_0.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/can/can_9/collision/model_normalized_collision_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab3d85f40db7b0f98a0c059fd551b78be28c1594
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
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+v 0.09827464 0.23808529 0.37719912
+v -0.04178550 0.25711247 0.34090906
+v 0.18174546 0.11903019 0.44656856
+v 0.15884592 0.07734790 0.37444035
+v 0.12263307 0.05918519 0.45238620
+v 0.15530767 0.21307192 0.34090906
+v -0.09592024 0.23904211 0.37767882
+v -0.12784157 0.18104555 0.47291214
+v -0.21028891 0.15278661 0.37724191
+v 0.16800750 0.19546871 0.37661592
+v 0.05933859 0.25433235 0.34090906
+v -0.08072149 0.23894940 0.38868324
+v -0.15278661 0.21028891 0.37724190
+v -0.22369801 0.12612530 0.37758665
+v -0.18022921 0.13477480 0.46976169
+v -0.13477474 0.18022941 0.46976169
+v -0.15501696 0.21336255 0.34090906
+v -0.19343441 0.11099383 0.46976169
+v -0.21336253 0.15501696 0.34090906
+f 13 2 7
+f 14 13 1
+f 17 3 4
+f 18 9 1
+f 18 1 7
+f 19 7 2
+f 19 2 15
+f 20 10 3
+f 20 7 10
+f 20 3 17
+f 21 11 4
+f 21 4 3
+f 21 3 11
+f 22 10 6
+f 22 6 11
+f 22 11 3
+f 22 3 10
+f 23 4 11
+f 24 13 7
+f 24 7 1
+f 24 1 13
+f 25 2 13
+f 25 15 2
+f 25 8 15
+f 25 13 14
+f 25 14 5
+f 25 5 8
+f 26 14 1
+f 26 5 14
+f 26 16 5
+f 26 1 9
+f 26 9 16
+f 27 6 10
+f 27 10 15
+f 27 15 8
+f 27 8 5
+f 27 12 23
+f 28 23 12
+f 28 4 23
+f 29 18 7
+f 29 20 17
+f 29 7 20
+f 31 19 15
+f 31 15 10
+f 31 10 7
+f 31 7 19
+f 32 23 11
+f 32 11 6
+f 32 27 23
+f 32 6 27
+f 33 28 17
+f 33 17 4
+f 33 4 28
+f 34 17 28
+f 34 28 12
+f 35 16 9
+f 35 9 30
+f 35 30 5
+f 35 5 16
+f 36 18 29
+f 37 29 17
+f 37 17 34
+f 37 36 29
+f 37 34 30
+f 37 30 36
+f 38 34 12
+f 38 30 34
+f 38 12 27
+f 39 36 30
+f 39 30 9
+f 39 9 18
+f 39 18 36
+f 40 5 30
+f 40 30 38
+f 40 38 27
+f 40 27 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_10.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce980b0559c56241b8dc955e6e6f68e1d928a02
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.04470304 0.24523010 0.38920733
+v -0.04178550 0.25711247 -0.41666667
+v -0.04176655 0.25699285 0.36758764
+v -0.05656623 0.25477144 0.36710338
+v -0.15218570 0.21480515 -0.41666667
+v -0.07286771 0.24688057 0.38012388
+v -0.04307910 0.25012845 0.38230905
+v -0.09771293 0.24256043 -0.41666667
+v -0.15218570 0.21480515 0.34090906
+v -0.05656623 0.25477144 -0.41666667
+v -0.07449166 0.24198221 0.38702217
+v -0.09771293 0.24256043 0.34090906
+f 3 2 4
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 2 5
+f 9 5 1
+f 9 8 5
+f 10 8 4
+f 10 4 2
+f 10 2 8
+f 11 9 1
+f 11 1 6
+f 11 6 9
+f 12 9 6
+f 12 6 4
+f 12 4 8
+f 12 8 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_11.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de9ace5c17239d30a78ecc9b97ce1da709689a2e
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.21748443 -0.14124121 0.37465511
+v -0.21978447 -0.14241314 -0.41666667
+v -0.26135538 -0.01499631 -0.41666667
+v -0.26135538 -0.01499631 0.32575755
+v -0.24141084 -0.09996904 0.36710338
+v -0.22603016 -0.13015531 0.36710338
+v -0.25061400 -0.06354912 0.37560698
+v -0.24753976 -0.08794037 -0.42887594
+v -0.22257287 -0.12868237 0.37723753
+v -0.25103913 -0.06361644 -0.43567752
+v -0.25433228 -0.05933851 0.32575755
+v -0.25327341 -0.06157056 -0.43071012
+v -0.24311631 -0.09340661 -0.43271893
+v -0.25313310 -0.06154808 0.37044195
+v -0.25433228 -0.05933851 -0.41666667
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 5
+f 8 2 5
+f 9 7 5
+f 9 5 1
+f 9 1 4
+f 9 4 7
+f 10 3 2
+f 11 8 5
+f 11 4 3
+f 12 10 8
+f 12 3 10
+f 13 10 2
+f 13 2 8
+f 13 8 10
+f 14 11 5
+f 14 5 7
+f 14 7 4
+f 14 4 11
+f 15 11 3
+f 15 3 12
+f 15 12 8
+f 15 8 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_12.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d94329b2c2d7b01c9b61eeba6e7c9df80cfc72d6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.04355576 -0.25598133 0.37044863
+v -0.04357832 -0.25612214 -0.43071278
+v -0.04555801 -0.25346472 0.37561102
+v -0.16661450 -0.19975936 0.37208810
+v -0.09656340 -0.24314611 0.36710338
+v -0.04562420 -0.25388786 -0.43568019
+v -0.15501695 -0.21336253 -0.41666668
+v -0.15775102 -0.20604740 0.37611232
+v -0.09656342 -0.24314614 -0.42887594
+v -0.16761731 -0.20076217 -0.41666667
+v -0.15501688 -0.21336253 0.36710338
+v -0.09274617 -0.23508784 -0.44369671
+v -0.12027307 -0.22963938 -0.43222135
+v -0.11472101 -0.23389437 -0.42887594
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 6 3 2
+f 6 4 3
+f 8 5 3
+f 8 3 4
+f 9 2 5
+f 9 6 2
+f 10 4 6
+f 11 5 8
+f 11 8 4
+f 11 10 7
+f 11 4 10
+f 12 10 6
+f 12 6 9
+f 13 12 9
+f 13 7 10
+f 13 10 12
+f 14 13 9
+f 14 7 13
+f 14 9 5
+f 14 11 7
+f 14 5 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_13.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8413810e7454546cd95166876c80e0e4babf3c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.14064326 0.12264992 0.34090906
+v 0.14064326 0.12264993 -0.41666667
+v 0.11034022 0.15295296 0.34090905
+v 0.04705866 0.18155374 0.34090906
+v 0.08495532 0.16592362 -0.42925358
+v 0.11034023 0.15295295 -0.41666666
+v 0.04705866 0.18155374 -0.42925358
+v 0.08495532 0.16592362 0.34090906
+v 0.09721316 0.15967793 -0.42925358
+v 0.04939968 0.18118296 -0.42925358
+v 0.04939968 0.18118296 0.34090906
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 4
+f 8 1 3
+f 9 6 2
+f 9 5 8
+f 9 8 3
+f 9 3 6
+f 9 7 5
+f 9 2 7
+f 10 8 5
+f 10 5 7
+f 11 8 10
+f 11 4 1
+f 11 1 8
+f 11 10 7
+f 11 7 4
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_14.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ad59749af5ed018f71559bde18e62f487f9c856
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.12356461 -0.14155795 0.32575755
+v -0.12356463 -0.14155797 -0.41666666
+v -0.18258737 -0.04722230 0.32575755
+v -0.15386768 -0.11125493 0.32575755
+v -0.16701979 -0.08551382 -0.42925358
+v -0.18258737 -0.04722230 -0.42925358
+v -0.15386768 -0.11125493 -0.41666667
+v -0.16701979 -0.08551382 0.32575755
+v -0.18221658 -0.04956334 -0.42925358
+v -0.16077412 -0.09777165 -0.42925358
+v -0.18221658 -0.04956334 0.32575755
+f 1 3 4
+f 2 1 4
+f 6 1 2
+f 6 3 1
+f 7 2 4
+f 8 4 3
+f 9 6 5
+f 9 3 6
+f 9 5 8
+f 10 6 2
+f 10 5 6
+f 10 2 7
+f 10 7 4
+f 10 8 5
+f 10 4 8
+f 11 9 8
+f 11 8 3
+f 11 3 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_15.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..796cc16a9c63b027a21352727858b4575c3db6fb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.18105617 0.05688979 0.34090906
+v -0.11740971 0.14771283 -0.42925358
+v -0.11740971 0.14771283 0.34090906
+v -0.15394183 0.11118071 0.34090906
+v -0.18042710 0.05920041 -0.42925358
+v -0.18105617 0.05688979 -0.35606061
+v -0.17742102 0.06510018 0.34090906
+v -0.15394183 0.11118071 -0.42925358
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 8 4 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_16.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc5beb642f29cac37461553acd739f568312c381
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.25681115 0.04368752 0.34090906
+v 0.25612209 0.04357839 -0.43071276
+v 0.24314613 0.09656347 -0.42887594
+v 0.22151980 0.13900757 0.34090906
+v 0.23508793 0.09274626 -0.44369672
+v 0.24314613 0.09656347 0.34090906
+v 0.25644038 0.04602853 0.34090906
+v 0.25388791 0.04562426 -0.43568006
+v 0.22151980 0.13900757 -0.41666667
+v 0.22963942 0.12027313 -0.43222133
+v 0.23389438 0.11472106 -0.42887594
+f 5 1 4
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 8 5 3
+f 8 3 2
+f 9 5 4
+f 10 3 5
+f 10 5 9
+f 11 10 9
+f 11 3 10
+f 11 9 4
+f 11 6 3
+f 11 4 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_17.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a92b64f782c7bb14b05a667277f20b06c4b604bf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.04427852 -0.18199404 0.32575755
+v 0.06587734 -0.17564426 -0.42925358
+v 0.06587736 -0.17564428 0.32575755
+v -0.07602694 -0.17140497 0.32575755
+v -0.04155096 -0.18271584 -0.42925358
+v 0.05974845 -0.17876711 0.32575755
+v 0.04427851 -0.18199403 -0.42925358
+v -0.04155096 -0.18271584 0.32575755
+v -0.07602695 -0.17140498 -0.42925358
+v 0.05974844 -0.17876708 -0.42925358
+v -0.06989802 -0.17452781 0.32575755
+v -0.06989803 -0.17452782 -0.42925358
+f 1 3 4
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 1 5
+f 7 6 1
+f 8 5 1
+f 8 1 4
+f 9 4 2
+f 9 2 5
+f 10 7 2
+f 10 2 6
+f 10 6 7
+f 11 8 4
+f 11 4 9
+f 12 11 9
+f 12 9 5
+f 12 5 8
+f 12 8 11
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_18.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad329b546f523f5237c04a3e09c57a41d744c64
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.06113503 -0.25336793 0.36977742
+v 0.17332511 -0.18847654 -0.44112201
+v 0.15501688 -0.21336253 -0.42887594
+v 0.17632016 -0.19147159 0.36876557
+v 0.15250647 -0.19796093 -0.44596401
+v 0.15501696 -0.21336253 0.36710338
+v 0.06318451 -0.25115329 0.37455394
+v 0.14516460 -0.21344114 -0.44046802
+v 0.09881956 -0.24199650 -0.41666667
+v 0.16903826 -0.19934122 0.36710338
+v 0.13724082 -0.21247488 0.38556769
+v 0.09881958 -0.24199653 0.36710338
+v 0.16658178 -0.19688472 -0.43802250
+v 0.13302315 -0.21934874 -0.44112201
+v 0.06124054 -0.25403104 -0.41666667
+v 0.15022608 -0.20822337 0.38239688
+v 0.13298931 -0.21928233 0.37934463
+v 0.13697523 -0.21195363 -0.44401886
+v 0.06358158 -0.25366025 -0.41666667
+v 0.15941354 -0.20486798 0.37535747
+v 0.14517482 -0.21346121 0.37863332
+f 3 2 4
+f 5 4 2
+f 7 4 5
+f 8 5 2
+f 9 3 6
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 4 7
+f 12 7 1
+f 12 9 6
+f 13 8 2
+f 13 2 3
+f 13 3 8
+f 14 8 3
+f 14 3 9
+f 15 7 5
+f 15 1 7
+f 16 4 11
+f 17 11 7
+f 17 7 12
+f 17 16 11
+f 18 5 8
+f 18 8 14
+f 18 15 5
+f 18 14 15
+f 19 15 14
+f 19 14 9
+f 19 9 12
+f 19 12 1
+f 19 1 15
+f 20 16 6
+f 20 6 4
+f 20 4 16
+f 21 6 16
+f 21 16 17
+f 21 17 12
+f 21 12 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_19.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52e9708f80b33c4d9fe0cb6858a925091bb109c2
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.16829820 -0.06213423 0.37132713
+v 0.17841093 -0.05956684 -0.42925358
+v 0.18209278 -0.01399107 0.36318083
+v 0.17030877 0.07546844 0.34090906
+v 0.17030877 0.07546844 -0.42925358
+v 0.17568958 -0.01777641 0.37495821
+v 0.17372479 -0.05717912 0.36601487
+v 0.17528809 -0.06569576 -0.42925358
+v 0.18168212 0.04138734 -0.42925358
+v 0.18168212 0.04138734 0.34090906
+v 0.18020011 -0.02884281 0.36224816
+v 0.18358401 -0.02937875 -0.42925358
+v 0.17343160 0.06933952 -0.42925358
+v 0.17343160 0.06933952 0.34090906
+f 5 1 4
+f 6 4 1
+f 7 6 1
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 2 5
+f 10 6 3
+f 11 7 2
+f 11 3 6
+f 11 6 7
+f 12 2 9
+f 12 11 2
+f 12 3 11
+f 12 10 3
+f 12 9 10
+f 13 9 5
+f 13 5 4
+f 13 10 9
+f 14 4 6
+f 14 6 10
+f 14 13 4
+f 14 10 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ad97ee9ce4f05ed287f7c3b6c6d9fb4aa2d51b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14241322 0.21978455 0.34090907
+v 0.14241322 0.21978454 -0.41666667
+v 0.05933859 0.25433235 -0.41666667
+v -0.04412653 0.25674169 0.34090906
+v -0.04412653 0.25674169 -0.41666667
+v 0.05933859 0.25433235 0.34090906
+v 0.09996912 0.24141089 -0.41666667
+v -0.04178550 0.25711247 0.34090906
+v 0.09996913 0.24141089 0.34090906
+v -0.04178550 0.25711247 -0.41666667
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 7 1 2
+f 7 2 3
+f 8 5 4
+f 8 6 3
+f 8 4 1
+f 8 1 6
+f 9 6 1
+f 9 1 7
+f 9 7 3
+f 9 3 6
+f 10 8 3
+f 10 3 5
+f 10 5 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_20.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d63c88b65e745abd1922e9398c52be191403bba5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.12498547 0.14013707 0.34090906
+v -0.04433106 0.18227545 -0.42925358
+v -0.04328899 0.17569607 0.36889541
+v -0.05624807 0.17700501 0.36207405
+v -0.11209543 0.15302711 -0.42925358
+v -0.04667210 0.18190467 0.34090906
+v -0.05743061 0.17393807 0.36791771
+v -0.12498547 0.14013707 -0.42925358
+v -0.11209543 0.15302711 0.34090906
+v -0.04139632 0.17889768 0.36300672
+v -0.05677075 0.18030520 -0.41666667
+v -0.04199002 0.18264623 -0.41666667
+v -0.08307619 0.16781316 -0.42925358
+v -0.04667210 0.18190467 -0.42925358
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 8 5 2
+f 8 1 5
+f 9 5 1
+f 9 4 6
+f 9 7 4
+f 9 1 7
+f 10 6 4
+f 10 4 3
+f 11 9 6
+f 12 8 2
+f 12 3 8
+f 12 10 3
+f 12 6 10
+f 13 2 5
+f 13 5 9
+f 13 9 11
+f 14 13 11
+f 14 2 13
+f 14 12 2
+f 14 11 6
+f 14 6 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_21.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317a0c960bb806b3beca9b7c1ddb810cca310499
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.24404672 -0.09243264 0.37131437
+v 0.24812544 -0.08679077 -0.41666667
+v 0.26121765 -0.01452329 0.36793810
+v 0.25644038 0.04602853 0.34090906
+v 0.25644038 0.04602853 -0.41666667
+v 0.25698362 -0.01865330 0.37723145
+v 0.24790579 -0.08667926 0.36808440
+v 0.24500260 -0.09291969 -0.41666667
+v 0.25908383 -0.02933794 -0.41666667
+v 0.25718193 0.04134651 0.34090906
+v 0.25902086 -0.02932796 0.36735665
+v 0.25718193 0.04134651 -0.41666667
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 6 1
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 2 5
+f 10 5 4
+f 10 4 3
+f 11 3 6
+f 11 6 7
+f 11 9 3
+f 11 7 2
+f 11 2 9
+f 12 9 5
+f 12 3 9
+f 12 10 3
+f 12 5 10
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_22.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa662f3ce4c4e4bf6d288f1d5a9089ae71abef1
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.22464263 0.13287866 0.34090906
+v 0.22464263 0.13287866 -0.41666667
+v 0.21336261 0.15501696 0.34090906
+v 0.13628431 0.22290739 0.34090906
+v 0.18318945 0.16519611 -0.44685341
+v 0.15530767 0.21307191 -0.42887594
+v 0.18553355 0.16754021 0.38851983
+v 0.21336261 0.15501696 -0.41666667
+v 0.15530767 0.21307192 0.34090906
+v 0.13603007 0.22240842 -0.43035032
+v 0.19542989 0.16228504 0.38358119
+v 0.19631522 0.16317036 -0.44211149
+v 0.17474601 0.18705570 0.37923246
+v 0.17474603 0.18705571 -0.44112201
+v 0.18315901 0.18031719 0.37661592
+v 0.14138629 0.21776908 -0.43483144
+v 0.18297512 0.18013328 -0.43868939
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 9 6 4
+f 9 8 6
+f 9 3 8
+f 10 5 4
+f 10 4 6
+f 11 7 1
+f 11 1 3
+f 12 8 2
+f 12 2 5
+f 13 9 4
+f 13 4 7
+f 13 7 11
+f 14 12 5
+f 15 13 11
+f 15 11 3
+f 15 3 9
+f 15 9 13
+f 16 10 6
+f 16 6 14
+f 16 14 5
+f 16 5 10
+f 17 14 6
+f 17 6 8
+f 17 8 12
+f 17 12 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_23.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a320a55e376b0af09f5d47a2d263e8b820a7bd6
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.15675261 -0.20504897 0.37923246
+v -0.15675261 -0.20504897 -0.44112201
+v -0.16245264 -0.18044598 0.39842324
+v -0.22221737 -0.13593282 0.37018961
+v -0.21307187 -0.15530762 -0.41666667
+v -0.21307187 -0.15530762 0.36710338
+v -0.15775050 -0.19089536 0.39323145
+v -0.16516572 -0.19831054 0.37661573
+v -0.16519603 -0.18318936 -0.44685340
+v -0.21748443 -0.14124121 0.37465511
+v -0.22290731 -0.13628422 -0.41666667
+v -0.17290200 -0.17574383 0.39323145
+v -0.16498171 -0.19812656 -0.43868934
+v -0.18031727 -0.18315908 0.37661564
+v -0.18705564 -0.17474594 -0.44112201
+v -0.18013323 -0.18297505 -0.43868934
+f 7 1 2
+f 8 2 1
+f 8 6 5
+f 9 7 2
+f 9 3 7
+f 10 3 4
+f 10 4 6
+f 11 6 4
+f 11 5 6
+f 11 4 3
+f 11 3 9
+f 12 1 7
+f 12 7 3
+f 12 10 6
+f 12 3 10
+f 13 8 5
+f 13 2 8
+f 14 8 1
+f 14 6 8
+f 14 12 6
+f 14 1 12
+f 15 11 9
+f 15 5 11
+f 15 9 2
+f 15 2 13
+f 16 15 13
+f 16 13 5
+f 16 5 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_24.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3b7d89ee64beb88526f4f68ef31af35ae7874c7
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.06113503 -0.25336793 0.36977742
+v 0.06358158 -0.25366025 -0.41666667
+v 0.06318451 -0.25115329 0.37455394
+v -0.04555801 -0.25346472 0.37561102
+v 0.02932719 -0.25901547 0.36738054
+v -0.04134643 -0.25718201 -0.41666667
+v -0.04134643 -0.25718200 0.36710338
+v -0.04602849 -0.25644045 -0.41666667
+v 0.02933804 -0.25908392 -0.41666667
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 5 4
+f 8 4 2
+f 8 2 6
+f 8 7 4
+f 8 6 7
+f 9 6 2
+f 9 2 5
+f 9 7 6
+f 9 5 7
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_25.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13df6f1f6745491e4e9ca25dd0d696cbc1451fbf
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.20691698 0.16146252 0.34090906
+v -0.14605678 0.21792799 -0.42887594
+v -0.15516638 0.20062101 -0.44369125
+v -0.14605678 0.21792799 0.34090906
+v -0.15501696 0.21336255 0.34090906
+v -0.20691698 0.16146252 -0.41666667
+v -0.16786946 0.19817257 -0.43322754
+v -0.15501696 0.21336255 -0.42887594
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 3 1
+f 6 1 5
+f 7 3 6
+f 8 2 3
+f 8 3 7
+f 8 5 2
+f 8 7 6
+f 8 6 5
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_26.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bd873ad7c042c65a8fa6dfb8ecdacf8d6834b9c
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.16969907 0.06743770 0.36381585
+v 0.17343160 0.06933952 -0.42925358
+v 0.14821901 0.11507416 0.34090906
+v 0.12951810 0.12667629 0.36552215
+v 0.15287717 0.07430668 0.38632569
+v 0.13306750 0.13022568 -0.41666666
+v 0.14937996 0.10919545 0.36206294
+v 0.16433033 0.07985370 0.36206294
+v 0.15897570 0.06969396 0.38050050
+v 0.15211247 0.11118071 -0.42925358
+v 0.13828437 0.12029104 0.36206294
+v 0.14365174 0.09990913 0.38038954
+v 0.14064326 0.12264992 -0.42925358
+v 0.13564296 0.11764962 0.36973798
+v 0.14913384 0.09498233 0.37577106
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 5 2
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 11 7 3
+f 11 3 4
+f 12 4 5
+f 13 10 2
+f 13 2 6
+f 13 6 10
+f 14 12 7
+f 14 4 12
+f 14 11 4
+f 14 7 11
+f 15 9 1
+f 15 1 7
+f 15 7 12
+f 15 12 5
+f 15 5 9
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_27.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef574e803b5f897b2b13598ccdace04ca28a8bf5
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.04603847 0.17511256 0.36860787
+v 0.06089798 0.17818146 -0.42925358
+v 0.05753648 0.17989423 0.34090906
+v -0.04139632 0.17889768 0.36300672
+v -0.01261928 0.17338096 0.38229087
+v -0.05677075 0.18030520 -0.42925358
+v 0.04414580 0.17831414 0.36271920
+v 0.06045737 0.17731672 0.35491622
+v 0.01537515 0.17283776 0.38197556
+v 0.05753648 0.17989423 -0.42925358
+v -0.04328899 0.17569607 0.36889541
+v 0.05738115 0.17940677 0.35292913
+v -0.01085738 0.17740825 0.37583359
+v 0.01359058 0.17672190 0.37577106
+v -0.05911179 0.17993441 -0.42925358
+v -0.05911179 0.17993441 -0.41666667
+f 6 4 3
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 12 3 4
+f 12 8 3
+f 12 7 1
+f 12 1 8
+f 13 5 9
+f 13 11 5
+f 13 4 11
+f 13 12 4
+f 13 7 12
+f 14 9 1
+f 14 1 7
+f 14 13 9
+f 14 7 13
+f 15 6 2
+f 15 2 9
+f 15 9 5
+f 15 5 11
+f 16 15 11
+f 16 11 4
+f 16 4 6
+f 16 6 15
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_28.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc5e7b57c3b03e3de75ca77e169b9bf131fa0234
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.06788922 -0.17058531 0.36429997
+v -0.06989803 -0.17452782 -0.42925358
+v -0.07779943 -0.15973216 0.37492448
+v -0.12741577 -0.13025759 0.36603122
+v -0.11598884 -0.14913371 0.32575755
+v -0.13114039 -0.13398221 -0.41666667
+v -0.11011010 -0.15029468 0.36206294
+v -0.08041220 -0.16542651 0.36206294
+v -0.11209543 -0.15302719 -0.42925358
+v -0.11838911 -0.13638244 0.37024704
+v -0.12120572 -0.13919906 0.36206294
+v -0.12356464 -0.14155797 -0.42925358
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 8 5 2
+f 8 2 1
+f 8 7 5
+f 8 1 3
+f 8 3 7
+f 9 2 5
+f 10 7 3
+f 10 3 4
+f 11 4 5
+f 11 5 7
+f 11 10 4
+f 11 7 10
+f 12 6 2
+f 12 2 9
+f 12 9 5
+f 12 5 6
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_29.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f8cf7ead17e5d1202f353fc195b1c2f3a61a5a0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05481761 -0.16908981 0.37725925
+v 0.09606363 -0.16026362 -0.42925358
+v 0.08229132 -0.16353695 0.36206294
+v 0.07389373 -0.14648923 0.39798001
+v 0.05974844 -0.17876708 -0.42925358
+v 0.08964550 -0.14766731 0.38297344
+v 0.05631544 -0.15687795 0.39536831
+v 0.06126324 -0.15143702 0.40069314
+v 0.06994290 -0.16847183 0.36454705
+v 0.08503278 -0.15376584 0.37714827
+v 0.06724601 -0.16374537 0.37571511
+f 5 2 3
+f 6 3 2
+f 6 2 4
+f 7 5 1
+f 8 4 2
+f 8 2 5
+f 8 5 7
+f 8 7 1
+f 8 6 4
+f 9 5 3
+f 9 1 5
+f 10 3 6
+f 10 6 8
+f 11 1 9
+f 11 9 3
+f 11 3 10
+f 11 10 8
+f 11 8 1
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad4fee440dbaf12c9ad78e8c7f621827b672f746
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.20120606 -0.07861297 0.45748310
+v 0.20182334 -0.07892749 0.44789152
+v 0.18476848 0.12800196 0.46976169
+v -0.01100197 0.22377562 0.46976169
+v -0.11979117 -0.09232996 0.44780258
+v 0.09233004 0.00814104 0.39980142
+v 0.21041116 0.07274139 0.47212674
+v -0.10090348 -0.09472832 0.44780258
+v 0.19072981 0.11588786 0.42608265
+v -0.09884050 0.00505874 0.40985498
+v -0.03816792 0.13241304 0.49709200
+v 0.08310346 0.20774363 0.45588738
+v 0.20179842 0.09865600 0.42302587
+v 0.01657247 0.00814103 0.39980141
+v 0.03684995 0.12414012 0.49586545
+v -0.06029152 0.11630948 0.49358100
+v 0.08306376 0.20766577 0.46976169
+v 0.11328974 0.19236298 0.45588738
+v 0.18484662 0.12804173 0.45588738
+v 0.20014910 0.09781566 0.46976169
+v 0.21028139 0.07267526 0.42937689
+v -0.08084725 0.20889317 0.45588738
+v 0.01392004 0.13463808 0.49774106
+v 0.01378798 0.22342290 0.45588738
+v 0.11325002 0.19228509 0.46976169
+v -0.12171264 0.18416841 0.47291214
+v 0.01377433 0.22333653 0.46976169
+v -0.01101562 0.22386199 0.45588738
+v -0.11103352 0.19351250 0.45588738
+v -0.06597143 0.10557683 0.49044995
+v -0.08080756 0.20881532 0.46976169
+v -0.11099381 0.19343461 0.46976169
+f 7 1 2
+f 8 2 1
+f 8 6 2
+f 13 6 9
+f 14 8 5
+f 14 5 10
+f 14 6 8
+f 14 9 6
+f 15 11 1
+f 15 1 7
+f 15 7 3
+f 16 8 1
+f 16 1 11
+f 16 5 8
+f 18 9 12
+f 18 12 17
+f 19 13 9
+f 19 3 13
+f 19 18 3
+f 19 9 18
+f 20 13 3
+f 20 3 7
+f 20 7 13
+f 21 13 7
+f 21 7 2
+f 21 2 6
+f 21 6 13
+f 22 14 10
+f 23 4 11
+f 23 11 15
+f 24 17 12
+f 24 12 9
+f 25 18 17
+f 25 3 18
+f 25 17 23
+f 25 23 15
+f 25 15 3
+f 26 10 5
+f 26 16 11
+f 27 23 17
+f 27 4 23
+f 27 24 4
+f 27 17 24
+f 28 4 24
+f 28 14 22
+f 28 24 9
+f 28 9 14
+f 29 22 10
+f 29 10 26
+f 30 26 5
+f 30 5 16
+f 30 16 26
+f 31 26 11
+f 31 11 4
+f 31 22 29
+f 31 28 22
+f 31 4 28
+f 32 31 29
+f 32 29 26
+f 32 26 31
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_30.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8185c4ce671d5647f3bfafd692198f7d6c831805
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.09309766 0.00236696 0.40791988
+v 0.09742749 0.01306179 0.38375137
+v -0.09884050 0.00505874 0.40985498
+v -0.08941416 0.02337179 0.35012312
+v 0.05630192 0.02706991 0.32734610
+v 0.09050719 0.00426073 0.41245786
+v 0.09333714 0.01569249 0.36445596
+v 0.05435305 0.03028932 0.32756018
+v -0.09677018 0.00116961 0.41182529
+v 0.09309766 0.00536976 0.40884054
+v -0.05562627 0.02786404 0.32475583
+v 0.09266928 0.01920858 0.36370233
+v -0.09956696 0.01602243 0.36337981
+v -0.05268162 0.03119415 0.32460893
+v -0.10349343 0.01361750 0.38193881
+v -0.08111098 0.02306935 0.34039470
+v -0.09148443 0.01948268 0.35209340
+v -0.06710558 0.02912724 0.33135053
+v -0.07404353 0.02761381 0.33628687
+v -0.07898388 0.02474454 0.33925263
+f 7 2 1
+f 7 1 5
+f 9 6 3
+f 9 1 6
+f 10 6 1
+f 10 1 2
+f 10 3 6
+f 12 7 5
+f 12 5 8
+f 12 2 7
+f 12 10 2
+f 14 8 5
+f 14 5 11
+f 14 12 8
+f 14 3 10
+f 14 10 12
+f 15 13 9
+f 15 9 3
+f 15 4 13
+f 15 14 4
+f 15 3 14
+f 16 1 9
+f 16 11 5
+f 16 5 1
+f 17 13 4
+f 17 4 16
+f 17 16 9
+f 17 9 13
+f 18 14 11
+f 18 11 16
+f 19 18 16
+f 19 4 14
+f 19 14 18
+f 20 19 16
+f 20 16 4
+f 20 4 19
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_31.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f696b95ed5dad59d127572566bbc7cfbe9a0e9b
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.17388119 -0.05870683 0.36765272
+v -0.17927762 -0.06145646 -0.42925358
+v -0.17429818 0.07122909 -0.42925358
+v -0.18042710 0.05920041 0.34090906
+v -0.18293513 -0.01457459 0.36499640
+v -0.17742102 0.06510018 -0.42925358
+v -0.17429818 0.07122909 -0.35606061
+v -0.17758445 -0.05740355 0.36208894
+v -0.17973357 -0.01646727 0.37088506
+v -0.18105617 0.05688979 0.34090906
+v -0.18080888 -0.05845119 -0.42925358
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 9 1 4
+f 9 8 1
+f 9 5 8
+f 10 4 6
+f 10 9 4
+f 10 5 9
+f 11 6 2
+f 11 10 6
+f 11 5 10
+f 11 8 5
+f 11 2 8
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..517955bea899aec97d8a7806070ffbbf2e914678
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.26098460 -0.01733735 0.34090906
+v -0.19934122 0.16903827 -0.41666667
+v -0.25941106 -0.01708812 -0.43307040
+v -0.19934122 0.16903827 0.34090906
+v -0.24256032 0.09771301 0.34090906
+v -0.21336253 0.15501696 0.34090906
+v -0.24256032 0.09771301 -0.42887594
+v -0.23284929 0.09305363 -0.44481737
+v -0.25945341 0.02700485 -0.42887594
+v -0.21336253 0.15501696 -0.41666667
+v -0.26135538 -0.01499631 -0.42887594
+v -0.25477134 0.05656631 0.34090906
+v -0.23412534 0.10885533 -0.43534507
+v -0.26135538 -0.01499631 0.34090906
+v -0.25477134 0.05656631 -0.41666667
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 6 5 4
+f 6 4 2
+f 7 5 6
+f 8 2 3
+f 9 8 3
+f 9 7 8
+f 10 7 6
+f 10 6 2
+f 11 9 3
+f 11 3 1
+f 12 1 5
+f 12 5 7
+f 13 8 7
+f 13 7 10
+f 13 10 2
+f 13 2 8
+f 14 11 1
+f 14 9 11
+f 14 12 9
+f 14 1 12
+f 15 12 7
+f 15 7 9
+f 15 9 12
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efed40375f25ec45ebf8e0088169a39efb42abeb
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.04355576 -0.25598133 0.37044863
+v -0.25433228 -0.05933851 0.32575755
+v -0.19029715 0.10968401 0.47291214
+v -0.07433662 0.11979125 0.44780278
+v -0.19228489 -0.11324987 0.46976169
+v -0.04251375 -0.21909762 0.42533711
+v -0.15579469 0.10754428 0.34090906
+v -0.22377486 0.01100210 0.46976169
+v -0.07274130 -0.21041108 0.47212679
+v -0.15501688 -0.21336253 0.36710338
+v -0.04168195 -0.24414882 0.39152558
+v -0.09829152 0.12859463 0.40759799
+v -0.10621321 -0.15602429 0.32575755
+v -0.24256032 0.09771301 0.34090906
+v -0.20766559 -0.08306361 0.46976169
+v -0.07954777 0.12146123 0.45238615
+v -0.04649432 -0.21392704 0.43531689
+v -0.09656340 -0.24314611 0.36710338
+v -0.12800179 -0.18476832 0.46976169
+v -0.21307187 -0.15530762 0.36710338
+v -0.18221658 -0.04956334 0.32575755
+v -0.11139438 0.12654597 0.39184032
+v -0.23903980 0.09591922 0.37768316
+v -0.22333581 -0.01377430 0.46976169
+v -0.07834810 -0.20626350 0.47291214
+v -0.11979117 0.11979125 0.45238615
+v -0.09781553 -0.20014900 0.46976169
+v -0.25433228 -0.05933851 0.36710338
+v -0.21052361 -0.15295804 0.37660742
+v -0.26135538 -0.01499631 0.32575755
+v -0.20881512 0.08080759 0.46976169
+v -0.09496449 -0.24000807 0.37673332
+v -0.24141084 -0.09996904 0.36710338
+v -0.25269478 -0.04392763 0.37785274
+v -0.15302119 -0.21061026 0.37637320
+v -0.25477134 0.05656631 0.36710338
+v -0.19956334 0.09896517 0.46976169
+v -0.25477134 0.05656631 0.34090906
+v -0.25306610 0.04114471 0.37800688
+f 11 1 4
+f 11 4 6
+f 11 9 1
+f 11 6 9
+f 12 4 1
+f 13 10 2
+f 16 9 4
+f 16 4 12
+f 17 9 6
+f 17 6 4
+f 17 4 9
+f 18 13 1
+f 18 10 13
+f 20 2 10
+f 21 13 2
+f 21 7 13
+f 22 12 1
+f 22 1 13
+f 22 13 7
+f 22 7 14
+f 22 14 3
+f 22 3 12
+f 23 3 14
+f 24 15 3
+f 24 3 8
+f 25 3 15
+f 25 16 3
+f 25 9 16
+f 25 15 5
+f 25 19 9
+f 25 5 19
+f 26 16 12
+f 26 12 3
+f 26 3 16
+f 27 9 19
+f 28 15 24
+f 29 5 15
+f 29 19 5
+f 30 14 7
+f 30 7 21
+f 30 21 2
+f 30 2 28
+f 31 8 3
+f 32 9 27
+f 32 18 1
+f 32 1 9
+f 33 15 28
+f 33 29 15
+f 33 20 29
+f 33 28 2
+f 33 2 20
+f 34 28 24
+f 34 24 8
+f 34 30 28
+f 35 19 29
+f 35 10 18
+f 35 18 32
+f 35 32 27
+f 35 27 19
+f 35 29 20
+f 35 20 10
+f 36 23 14
+f 36 31 23
+f 36 8 31
+f 37 31 3
+f 37 3 23
+f 37 23 31
+f 38 36 14
+f 38 14 30
+f 38 30 36
+f 39 36 30
+f 39 30 34
+f 39 34 8
+f 39 8 36
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5a2a4a2f03231c4a48e1810ac1e85510e2df5f3
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.02932719 -0.25901547 0.36738054
+v 0.25902086 -0.02932796 0.36735665
+v 0.18361881 -0.13025784 0.46976169
+v 0.22894247 -0.01661179 0.41683468
+v -0.07602694 -0.17140497 0.32575755
+v 0.21004563 -0.07539687 0.47152589
+v 0.16903826 -0.19934122 0.36710338
+v 0.15377851 -0.10791070 0.24999998
+v -0.07834810 -0.20626350 0.47291214
+v 0.24199653 -0.09881945 0.36710338
+v 0.25712866 -0.01387676 0.37856613
+v 0.06988549 -0.21438022 0.46976169
+v 0.08993473 -0.16338646 0.24999998
+v -0.04355576 -0.25598133 0.37044863
+v -0.07730377 -0.12656903 0.44780258
+v 0.19899953 -0.10007160 0.46976169
+v 0.24059633 -0.07426412 0.38913541
+v 0.19934127 -0.16903817 0.36710338
+v 0.25518552 -0.02872052 0.37767588
+v 0.23450559 -0.01509314 0.40926489
+v 0.26121765 -0.01452329 0.36793810
+v 0.13025802 -0.18361886 0.46976169
+v 0.09881958 -0.24199653 0.36710338
+v 0.11026599 -0.15302719 0.24999998
+v -0.06968856 -0.21448042 0.46976169
+v -0.02655158 -0.25943393 0.36746174
+v 0.20511399 -0.08060416 0.47291214
+v 0.09560183 -0.06133954 0.44780258
+v -0.08062160 -0.13496797 0.41892194
+v 0.23905345 -0.09731987 0.37624906
+v 0.22661585 -0.12900572 0.36710338
+v 0.25698362 -0.01865330 0.37723145
+v 0.17528809 -0.06569576 0.32575755
+v 0.19713123 -0.16682812 0.37586080
+v 0.12752753 -0.22371448 0.37614751
+v 0.12900584 -0.22661586 0.36710338
+v 0.14679812 -0.11649499 0.24999998
+v 0.02871946 -0.25517835 0.37768920
+v 0.22371365 -0.12752770 0.37614698
+v 0.16682812 -0.19713111 0.37586104
+v 0.09732077 -0.23905354 0.37624932
+v -0.02593644 -0.25555006 0.37784293
+f 10 8 2
+f 13 5 8
+f 14 9 5
+f 14 5 13
+f 16 6 3
+f 17 10 2
+f 17 2 6
+f 19 6 2
+f 20 4 6
+f 20 6 11
+f 21 2 8
+f 21 20 11
+f 21 15 20
+f 21 19 2
+f 23 12 1
+f 23 1 13
+f 24 13 8
+f 24 23 13
+f 24 18 7
+f 25 12 9
+f 25 9 14
+f 26 14 13
+f 26 13 1
+f 26 25 14
+f 27 15 9
+f 27 6 15
+f 27 9 12
+f 27 12 22
+f 27 22 3
+f 27 3 6
+f 28 15 6
+f 28 6 4
+f 28 20 15
+f 28 4 20
+f 29 5 9
+f 29 9 15
+f 29 15 21
+f 30 6 16
+f 30 17 6
+f 30 10 17
+f 31 3 18
+f 31 18 8
+f 31 8 10
+f 32 11 6
+f 32 6 19
+f 32 21 11
+f 32 19 21
+f 33 21 8
+f 33 8 5
+f 33 29 21
+f 33 5 29
+f 34 18 3
+f 34 3 22
+f 34 7 18
+f 35 22 12
+f 36 24 7
+f 36 23 24
+f 36 35 23
+f 36 7 22
+f 36 22 35
+f 37 24 8
+f 37 8 18
+f 37 18 24
+f 38 26 1
+f 38 1 12
+f 39 3 31
+f 39 30 16
+f 39 16 3
+f 39 31 10
+f 39 10 30
+f 40 34 22
+f 40 22 7
+f 40 7 34
+f 41 35 12
+f 41 12 23
+f 41 23 35
+f 42 38 12
+f 42 12 25
+f 42 25 26
+f 42 26 38
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_7.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b11d042652869131b0e4a073f2e92a6de8b1332
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.20511399 -0.08060416 0.47291214
+v 0.26142486 -0.01455721 0.34090906
+v 0.21448029 0.06968899 0.46976169
+v 0.19089596 0.17290262 0.37611219
+v 0.15791654 -0.07971610 0.37393263
+v 0.24000811 0.09496524 0.37673355
+v 0.25712866 -0.01387676 0.37856613
+v 0.22937869 -0.07752748 0.40211692
+v 0.17030877 0.07546844 0.34090906
+v 0.13778458 0.07433670 0.45238618
+v 0.21336261 0.15501696 0.34090906
+v 0.21061017 0.15302125 0.37637338
+v 0.21438026 -0.06988536 0.46976169
+v 0.25718193 0.04134651 0.36710338
+v 0.16876968 -0.06980587 0.36330814
+v 0.13778458 -0.06202693 0.45238615
+v 0.20626356 0.07834813 0.47291214
+v 0.13136348 0.08621650 0.41549260
+v 0.19318646 0.17519312 0.34090906
+v 0.24314613 0.09656347 0.34090906
+v 0.25554292 0.02593542 0.37785604
+v 0.18555427 -0.01693907 0.34090906
+v 0.14620170 -0.07374710 0.39782230
+v 0.18005908 0.13176272 0.45401047
+v 0.13674102 0.08895650 0.40094288
+v 0.17524593 0.15725260 0.40781830
+v 0.25718193 0.04134651 0.34090906
+v 0.18484662 0.12804173 0.45588738
+v 0.18989752 0.17190419 0.37923246
+f 8 1 5
+f 8 2 7
+f 11 2 9
+f 12 3 6
+f 12 11 4
+f 13 7 3
+f 13 8 7
+f 13 1 8
+f 14 6 3
+f 14 7 2
+f 15 8 5
+f 15 2 8
+f 16 1 10
+f 17 10 1
+f 17 13 3
+f 17 1 13
+f 18 16 10
+f 19 11 9
+f 19 4 11
+f 20 12 6
+f 20 11 12
+f 20 6 14
+f 20 2 11
+f 21 14 3
+f 21 3 7
+f 21 7 14
+f 22 9 2
+f 22 2 15
+f 22 15 5
+f 22 5 9
+f 23 5 1
+f 23 1 16
+f 23 16 18
+f 24 10 17
+f 25 9 5
+f 25 23 18
+f 25 5 23
+f 25 19 9
+f 25 18 19
+f 26 19 18
+f 26 18 10
+f 26 10 24
+f 27 20 14
+f 27 14 2
+f 27 2 20
+f 28 12 4
+f 28 3 12
+f 28 24 17
+f 28 17 3
+f 29 26 24
+f 29 4 19
+f 29 19 26
+f 29 28 4
+f 29 24 28
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_8.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc81e7439e17fbf1c1c66c82fe93697b096cae45
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08993473 -0.16338646 0.24999998
+v 0.17841093 -0.05956684 -0.42925358
+v 0.15211232 -0.11118078 -0.42925358
+v 0.17841093 -0.05956684 0.32575755
+v 0.15178723 -0.11094878 0.35233701
+v 0.08993473 -0.16338645 -0.42925358
+v 0.11026599 -0.15302719 0.24999998
+v 0.16603634 -0.08385335 0.32575755
+v 0.15296142 -0.09234286 0.37122592
+v 0.14627368 -0.11597057 0.35423586
+v 0.11026599 -0.15302719 -0.42925358
+v 0.15838798 -0.08738774 0.36591366
+v 0.14800629 -0.10496961 0.36851922
+v 0.15343287 -0.10001449 0.36320692
+f 3 2 4
+f 6 2 3
+f 6 1 4
+f 6 4 2
+f 7 3 5
+f 8 5 3
+f 8 3 4
+f 8 4 5
+f 9 4 1
+f 10 7 5
+f 10 1 7
+f 11 6 3
+f 11 3 7
+f 11 7 1
+f 11 1 6
+f 12 5 4
+f 12 4 9
+f 13 9 1
+f 13 1 10
+f 13 10 5
+f 13 12 9
+f 14 13 5
+f 14 5 12
+f 14 12 13
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_9.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a15f52c3b5e977b05bc65a13277236a38cfd51
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.16827698 -0.19857992 0.37133328
+v 0.24414475 -0.08476251 -0.44063873
+v 0.21336246 -0.15501696 -0.41666667
+v 0.24790579 -0.08667926 0.36808440
+v 0.22283018 -0.08934236 -0.45122867
+v 0.23878850 -0.09718488 -0.43835551
+v 0.21336246 -0.15501696 0.36710338
+v 0.23888387 -0.09752213 0.37638022
+v 0.16903823 -0.19934118 -0.41666667
+v 0.23312635 -0.10201995 -0.44220900
+v 0.24199653 -0.09881945 0.36710338
+v 0.17456504 -0.18971645 0.37535746
+v 0.18418976 -0.18418970 0.36710338
+v 0.23476523 -0.08770349 -0.44525350
+v 0.22119131 -0.10365883 -0.44818417
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 8 5 1
+f 8 4 5
+f 8 7 4
+f 9 1 5
+f 10 2 6
+f 10 6 3
+f 10 3 9
+f 11 7 3
+f 11 3 4
+f 11 4 7
+f 12 8 1
+f 12 1 7
+f 12 7 8
+f 13 7 1
+f 13 1 9
+f 13 9 3
+f 13 3 7
+f 14 5 2
+f 14 2 10
+f 15 10 9
+f 15 9 5
+f 15 14 10
+f 15 5 14
\ No newline at end of file
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/model.xml b/Assets/robocasa/data/objects/objaverse/can/can_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4ede182b54364aca5b8b49381d9497113bab58b0
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/model.xml
@@ -0,0 +1,74 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/visual/material.mtl b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b69ee017d934c5b09e3ee53e590b4276cccd4fc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/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/can/can_9/visual/model_normalized_0.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8cd1676d620e23d853b80ade6006768b4487cac
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_0.obj
@@ -0,0 +1,940 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.11903262 -0.16383446 -0.49100059
+v -0.16383439 -0.11903276 -0.49100059
+v -0.16002451 -0.11626472 -0.50000000
+v -0.11626458 -0.16002465 -0.50000000
+v 0.11903283 0.16383453 -0.49100059
+v 0.16383453 0.11903276 -0.49100059
+v 0.16002472 0.11626472 -0.50000000
+v 0.11626479 0.16002465 -0.50000000
+v -0.12180065 -0.16764435 -0.48046290
+v -0.16764421 -0.12180072 -0.48046290
+v 0.12180080 0.16764435 -0.48046290
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_1.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8fba6613984f54ec83f8caba425d269e733a3bc
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_1.obj
@@ -0,0 +1,844 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_2.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..024dd7a4699d733ea85ec26d72a8752363108027
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_2.obj
@@ -0,0 +1,1438 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_3.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9fd6dcc0f93c961e41b63c8141814d21d0d6270
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_3.obj
@@ -0,0 +1,335 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_4.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c102cc5ab5384c09b6285b7375210d543a85e440
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_4.obj
@@ -0,0 +1,3077 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_5.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe583735a8fe5507891b23f0ef646160c9c10a97
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_5.obj
@@ -0,0 +1,1444 @@
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diff --git a/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_6.obj b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907cd02df1930dc4ae640f46714215d42e34f3f4
--- /dev/null
+++ b/Assets/robocasa/data/objects/objaverse/can/can_9/visual/model_normalized_6.obj
@@ -0,0 +1,3761 @@
+# https://github.com/mikedh/trimesh
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