diff --git a/objects/objaverse/apple/apple_21/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_21/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a38af49b393b107d21e29f7fd1ce3861b0b5103
--- /dev/null
+++ b/objects/objaverse/apple/apple_21/collision/model_normalized_collision_18.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_21/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_21/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab0040e7aceceb1c212d0445b8cc8794cb6b7bd
--- /dev/null
+++ b/objects/objaverse/apple/apple_21/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_21/visual/material.mtl b/objects/objaverse/apple/apple_21/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/objects/objaverse/apple/apple_21/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_21/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_21/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..984868a7d61754c5c7e13fa808542fa8299c52c9
--- /dev/null
+++ b/objects/objaverse/apple/apple_21/visual/model_normalized_0.obj
@@ -0,0 +1,2035 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/apple/apple_21/visual/model_normalized_1.obj b/objects/objaverse/apple/apple_21/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec3ffee44fd15ad62781b33739a1aeb50a4b287b
--- /dev/null
+++ b/objects/objaverse/apple/apple_21/visual/model_normalized_1.obj
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08d7fd8c133614d8a4daf0147270b6a5a1e6d09b
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12186973 -0.35146425 -0.22881040
+v 0.17859035 -0.19011032 -0.41950565
+v 0.18680834 0.16482899 -0.23484848
+v -0.32222297 0.16263251 -0.23249393
+v -0.19649614 -0.20028579 -0.40018371
+v -0.08783848 0.14317751 -0.49139620
+v -0.32957702 0.14490214 -0.22934768
+v 0.18264648 -0.32625014 -0.23100970
+v -0.08565421 -0.21186002 -0.43448664
+v 0.19133063 0.16917578 -0.42312375
+v 0.16480688 -0.33563979 -0.22853028
+v -0.26881029 -0.26376365 -0.22844001
+v -0.22079988 0.11580153 -0.41852112
+v 0.10753105 -0.19920756 -0.44656312
+v -0.13677651 -0.11560200 -0.49090600
+v -0.22049043 0.15760837 -0.40317322
+v 0.17736786 -0.27150392 -0.32799307
+v -0.32404402 -0.10354402 -0.26883005
+v -0.25587022 -0.27619282 -0.22830473
+v 0.06372461 -0.33329995 -0.28287533
+v 0.10919757 -0.19104055 -0.45392961
+v -0.11247539 -0.18310527 -0.46071186
+v -0.13677651 0.11272800 -0.49090600
+v -0.12354082 0.15386923 -0.47486795
+v -0.28080833 0.13079546 -0.32886641
+v 0.17876222 -0.31686497 -0.25694174
+v 0.17568542 -0.21426959 -0.40199993
+v -0.34515539 -0.07549732 -0.22963865
+v -0.26409573 -0.20552161 -0.31474819
+v -0.22069725 -0.11945496 -0.41843911
+v -0.12665499 -0.35021623 -0.22827252
+v 0.08048380 -0.21191210 -0.43452433
+v 0.12143528 -0.33320193 -0.26823483
+v 0.15137031 -0.19083043 -0.43653641
+v -0.07395592 0.13223412 -0.49028660
+v -0.16909077 -0.28596906 -0.31297280
+v -0.13728244 -0.17019091 -0.45925041
+v -0.08766109 -0.14609156 -0.49135773
+v -0.05805101 -0.18404090 -0.46133599
+v -0.16538944 0.11106018 -0.47394505
+v -0.04790264 0.15426765 -0.47534149
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+v -0.32487628 0.14328926 -0.24264128
+v -0.28037030 0.07167214 -0.34328695
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+f 63 28 7
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3a2c8e2b927ab417920db79e99cb5d04b398e1b
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.35244599 0.07703666 0.20746900
+v 0.36718159 0.07108152 -0.15501880
+v 0.32083935 0.25789811 0.09613581
+v 0.19531299 0.34774584 0.15401560
+v 0.21711137 0.07391989 -0.23484848
+v 0.19366460 0.31866066 -0.22891572
+v 0.32597479 0.19661038 0.19041238
+v 0.38040737 0.10102734 0.08147642
+v 0.21711137 0.07391989 0.18939394
+v 0.30578893 0.24254377 -0.16851398
+v 0.25164040 0.32870510 -0.05067624
+v 0.30391656 0.19302326 -0.24830924
+v 0.24821334 0.31557603 0.15181717
+v 0.38397445 0.07133973 0.09698555
+v 0.36648927 0.14536981 0.11187964
+v 0.35172321 0.07129129 -0.21316932
+v 0.20195985 0.19513202 -0.23484848
+v 0.19869390 0.33974225 0.17174865
+v 0.34961635 0.20366222 -0.03575783
+v 0.19611786 0.36411723 -0.00700761
+v 0.24805390 0.29977047 -0.18356815
+v 0.34998676 0.15827453 -0.14046833
+v 0.30793438 0.24400398 0.16775488
+v 0.29389792 0.30008037 0.05064080
+v 0.38347627 0.07116113 -0.05136835
+v 0.33516802 0.21577888 0.13728727
+v 0.38146049 0.08605752 0.09673352
+v 0.34054173 0.19040682 0.15473706
+v 0.34449827 0.07252394 -0.23138189
+v 0.20195985 0.19513202 0.17424242
+v 0.22118914 0.34437291 0.12378308
+v 0.21711137 0.19513202 0.18939394
+v 0.36614395 0.15864618 0.08146825
+v 0.19582100 0.34834951 -0.12607561
+v 0.29107598 0.28858508 -0.09443551
+v 0.26236536 0.26854692 -0.22638323
+v 0.31924578 0.20045596 -0.19916484
+v 0.34971507 0.08613052 -0.21239382
+v 0.30568957 0.27257833 0.12134458
+v 0.21978353 0.32802708 0.16690240
+v 0.23652671 0.34405740 0.05077245
+v 0.32058861 0.25778005 -0.05056035
+v 0.38160627 0.10107966 -0.00687107
+v 0.36434449 0.11452651 -0.12528441
+v 0.31958380 0.24538227 0.13680491
+v 0.33693101 0.20155727 0.15307940
+v 0.20503963 0.34378678 0.15199063
+v 0.26351114 0.31569060 0.12141119
+v 0.19620020 0.36435591 0.06673967
+v 0.35028713 0.20382592 0.08137476
+v 0.22104130 0.34337041 -0.08091548
+v 0.20565583 0.32821567 -0.18383225
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+v 0.33490205 0.20098283 -0.14019434
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+v 0.31869286 0.24603606 -0.10959304
+v 0.36538034 0.15840050 -0.03584107
+v 0.36480309 0.08582625 -0.15443521
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+f 57 10 36
+f 57 36 21
+f 57 53 35
+f 57 21 53
+f 58 37 10
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+f 59 37 22
+f 59 22 38
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+f 60 39 13
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+f 61 41 11
+f 61 49 41
+f 61 20 49
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+f 62 10 35
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+f 63 19 33
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+f 63 44 22
+f 63 22 19
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+f 64 25 2
+f 64 2 38
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+f 64 22 44
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53c0b2aa6f8c285c88b192b692e8ca0be4c1ea84
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.34725326 -0.12156250 0.20256833
+v 0.38851903 -0.01629093 0.11258604
+v 0.35066556 0.08715913 0.20860708
+v 0.32597479 0.19661038 0.19041238
+v 0.32317197 -0.01698920 0.11363636
+v 0.36510990 0.14504150 0.12625977
+v 0.34630378 -0.09212966 0.21538846
+v 0.35347939 -0.11942890 0.18458054
+v 0.38133771 0.07117041 0.12311443
+v 0.34939793 0.11477738 0.19844643
+v 0.34671541 0.20342206 0.11615070
+v 0.34639428 0.08831754 0.21532502
+v 0.36694467 -0.01620167 0.18404002
+v 0.35141066 -0.12255632 0.18873794
+v 0.34817773 0.15748842 0.16745340
+v 0.36404177 0.11456226 0.15276090
+v 0.36461674 0.08633665 0.16825692
+v 0.35213572 0.18932533 0.11187522
+v 0.35521992 -0.01772173 0.20926491
+v 0.36567448 0.04276973 0.18363819
+v 0.38172950 -0.01602294 0.13835501
+v 0.35063702 -0.09083239 0.20858144
+v 0.33679973 0.17388816 0.18378039
+v 0.35085419 0.18883183 0.12550207
+v 0.38251362 0.07108770 0.11199061
+v 0.38019156 0.04274004 0.13798194
+v 0.34932199 -0.11843508 0.19841094
+v 0.32936062 0.19185742 0.18637669
+v 0.36648927 0.14536981 0.11187964
+f 7 5 1
+f 7 4 5
+f 8 5 2
+f 11 5 4
+f 12 4 7
+f 12 10 4
+f 12 3 10
+f 14 1 5
+f 14 5 8
+f 15 10 6
+f 16 9 6
+f 16 6 10
+f 17 10 3
+f 17 16 10
+f 17 9 16
+f 18 5 11
+f 19 12 7
+f 19 3 12
+f 20 19 13
+f 20 3 19
+f 20 17 3
+f 20 9 17
+f 21 8 2
+f 21 20 13
+f 22 7 1
+f 22 21 13
+f 22 8 21
+f 22 19 7
+f 22 13 19
+f 23 4 10
+f 23 10 15
+f 24 15 6
+f 24 23 15
+f 24 11 4
+f 24 18 11
+f 24 6 18
+f 25 2 5
+f 25 5 18
+f 25 9 2
+f 25 6 9
+f 26 21 2
+f 26 2 9
+f 26 9 20
+f 26 20 21
+f 27 22 1
+f 27 8 22
+f 27 14 8
+f 27 1 14
+f 28 24 4
+f 28 4 23
+f 28 23 24
+f 29 25 18
+f 29 18 6
+f 29 6 25
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a39de9a82f0765acee511d5afcb785c756738cd9
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00499016 -0.22911041 0.26515152
+v 0.00499016 -0.22911041 0.00757576
+v 0.00000000 -0.00143500 0.29500049
+v -0.29999863 -0.01617747 0.28480210
+v -0.33651582 -0.24013575 0.00496523
+v -0.28288863 -0.01698920 0.00757576
+v -0.20557285 -0.24059683 0.28709443
+v 0.00499016 -0.01698920 0.00757576
+v 0.00000000 -0.00441328 0.29620656
+v -0.27456506 -0.20846407 0.25866265
+v -0.21123472 -0.24538114 0.28108256
+f 6 4 3
+f 6 5 4
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 5
+f 8 5 6
+f 9 7 1
+f 9 1 3
+f 9 3 4
+f 9 4 7
+f 10 7 4
+f 10 4 5
+f 11 5 2
+f 11 2 1
+f 11 1 7
+f 11 10 5
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90806addc40589e180df5f121fc48cd04b845867
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.08568124 -0.39439764 -0.09823018
+v -0.08498545 -0.35913699 -0.23208265
+v -0.08591894 -0.22911041 -0.09848485
+v -0.33943541 -0.21192630 -0.09766633
+v -0.25421548 -0.31954382 -0.10970908
+v -0.19197954 -0.21395889 -0.23484848
+v -0.31231741 -0.26269940 -0.09466315
+v -0.08329359 -0.37990859 -0.17017906
+v -0.08591894 -0.22911041 -0.23484848
+v -0.19197954 -0.21395889 -0.09848485
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+v -0.09806565 -0.37761503 -0.16959176
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+v -0.19602421 -0.33245013 -0.19915247
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+f 37 27 20
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+f 38 25 17
+f 38 17 24
+f 38 37 26
+f 38 26 33
+f 39 38 24
+f 39 24 37
+f 39 37 38
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efcc30c138551f5d940b35bc409448df440f7a69
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.18264648 -0.32625014 -0.23100970
+v 0.34005619 -0.10482889 -0.22957911
+v 0.32438668 0.15982722 -0.22948674
+v 0.18680834 0.16482899 -0.23484848
+v 0.18023684 -0.13389845 -0.45345277
+v 0.19361166 -0.32173199 -0.22869653
+v 0.18064172 0.15868365 -0.43720008
+v 0.27968246 -0.24929446 -0.22881647
+v 0.19279992 -0.24174212 -0.35867992
+v 0.18047817 -0.32160242 -0.24416122
+v 0.26164905 0.16023932 -0.34545922
+v 0.24615784 -0.20186484 -0.34375765
+v 0.22006906 -0.28573125 -0.26859705
+v 0.17859035 -0.19011032 -0.41950565
+v 0.33442015 0.07113760 -0.25765958
+v 0.26031522 0.05688277 -0.37253026
+v 0.29091624 -0.07541945 -0.32854433
+v 0.30314078 -0.17667725 -0.26904119
+v 0.23688993 -0.29288703 -0.22891630
+v 0.18116852 -0.30737390 -0.27202853
+v 0.24492079 -0.24503409 -0.29995853
+v 0.18040294 0.13033122 -0.45367148
+v 0.21526250 -0.17456549 -0.40220201
+v 0.30453915 0.14438076 -0.28426186
+v 0.34020888 0.10118845 -0.22963906
+v 0.29098282 0.07175256 -0.32859246
+v 0.26026212 -0.06055238 -0.37248805
+v 0.33432014 -0.07479836 -0.25762026
+v 0.32416039 -0.16342153 -0.22939966
+v 0.23362236 -0.28916726 -0.24222604
+v 0.20515363 -0.25735539 -0.32763460
+v 0.18128508 -0.24530014 -0.36042494
+v 0.19125411 -0.30321812 -0.27002560
+v 0.28833293 -0.21901503 -0.25723139
+v 0.21541457 0.14217575 -0.41635718
+v 0.18965424 -0.18698054 -0.41424848
+v 0.29009979 -0.13310717 -0.31499270
+v 0.29054400 0.15886499 -0.30070566
+v 0.31906355 0.14306914 -0.25753924
+v 0.30518730 0.02750752 -0.31508285
+v 0.29025862 0.12947684 -0.31508808
+v 0.19077334 0.12720019 -0.44736445
+v 0.22869993 -0.13428640 -0.40390987
+v 0.32014557 -0.11898046 -0.26958079
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+v 0.21853129 -0.25730234 -0.31440916
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+v 0.19060681 -0.13076761 -0.44714545
+v 0.33512484 -0.10370090 -0.24279415
+v 0.31935522 -0.07512908 -0.28390603
+v 0.31884663 -0.14667022 -0.25745352
+v 0.20505580 -0.28594822 -0.28388129
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+f 11 7 4
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+f 23 12 9
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+f 63 52 44
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+f 63 44 61
+f 63 61 2
+f 63 2 29
+f 64 33 31
+f 64 31 46
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+f 64 13 33
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e59a1395c307a5807b8ab758a06a6f2e9f1629
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02099260 -0.07940720 0.48554801
+v 0.02128844 -0.08111397 0.47142229
+v 0.00914449 -0.01964953 0.38543089
+v -0.00973617 -0.02190963 0.38421270
+v -0.00084701 -0.07682711 0.46915101
+v -0.00208960 -0.04516444 0.39360775
+v 0.00225550 -0.06164950 0.49555099
+v 0.02188780 -0.06376415 0.49419317
+v -0.00012190 -0.07660732 0.49196497
+v 0.00826765 -0.04331230 0.39420768
+v -0.00927456 -0.04026514 0.38927715
+v 0.00628224 -0.07505517 0.45559967
+v -0.00802268 -0.02872059 0.41096359
+v 0.02197262 -0.06989681 0.49290564
+v 0.00901252 -0.04965403 0.46975667
+v -0.00888211 -0.05177065 0.44314376
+v 0.00011526 -0.05915724 0.42397900
+v 0.01353711 -0.07721429 0.49229454
+v 0.01085527 -0.05110258 0.47183161
+v -0.00594803 -0.03391654 0.42485987
+v -0.00881233 -0.05289631 0.42021981
+v -0.00751767 -0.05806740 0.43167713
+v -0.00558238 -0.04064479 0.44099149
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 3 2
+f 10 2 6
+f 11 4 3
+f 11 10 6
+f 11 3 10
+f 12 6 2
+f 12 2 5
+f 13 3 4
+f 14 1 2
+f 14 2 8
+f 15 7 8
+f 15 3 13
+f 16 9 7
+f 16 13 4
+f 16 4 11
+f 17 11 6
+f 17 6 12
+f 17 12 5
+f 17 5 11
+f 18 9 1
+f 18 1 14
+f 18 7 9
+f 18 14 8
+f 18 8 7
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+f 19 8 3
+f 19 3 15
+f 20 15 13
+f 20 7 15
+f 21 16 11
+f 21 11 5
+f 22 5 9
+f 22 9 16
+f 22 21 5
+f 22 16 21
+f 23 16 7
+f 23 13 16
+f 23 20 13
+f 23 7 20
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8831ff040ce0f93104bc75d3d659466b4697465c
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_29.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.29931078 -0.01740240 0.28545161
+v 0.36410628 -0.01748657 0.19277526
+v 0.30466151 0.13046659 0.26888900
+v 0.20963351 0.18721848 0.31230743
+v 0.21711137 -0.01698920 0.18939394
+v 0.22384818 0.11513614 0.33673098
+v 0.33527522 0.05683067 0.23876265
+v 0.25358240 -0.01792339 0.32505186
+v 0.32936062 0.19185742 0.18637669
+v 0.28195849 0.17081458 0.27791616
+v 0.21270011 -0.01725248 0.34806681
+v 0.33651026 -0.01660143 0.23948120
+v 0.32049917 0.10017766 0.25404304
+v 0.24911275 0.10169521 0.32443080
+v 0.34119449 0.16042061 0.18531679
+v 0.21711137 0.19513202 0.18939394
+v 0.23585598 0.14030091 0.32254313
+v 0.26737173 0.18644055 0.27882399
+v 0.32181531 0.18884258 0.20887053
+v 0.21092743 0.11639169 0.34208546
+v 0.22414168 -0.01783372 0.34172548
+v 0.29275593 0.14330507 0.27938498
+v 0.33585575 0.11537571 0.22386781
+v 0.22152933 0.15551038 0.32330511
+v 0.29186023 0.18527045 0.25326296
+v 0.33467741 0.15766732 0.20736908
+v 0.28918455 0.17228704 0.26766979
+v 0.22176650 0.18432046 0.30724492
+v 0.23590314 0.16998671 0.30687808
+v 0.21227096 0.15911863 0.32641582
+f 8 5 2
+f 8 2 1
+f 11 4 5
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+f 13 3 1
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+f 14 6 11
+f 15 2 5
+f 16 5 4
+f 16 4 9
+f 16 15 5
+f 16 9 15
+f 17 6 14
+f 18 9 4
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+f 20 11 6
+f 20 4 11
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+f 21 11 5
+f 21 5 8
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+f 22 14 1
+f 22 1 3
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+f 22 10 17
+f 22 3 19
+f 23 7 2
+f 23 2 15
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+f 23 3 13
+f 25 19 18
+f 25 18 10
+f 26 15 9
+f 26 9 19
+f 26 23 15
+f 26 19 3
+f 26 3 23
+f 27 22 19
+f 27 10 22
+f 27 25 10
+f 27 19 25
+f 28 18 4
+f 29 24 17
+f 29 17 18
+f 29 28 24
+f 29 18 28
+f 30 20 17
+f 30 17 24
+f 30 4 20
+f 30 28 4
+f 30 24 28
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d67c16e93cd2a4bebd9f1aa341a0e88a84c5483
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.22491720 -0.23566197 0.27771323
+v 0.25117785 -0.26789136 -0.25405026
+v 0.21711137 -0.01698920 -0.23484848
+v 0.00000000 -0.00441328 0.29620656
+v 0.00499016 -0.22911041 0.26515152
+v 0.21711137 -0.01698920 0.26515152
+v 0.00499016 -0.22911041 -0.23484848
+v 0.00499016 -0.01698920 -0.23484848
+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 7 5 4
+f 8 3 2
+f 8 2 7
+f 8 7 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..135f79801c4244061f5c3c6c2082e22ad98d5dab
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.21270011 -0.01725248 0.34806681
+v 0.21711137 -0.01698920 0.20454545
+v 0.00499016 0.19513202 0.21969697
+v -0.32349254 0.19277187 0.20281561
+v -0.35829725 -0.01698122 0.20432909
+v 0.21711137 0.07391989 0.20454545
+v 0.00535108 0.19283967 0.36129771
+v -0.00803957 -0.02403768 0.39886290
+v -0.34490922 0.13124179 0.20018828
+v -0.19197954 0.19513202 0.20454545
+v 0.23127692 0.07601779 0.33878755
+v -0.22939612 0.10017438 0.33759640
+v -0.33073319 0.17531807 0.20024944
+v 0.18444112 0.01383497 0.36169441
+v -0.14479427 0.08558281 0.36897458
+v -0.15346934 0.18940377 0.33703643
+v -0.29800944 0.12824621 0.28036626
+v -0.22805973 -0.01796404 0.33951348
+v 0.18445142 -0.01750807 0.36173582
+v 0.00253773 -0.02242327 0.39947814
+v -0.11212229 0.18815855 0.35408134
+v -0.33982373 0.09995112 0.22311794
+v -0.34160536 0.13065850 0.20907677
+v -0.27139331 0.18544132 0.27682214
+v -0.27002412 -0.01754102 0.31093403
+v -0.19864360 -0.01749575 0.35583168
+v -0.21167845 0.16878785 0.32200008
+v -0.19840373 0.09982716 0.35116435
+v -0.32560184 0.05722765 0.25440766
+v -0.32736826 0.17383651 0.20912089
+v -0.28132084 0.18420237 0.26776915
+v -0.23966471 0.12884202 0.32345522
+v -0.25420928 0.01396277 0.32463247
+v -0.15796201 0.02912219 0.36873714
+v -0.31086490 0.10038992 0.26952547
+v -0.32694008 -0.01684690 0.25506025
+v -0.32472478 0.15767786 0.22253875
+v -0.31288511 0.18643862 0.22371463
+v -0.26907340 0.15875162 0.29194410
+v -0.25336725 0.08637145 0.32330796
+v -0.22543123 0.15445570 0.32142893
+v -0.15898253 0.07191107 0.36826387
+v -0.29472302 0.15758504 0.26801254
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 11 1 2
+f 11 2 6
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+f 11 3 7
+f 13 6 2
+f 13 2 9
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+f 13 4 10
+f 14 1 11
+f 14 11 7
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+f 25 5 8
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+f 26 18 8
+f 27 21 16
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+f 28 12 26
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+f 29 22 5
+f 30 4 13
+f 30 13 23
+f 31 24 4
+f 31 17 24
+f 33 25 18
+f 33 18 12
+f 34 26 8
+f 35 17 22
+f 35 22 29
+f 36 29 5
+f 36 5 25
+f 36 35 29
+f 36 25 35
+f 37 30 23
+f 37 23 17
+f 37 17 30
+f 38 30 17
+f 38 4 30
+f 38 31 4
+f 39 24 17
+f 39 17 32
+f 40 32 17
+f 40 12 32
+f 40 33 12
+f 40 17 35
+f 40 35 25
+f 40 25 33
+f 41 28 27
+f 41 39 32
+f 41 27 24
+f 41 24 39
+f 41 32 12
+f 41 12 28
+f 42 34 8
+f 42 8 15
+f 42 15 28
+f 42 28 26
+f 42 26 34
+f 43 38 17
+f 43 17 31
+f 43 31 38
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a8968b1853a0feb9d531098c905a55ceeef6c73
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.18096686 -0.36799478 0.12584099
+v 0.35420745 -0.13461612 -0.15550682
+v 0.32073401 -0.26141526 0.09615123
+v 0.30633037 -0.13755729 0.26404041
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+v 0.32221089 -0.13466857 0.24005005
+v 0.35018797 -0.20746689 0.08138109
+v 0.36896674 -0.13448101 -0.06658491
+v 0.29109043 -0.29147599 -0.09433022
+v 0.20769527 -0.35089817 0.13821623
+v 0.30564424 -0.27620295 0.12111645
+v 0.18680834 -0.22911041 0.14393939
+v 0.30450491 -0.23398344 0.19766549
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+v 0.18264648 -0.32625014 -0.23100970
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+v 0.19257664 -0.33020977 -0.21104214
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+v 0.31880550 -0.21836339 0.18220036
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+v 0.22110132 -0.34790147 0.12379187
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+v 0.19350604 -0.36228398 0.12546247
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+v 0.30574482 -0.20325268 0.22158500
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266ea05fd6f1abdd6f063d4e735be974f55d2bff
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00499016 -0.33517101 0.14393939
+v 0.00565216 -0.35941455 -0.24571917
+v 0.00499016 -0.22911041 -0.23484848
+v -0.19197954 -0.22911041 0.14393939
+v -0.19938266 -0.35081904 0.14963037
+v -0.20051866 -0.35387959 -0.10225758
+v 0.00499016 -0.22911041 0.14393939
+v -0.08866789 -0.35383251 -0.24299338
+v -0.19197954 -0.22911041 -0.09848485
+v -0.08591894 -0.22911041 -0.23484848
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+f 7 2 3
+f 8 2 6
+f 9 6 4
+f 9 4 3
+f 10 3 2
+f 10 2 8
+f 10 9 3
+f 10 8 6
+f 10 6 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae6b3a0395e0aa5237d1b6fc7867e2cf78da22c
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.18379129 -0.19561445 -0.41214640
+v 0.17859035 -0.19011032 -0.41950565
+v 0.19133063 0.16917578 -0.42312375
+v 0.00000000 0.17596270 -0.44466828
+v 0.00308375 -0.20736556 -0.42818328
+v 0.14583731 -0.10242776 -0.48954239
+v 0.10743990 -0.18367406 -0.46131175
+v 0.10591661 0.13949665 -0.49051042
+v 0.17393499 -0.12973881 -0.46029795
+v 0.16170926 -0.18827992 -0.43206584
+v 0.07023966 -0.13570767 -0.48952123
+v 0.11901749 0.15477576 -0.47632010
+v 0.14593766 0.09880302 -0.48971145
+v 0.17711124 -0.17399329 -0.43160767
+v 0.10581825 -0.14297382 -0.49017928
+v 0.01129756 -0.14885788 -0.45956444
+v 0.07017935 0.13204800 -0.48961478
+v 0.08316597 0.14431937 -0.49038312
+v 0.17410192 0.12617194 -0.46051730
+v 0.17513340 -0.15687099 -0.44362592
+v 0.05414418 -0.18345226 -0.46116968
+v 0.13318473 -0.17096566 -0.46067485
+v 0.01123638 0.14522606 -0.45973596
+v 0.04498803 0.15454020 -0.47390389
+v 0.08298849 -0.14723324 -0.49034464
+v 0.17531106 0.15337138 -0.44390637
+v 0.04474591 -0.15775014 -0.47358830
+v 0.16010281 -0.17186207 -0.44359552
+v 0.00809213 0.16133843 -0.45334236
+v 0.01028283 -0.18695534 -0.44316790
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+f 7 1 5
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+f 15 8 6
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+f 19 13 12
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+f 29 4 24
+f 30 27 5
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+f 30 16 27
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..108592a5e6c7cddf21a76ad79aa8179e53c89d79
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.31074369 0.18754782 0.22570540
+v 0.33345154 0.19335204 0.17260234
+v 0.15178480 0.36243087 0.16932900
+v -0.09852630 0.37914430 0.16997699
+v -0.16167651 0.19513202 0.20454545
+v 0.32295248 0.21732749 0.16865714
+v 0.09275134 0.18977731 0.35805804
+v 0.23741036 0.31603595 0.16800572
+v 0.20195985 0.19513202 0.17424242
+v 0.32099395 0.20070699 0.19794784
+v 0.09020681 0.32841649 0.26815805
+v -0.09768032 0.18936548 0.35704623
+v 0.10621297 0.37733557 0.16921755
+v 0.32526970 0.19036279 0.20015104
+v 0.27667627 0.25725061 0.20594037
+v 0.19327318 0.32890854 0.20718732
+v -0.14091786 0.19040988 0.34179710
+v -0.09765505 0.31888340 0.27883824
+v 0.03457089 0.37421554 0.20799975
+v 0.30474312 0.23040253 0.19752931
+v 0.16291004 0.27388391 0.29150590
+v 0.12063337 0.35911514 0.20781554
+v 0.23498673 0.29950467 0.20596605
+v -0.15595094 0.34969335 0.20017360
+v -0.13931668 0.24264446 0.32178091
+v -0.10939616 0.25816706 0.32242398
+v 0.04764513 0.34408119 0.25355511
+v -0.08217633 0.37304059 0.19827074
+v 0.26267683 0.21213270 0.26697627
+v 0.29485648 0.26046588 0.16844024
+v 0.10739133 0.25756659 0.32329468
+v 0.14806799 0.30012415 0.27911762
+v 0.07793665 0.35915985 0.22320439
+v 0.07717895 0.37392587 0.19856217
+v 0.16288220 0.34388044 0.20706066
+v 0.15041865 0.35822888 0.18305854
+v 0.23490934 0.31217100 0.18159806
+v -0.15858886 0.19297697 0.33375193
+v -0.13915490 0.20472259 0.33797774
+v -0.13983047 0.30387596 0.27964699
+v 0.09142386 0.20305273 0.35304711
+v -0.11135897 0.23272949 0.33632245
+v -0.05272750 0.34351897 0.25318713
+v -0.08243536 0.30348014 0.29365808
+v -0.02460196 0.37449752 0.20818416
+v -0.12547746 0.35806753 0.20711764
+v 0.27494397 0.21361252 0.25123185
+v 0.17771803 0.20343826 0.32234953
+v 0.29118970 0.25756240 0.18197558
+v 0.13460144 0.24347270 0.32299087
+v 0.10671051 0.31617937 0.27902936
+v 0.18900924 0.28457602 0.26690310
+v 0.10483190 0.37312018 0.18293459
+v -0.15148606 0.23035202 0.32289679
+v -0.09633761 0.20263674 0.35200221
+v 0.10644525 0.23314551 0.33736743
+v -0.08349473 0.32903303 0.26907740
+v -0.08301902 0.35859763 0.22283641
+v -0.13771376 0.31350226 0.26761377
+v -0.09767242 0.37479551 0.18369693
+v -0.10928363 0.37171659 0.18277344
+v 0.30591194 0.19975082 0.22215084
+v 0.25352680 0.20097300 0.27951210
+v 0.09215513 0.30251802 0.29239051
+f 5 2 1
+f 8 6 4
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 2 6
+f 12 1 7
+f 13 8 4
+f 13 3 8
+f 14 10 1
+f 14 1 2
+f 14 2 10
+f 16 8 3
+f 17 5 1
+f 17 1 12
+f 19 13 4
+f 20 1 10
+f 20 10 6
+f 24 4 5
+f 29 15 23
+f 30 20 6
+f 30 6 8
+f 33 11 22
+f 33 27 11
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+f 54 38 39
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+f 62 47 1
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+f 63 7 1
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_8/model.xml b/objects/objaverse/apple/apple_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6438adf961f43d4e8250ba973794c50529aa8325
--- /dev/null
+++ b/objects/objaverse/apple/apple_8/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="apple_42">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image3" file="visual/image3.png"/>
+    <material name="M_Apple" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="lambert1.053" texture="image3" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="M_Apple"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="lambert1.053"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00019372519999999967 -8.18486250000003e-05 -0.041768677000000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00019372519999999967 -8.18486250000003e-05 0.04212183415000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0332605272 0.03466135950000001 0.00017657857500000086" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_18.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8dccda13e22bb53a98c87df9492bd326c8510b9
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26427212 -0.08182906 0.12522228
+v 0.26403820 -0.07988156 -0.11748349
+v 0.26392087 0.08005600 0.12511865
+v -0.23430629 0.08003811 0.12513334
+v -0.23451468 -0.08232295 0.12522076
+v 0.26413422 0.08179999 -0.11763340
+v -0.23440291 0.08175235 -0.11761933
+v -0.23439551 -0.08040299 -0.11747445
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 4 6
+f 8 5 7
+f 8 2 1
+f 8 1 5
+f 8 7 6
+f 8 6 2
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_21.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02e565df8c41bfcae895f4dd522fb16f09e73ff0
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15934360 -0.07977783 0.16188730
+v -0.15920085 -0.08276111 0.12510683
+v -0.15921073 0.08079413 0.12499854
+v -0.23423338 0.07811247 0.16147506
+v -0.23447207 -0.07971350 0.16238422
+v -0.23451468 -0.08232295 0.12522076
+v -0.15934496 0.07824738 0.16151651
+v -0.23430629 0.08003811 0.12513334
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 7 2 3
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/collision/model_normalized_collision_3.obj b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f4f462e6935557ac5fe35e096f6354f7d716e00
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.35586106 -0.06620904 0.12407107
+v 0.35093999 0.06574836 0.12500078
+v 0.34194772 -0.01041890 0.19074005
+v -0.15854013 0.08078639 0.12513641
+v 0.34106344 0.02504696 0.18470891
+v -0.23465210 -0.01878548 0.18548372
+v -0.15885604 -0.02989277 0.18184353
+v -0.23480510 0.03393914 0.18087400
+v -0.23522229 -0.01185533 0.18718646
+v -0.23498409 0.02598743 0.18325162
+f 1 2 3
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 6 4 1
+f 7 6 1
+f 7 1 3
+f 7 3 6
+f 8 5 4
+f 8 4 6
+f 9 8 6
+f 9 6 3
+f 10 3 5
+f 10 5 8
+f 10 9 3
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/visual/material.mtl b/objects/objaverse/bar/bar_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..558f170804f036126ecafc7e1af0d9aa541ac1b6
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 15.47450500
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_3/visual/model_normalized_0.obj b/objects/objaverse/bar/bar_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1664c3ea568834ea22fb31325de82df30734cfd
--- /dev/null
+++ b/objects/objaverse/bar/bar_3/visual/model_normalized_0.obj
@@ -0,0 +1,31618 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.49354169 0.00306975 -0.17648921
+v 0.49459889 0.00289913 -0.17791193
+v 0.48365988 0.00397324 -0.17866760
+v 0.48137595 0.00417549 -0.17652415
+v 0.49650112 0.00246595 -0.17932730
+v 0.48958536 0.00335510 -0.18043855
+v 0.47556483 0.00464581 -0.18222752
+v 0.46904584 0.00543715 -0.17919565
+v 0.46785773 0.00557063 -0.17659107
+v 0.49999191 0.00117634 -0.18214626
+v 0.49616907 0.00235232 -0.18147590
+v 0.49828494 0.00186252 -0.18073788
+v 0.49999191 0.00117634 -0.18214626
+v 0.49462720 0.00260164 -0.18220325
+v 0.49999191 0.00117634 -0.18214626
+v 0.49828494 0.00187833 -0.18360501
+v 0.49616980 0.00236004 -0.18290928
+v 0.49649928 0.00249684 -0.18505972
+v 0.48958389 0.00337386 -0.18402348
+v 0.49354426 0.00313079 -0.18794230
+v 0.48138036 0.00423433 -0.18799820
+v 0.48364737 0.00401038 -0.18583966
+v 0.49459117 0.00294509 -0.18650708
+v 0.46785736 0.00562395 -0.18787501
+v 0.46904548 0.00546620 -0.18522262
+v 0.44812684 0.00931294 -0.18581098
+v 0.44420545 0.01032455 -0.18320272
+v 0.45654254 0.00759163 -0.18453094
+v 0.45664918 0.00747323 -0.18721017
+v 0.44207376 0.01102910 -0.18001825
+v 0.45643553 0.00770857 -0.18175500
+v 0.44812721 0.00927727 -0.17628035
+v 0.45664955 0.00742800 -0.17661313
+v 0.45654254 0.00756883 -0.17913387
+v 0.44420581 0.01030543 -0.17769718
+v 0.43527935 0.01328104 -0.14883132
+v 0.43683371 0.01277174 -0.15685099
+v 0.42039577 0.01900280 -0.15688665
+v 0.41814568 0.01997727 -0.14471099
+v 0.44023147 0.01158142 -0.16280221
+v 0.42605135 0.01653171 -0.16553770
+v 0.41443021 0.02272526 -0.17275756
+v 0.40506284 0.02903722 -0.15535730
+v 0.40259726 0.03034925 -0.14000377
+v 0.44812757 0.00922248 -0.16679016
+v 0.44420618 0.01025909 -0.16889795
+v 0.43401512 0.01342886 -0.16862179
+v 0.44420618 0.01023666 -0.16558293
+v 0.44207412 0.01099270 -0.17179229
+v 0.42945609 0.01515789 -0.17206183
+v 0.43401475 0.01346196 -0.17516468
+v 0.44420581 0.01029035 -0.17437150
+v 0.42945572 0.01517518 -0.17735667
+v 0.44420508 0.01033227 -0.18655525
+v 0.43401438 0.01347924 -0.18176088
+v 0.44207339 0.01104712 -0.18831444
+v 0.42945535 0.01518033 -0.18270078
+v 0.41443021 0.02272526 -0.17275756
+v 0.42945572 0.01517518 -0.17735667
+v 0.43401438 0.01347924 -0.18176088
+v 0.42945535 0.01518033 -0.18270078
+v 0.44812647 0.00932986 -0.19542362
+v 0.44420471 0.01034073 -0.19550783
+v 0.43401438 0.01348034 -0.18843137
+v 0.44420508 0.01033962 -0.19211595
+v 0.43984095 0.01171969 -0.19593365
+v 0.42548763 0.01666188 -0.18634786
+v 0.43401438 0.01348034 -0.18843137
+v 0.42548763 0.01666188 -0.18634786
+v 0.43139031 0.01386572 -0.20042538
+v 0.41313766 0.02113118 -0.19128233
+v 0.41814347 0.01945106 -0.18801548
+v 0.43527677 0.01306298 -0.19797304
+v 0.39911346 0.03162709 -0.18253604
+v 0.40294917 0.02950717 -0.17811786
+v 0.43984095 0.01171969 -0.19593365
+v 0.36720322 0.05936588 -0.16986506
+v 0.36986259 0.06093458 -0.16474967
+v 0.39112652 0.04493718 -0.17055343
+v 0.38801927 0.04559687 -0.17554784
+v 0.37165083 0.06139938 -0.15754230
+v 0.39396313 0.04400500 -0.16289708
+v 0.39112652 0.04493718 -0.17055343
+v 0.36986259 0.06093458 -0.16474967
+v 0.39396313 0.04400500 -0.16289708
+v 0.36973499 0.06266435 -0.13327004
+v 0.39061392 0.04621648 -0.13594264
+v 0.39200906 0.04518208 -0.15121968
+v 0.37071497 0.06222860 -0.14720121
+v 0.08065720 0.07551368 -0.16569214
+v 0.04457221 0.07657125 -0.16568442
+v 0.04457111 0.08038821 -0.16074480
+v 0.08065610 0.07927622 -0.16075252
+v 0.00848759 0.07692426 -0.16568037
+v 0.00848649 0.08076035 -0.16074039
+v 0.00848612 0.08265338 -0.15408902
+v 0.04457074 0.08227206 -0.15409307
+v 0.08065573 0.08113248 -0.15410152
+v -0.06368055 0.07545190 -0.16568405
+v -0.06368202 0.07921444 -0.16074443
+v -0.02759777 0.08035732 -0.16074039
+v -0.02759666 0.07654036 -0.16568037
+v -0.06368239 0.08107071 -0.15409307
+v -0.02759814 0.08224117 -0.15408902
+v -0.06368092 0.08157081 -0.13195984
+v -0.02759703 0.08275083 -0.13195543
+v -0.02759814 0.08282695 -0.14480219
+v -0.06368202 0.08164729 -0.14480623
+v 0.00848722 0.08316599 -0.13195543
+v 0.00848649 0.08324211 -0.14480219
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\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_0.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4bfc764cb2b2df576a463eb4e2be46faa123947
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00785689 -0.07722183 0.14416957
+v 0.10234406 -0.02636916 0.08059924
+v 0.10350320 -0.03233883 0.14476074
+v -0.03663487 0.07884622 0.14418700
+v -0.04255456 -0.07207243 0.08314481
+v 0.07138187 0.07678609 0.14408792
+v 0.00466249 -0.07804013 0.08280112
+v -0.04292232 -0.07255752 0.14381120
+v -0.03631265 0.07893013 0.08302732
+v 0.07135269 0.07541988 0.08365126
+f 1 3 4
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+f 8 7 1
+f 8 5 7
+f 9 2 5
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 10 9 6
+f 10 6 2
+f 10 2 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_1.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64347dd5cd5daa7920b6924014e6519a990c8023
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.05989771 -0.06336603 -0.23392192
+v 0.12972200 0.00054196 -0.37949033
+v 0.10035824 0.04570126 -0.23564521
+v -0.05058948 0.07214856 -0.23434181
+v -0.13881256 0.00565810 -0.37199076
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+v -0.11204567 0.02469987 -0.23781491
+v -0.05981477 -0.06332089 -0.23507254
+v -0.02306280 0.07076295 -0.30790479
+v 0.12710893 0.01706807 -0.35775699
+v 0.06994229 0.07147806 -0.30714701
+v -0.10719400 0.03793086 -0.36863800
+v 0.08524785 -0.04569564 -0.25142668
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+v -0.11282222 -0.01189998 -0.23637187
+v -0.03664062 -0.06082183 -0.30634064
+v -0.08941893 -0.04415164 -0.29271664
+v -0.04723510 0.07123709 -0.29491578
+v 0.11077855 0.03442489 -0.26665129
+v 0.12844951 0.01743244 -0.37268934
+v -0.13307428 0.01912626 -0.37085200
+v 0.10962528 -0.02016051 -0.28498347
+v 0.02014591 -0.06011249 -0.31868028
+v -0.11302139 -0.02262490 -0.28175192
+v -0.05170759 -0.04460967 -0.34765613
+v -0.08921740 -0.04541279 -0.23652826
+v -0.09284832 -0.03113566 -0.35022863
+v -0.05981645 -0.06034276 -0.29282047
+v 0.06507783 -0.04419309 -0.34910112
+v -0.07641906 -0.04314460 -0.33435843
+v 0.09417892 -0.03314953 -0.36367537
+f 7 4 1
+f 10 1 4
+f 12 7 1
+f 12 3 7
+f 12 1 8
+f 13 7 3
+f 14 2 8
+f 16 1 10
+f 17 6 11
+f 18 12 8
+f 18 8 2
+f 19 13 6
+f 19 7 13
+f 19 17 7
+f 19 6 17
+f 20 11 6
+f 20 6 13
+f 20 13 2
+f 21 8 1
+f 21 1 14
+f 22 14 1
+f 23 5 2
+f 23 2 14
+f 24 10 4
+f 24 4 20
+f 25 15 5
+f 25 24 15
+f 25 10 24
+f 26 9 1
+f 26 1 16
+f 28 17 11
+f 28 4 7
+f 28 7 17
+f 28 20 4
+f 28 11 20
+f 29 3 12
+f 29 12 18
+f 29 13 3
+f 30 18 2
+f 30 2 13
+f 30 29 18
+f 30 13 29
+f 31 20 2
+f 31 2 5
+f 31 24 20
+f 31 5 15
+f 31 15 24
+f 32 21 14
+f 32 14 8
+f 32 8 21
+f 33 22 1
+f 33 1 9
+f 34 25 5
+f 34 10 25
+f 34 5 27
+f 35 9 26
+f 36 27 16
+f 36 16 10
+f 36 34 27
+f 36 10 34
+f 37 27 5
+f 37 5 23
+f 38 26 16
+f 38 16 27
+f 38 27 37
+f 38 35 26
+f 39 22 33
+f 39 33 9
+f 39 9 35
+f 39 35 23
+f 40 38 37
+f 40 37 23
+f 40 23 35
+f 40 35 38
+f 41 14 22
+f 41 22 39
+f 41 39 23
+f 41 23 14
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_10.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..695b11739024894576cbc2c8c9e7bb1ae0b0b3db
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.07685846 -0.05269595 0.31053675
+v 0.11536644 -0.01636275 0.31050471
+v 0.08151599 -0.01780347 0.40100435
+v -0.08551125 -0.01713920 0.39930566
+v -0.10569101 -0.02840345 0.31369861
+v -0.06605661 -0.04483714 0.35076029
+v 0.08251114 -0.03231208 0.37840813
+v -0.07703227 -0.05111099 0.31083366
+v 0.07471110 -0.04493194 0.35021277
+v -0.08429719 -0.03153419 0.37688870
+v -0.07658298 -0.04658934 0.33579107
+f 3 2 4
+f 5 4 2
+f 7 1 2
+f 7 2 3
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 8 1 6
+f 9 7 6
+f 9 6 1
+f 9 1 7
+f 10 7 4
+f 10 6 7
+f 10 4 5
+f 11 8 6
+f 11 6 10
+f 11 10 5
+f 11 5 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_11.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23aa03d7fb0993d3e8dd8c03a85943ae16a6cce1
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.05338080 -0.05804486 0.30973603
+v -0.05086136 -0.06942856 0.14406095
+v -0.05198717 -0.06326744 0.27834462
+v -0.07609166 0.06261370 0.26959098
+v -0.11776004 -0.01904444 0.30993357
+v -0.10114664 0.04219873 0.31089453
+v -0.10643690 0.02525980 0.14524720
+v -0.07703227 -0.05111099 0.31083366
+v -0.07912043 0.06028753 0.14099199
+v -0.10149793 -0.03378161 0.14280952
+v -0.11414496 0.02443727 0.31309930
+v -0.06007943 -0.06152936 0.27925009
+v -0.11394733 0.00009392 0.22073001
+v -0.08878515 -0.04527147 0.26355460
+v -0.08595664 -0.04852240 0.14277655
+v -0.08733889 -0.04310939 0.31545242
+v -0.11259094 0.00990535 0.22051034
+v -0.06397283 -0.06425649 0.14413076
+v -0.10198421 -0.03201349 0.30870103
+f 1 3 4
+f 3 2 4
+f 6 1 4
+f 9 4 2
+f 9 7 6
+f 9 6 4
+f 10 7 9
+f 11 6 7
+f 12 2 3
+f 12 3 1
+f 12 1 8
+f 13 10 5
+f 13 7 10
+f 13 5 11
+f 15 10 9
+f 15 9 2
+f 15 14 5
+f 15 5 10
+f 16 11 5
+f 16 8 1
+f 16 1 6
+f 16 6 11
+f 16 14 8
+f 17 13 11
+f 17 11 7
+f 17 7 13
+f 18 12 8
+f 18 8 14
+f 18 2 12
+f 18 15 2
+f 18 14 15
+f 19 16 5
+f 19 5 14
+f 19 14 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_12.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a459fb8b8a04ccad190f253758d022f27113cc0
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.11009697 0.01167536 0.18959123
+v 0.10941093 0.02690891 -0.23492420
+v 0.10936510 0.02707124 0.26558472
+v 0.07115938 0.07529016 0.26526039
+v 0.07621837 0.06311970 -0.23480303
+v 0.10035824 0.04570126 -0.23564521
+v 0.11091467 0.01300338 -0.09874729
+v 0.10911062 0.00631809 -0.09869289
+v 0.10180233 0.04290883 -0.23152663
+v 0.09702263 0.04530108 0.26622954
+v 0.08597966 0.05797419 0.26605566
+v 0.09937474 0.04229331 0.26392888
+f 1 3 4
+f 6 5 4
+f 6 2 5
+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
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 6 4
+f 11 10 4
+f 11 4 3
+f 11 3 10
+f 12 10 3
+f 12 3 6
+f 12 6 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_13.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87f99f27b63e6c4da3da9e036dc81dc0054ee873
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.08297484 -0.04916472 0.31071914
+v 0.12601673 0.00002060 0.32955379
+v 0.12428046 -0.01152006 0.40048596
+v 0.07117640 0.05045590 0.36737459
+v 0.08146208 0.05719082 0.31047720
+v 0.08176123 -0.01023711 0.40890798
+v 0.11131571 -0.02612722 0.31065785
+v 0.13691877 0.02048484 0.40205422
+v 0.09181173 -0.03088506 0.38180774
+v 0.08251114 -0.03231208 0.37840813
+v 0.12811157 -0.00970157 0.39951632
+v 0.11247851 0.03305032 0.31246276
+v 0.10290646 0.04422719 0.30908771
+v 0.10505873 0.04222378 0.36979903
+v 0.08120483 0.03203308 0.39442972
+v 0.10391829 -0.02835905 0.36755913
+v 0.12466077 -0.00755172 0.34442101
+v 0.10302084 -0.03411496 0.31188463
+v 0.12507672 0.02901006 0.39227460
+f 5 1 4
+f 8 6 3
+f 9 3 6
+f 10 6 4
+f 10 4 1
+f 10 9 6
+f 10 1 9
+f 11 8 3
+f 11 2 8
+f 12 2 7
+f 12 8 2
+f 13 7 1
+f 13 1 5
+f 13 12 7
+f 13 8 12
+f 14 5 4
+f 14 13 5
+f 15 4 6
+f 15 6 8
+f 16 9 1
+f 16 3 9
+f 16 11 3
+f 16 1 11
+f 17 11 7
+f 17 7 2
+f 17 2 11
+f 18 11 1
+f 18 1 7
+f 18 7 11
+f 19 14 4
+f 19 8 13
+f 19 13 14
+f 19 15 8
+f 19 4 15
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_14.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7282ed010850ee5e9e5a156f9885936b88d075b7
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11187903 -0.01574360 0.26292797
+v 0.11062962 -0.00794359 0.14227279
+v 0.07116130 0.07535112 0.26430123
+v -0.06257128 0.07118582 0.26538699
+v -0.08272594 -0.04850100 0.26925880
+v -0.06428642 0.07186972 0.14409071
+v -0.08704535 0.05588760 0.26873368
+v 0.07138187 0.07678609 0.14408792
+v -0.10788166 -0.00968044 0.14937692
+v -0.09015986 0.05186923 0.14417576
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 7 5 3
+f 7 3 4
+f 7 4 6
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
+f 9 2 5
+f 9 5 7
+f 10 6 2
+f 10 2 9
+f 10 9 7
+f 10 7 6
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_15.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d50b998b334d616cc719c9ab9b122b8cb6861cca
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.08363341 -0.04671817 0.31045559
+v -0.08429719 -0.03153419 0.37688870
+v -0.14127402 -0.00129919 0.40231074
+v -0.08121292 0.06049558 0.30841790
+v -0.08066516 0.05802636 0.32130169
+v -0.11776004 -0.01904444 0.30993357
+v -0.09395223 -0.02877519 0.38130903
+v -0.08434572 0.03376603 0.39693706
+v -0.11864399 0.02848666 0.40239265
+v -0.10198421 -0.03201349 0.30870103
+v -0.11282225 0.03171758 0.31438634
+v -0.08507051 -0.00964153 0.40781108
+v -0.09772123 0.04195732 0.37962980
+v -0.13034487 -0.00054013 0.34398871
+v -0.08904990 0.05599979 0.31144208
+v -0.13096404 0.01690125 0.40904683
+v -0.08894295 0.05566612 0.32259905
+v -0.08401875 0.04288429 0.37874410
+v -0.13380826 0.00179075 0.36081122
+v -0.12943351 0.00699654 0.34796520
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 10 1 3
+f 10 3 6
+f 10 6 4
+f 10 4 1
+f 11 4 6
+f 12 2 5
+f 12 5 8
+f 12 7 2
+f 12 3 7
+f 13 5 4
+f 13 9 8
+f 14 11 6
+f 14 6 3
+f 15 4 11
+f 16 11 3
+f 16 15 11
+f 16 9 15
+f 16 3 12
+f 16 12 8
+f 16 8 9
+f 17 13 4
+f 17 9 13
+f 17 15 9
+f 17 4 15
+f 18 13 8
+f 18 8 5
+f 18 5 13
+f 19 14 3
+f 19 3 11
+f 20 19 11
+f 20 11 14
+f 20 14 19
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_16.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba02eeec66f896796d1ace8aa896b1c1905ac7a
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.09015986 0.05186923 0.14417576
+v -0.03832113 0.07761193 -0.09812230
+v -0.03663487 0.07884622 0.14418700
+v -0.05059943 0.07425666 -0.14283136
+v -0.09498642 0.05222155 -0.15798890
+v -0.05003670 0.07501698 -0.09679078
+v -0.05427161 0.07290879 -0.15909909
+v -0.06428642 0.07186972 0.14409071
+v -0.06828285 0.06935214 -0.15891780
+v -0.06475817 0.07051764 -0.14253947
+v -0.07185981 0.06606294 -0.16696237
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 7 4 2
+f 7 2 5
+f 8 5 1
+f 8 1 3
+f 8 3 6
+f 9 4 7
+f 9 5 8
+f 10 9 8
+f 10 8 6
+f 10 6 4
+f 10 4 9
+f 11 9 7
+f 11 7 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_17.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..980fc944ff4b03d0b308a7c6d31e34e521112d87
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.05843846 -0.06642824 0.14327705
+v -0.05773379 -0.06604352 -0.09839544
+v -0.05003670 0.07501698 -0.09679078
+v -0.05100591 0.07517678 0.14408689
+v -0.10931927 0.02660111 -0.15947595
+v -0.10795948 -0.01665119 0.14277697
+v -0.07185981 0.06606294 -0.16696237
+v -0.10624915 -0.01540509 -0.15956825
+v -0.08484139 -0.04530050 -0.15866970
+v -0.10643690 0.02525980 0.14524720
+v -0.09498642 0.05222155 -0.15798890
+f 1 2 3
+f 1 3 4
+f 7 3 2
+f 7 4 3
+f 8 6 5
+f 8 5 7
+f 9 2 1
+f 9 1 6
+f 9 6 8
+f 9 8 7
+f 9 7 2
+f 10 6 1
+f 10 1 4
+f 10 5 6
+f 11 7 5
+f 11 5 10
+f 11 10 4
+f 11 4 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_18.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75fc1486cd400aa4f334acdcb11d1edb41ea2a89
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08198819 0.02749054 0.40132711
+v 0.09477096 0.04856777 0.31361103
+v 0.07112567 0.06980138 0.30993111
+v -0.08121292 0.06049558 0.30841790
+v -0.10114664 0.04219873 0.31089453
+v -0.08401875 0.04288429 0.37874410
+v 0.07118993 0.05800887 0.35025321
+v -0.06640015 0.05422808 0.35259441
+v -0.08453702 0.02978362 0.40325691
+v -0.08159550 0.05449656 0.33749579
+v 0.08120483 0.03203308 0.39442972
+v -0.08497157 0.03677968 0.39086386
+v 0.07115550 0.04433000 0.37882496
+v -0.08434572 0.03376603 0.39693706
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 7 2 3
+f 8 3 4
+f 8 7 3
+f 8 6 7
+f 9 5 1
+f 10 4 5
+f 10 5 6
+f 10 8 4
+f 10 6 8
+f 11 1 2
+f 11 2 7
+f 12 6 5
+f 12 5 9
+f 13 9 1
+f 13 1 11
+f 13 11 7
+f 13 7 6
+f 14 12 9
+f 14 9 13
+f 14 13 6
+f 14 6 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_19.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbdfef165149e475cd18b178d259fdb0c2a86a6e
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.08484139 -0.04530050 -0.15866970
+v -0.07553254 -0.05308774 -0.23162317
+v -0.05427161 0.07290879 -0.15909909
+v -0.05392017 0.07136255 -0.23479012
+v -0.11449087 0.00996669 -0.23741356
+v -0.11282222 -0.01189998 -0.23637187
+v -0.07608045 0.06100856 -0.23638141
+v -0.09984608 0.04720120 -0.15901463
+v -0.08692996 0.06069262 -0.15957172
+v -0.10343997 0.04184297 -0.23667332
+v -0.10624915 -0.01540509 -0.15956825
+v -0.11274289 0.01043017 -0.21924335
+v -0.11213902 -0.00784072 -0.21941351
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 9 3 4
+f 9 4 7
+f 9 8 3
+f 10 7 5
+f 10 5 8
+f 10 9 7
+f 10 8 9
+f 11 6 1
+f 11 1 8
+f 12 11 8
+f 12 8 5
+f 12 5 11
+f 13 11 5
+f 13 5 6
+f 13 6 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_2.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0fb847354f2150cb1e667fccde15166da5ff0f4
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.10350320 -0.03233883 0.14476074
+v 0.11105592 -0.00794707 -0.23579370
+v 0.11234553 0.00034044 0.14481793
+v 0.10599484 0.02084526 0.14360363
+v 0.09872472 0.03902042 -0.09845208
+v 0.11114790 -0.01191119 0.10009564
+v 0.09915057 -0.02783816 -0.23386210
+v 0.11067148 0.02274007 -0.23528673
+v 0.10901370 -0.01705052 0.14413088
+v 0.11215787 0.01894432 -0.09805362
+v 0.10180233 0.04290883 -0.23152663
+v 0.11077632 0.00691095 0.14417302
+f 1 3 4
+f 5 1 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 2 7
+f 9 6 3
+f 9 3 1
+f 9 1 6
+f 10 3 2
+f 10 2 8
+f 11 8 7
+f 11 7 5
+f 11 10 8
+f 11 5 4
+f 11 4 10
+f 12 10 4
+f 12 4 3
+f 12 3 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_20.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e5309e1d3b87ebaa0afe635e541f20d5022e27b
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.10980189 0.02591576 0.26471555
+v -0.06828285 0.06935214 -0.15891780
+v -0.10931927 0.02660111 -0.15947595
+v -0.06686699 0.06900485 0.26461296
+v -0.09992708 0.04812950 0.26653479
+v -0.08704535 0.05588760 0.26873368
+v -0.08692996 0.06069262 -0.15957172
+v -0.08877474 0.05555215 0.26289807
+v -0.09984608 0.04720120 -0.15901463
+f 1 3 4
+f 3 2 4
+f 5 3 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 4 2
+f 7 2 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
+f 9 7 3
+f 9 3 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_21.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..789f262baa831e068c5c75757cc60b532feed676
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.06914435 -0.06221371 0.14395189
+v -0.06672743 -0.05884064 -0.23491268
+v -0.10795948 -0.01665119 0.14277697
+v -0.08595664 -0.04852240 0.14277655
+v -0.09370353 -0.04073637 -0.23561548
+v -0.09257430 -0.04200056 0.14587180
+v -0.07803840 -0.05200656 -0.23591212
+v -0.11079822 -0.01548232 -0.23571214
+v -0.10149793 -0.03378161 0.14280952
+v -0.10022584 -0.03393404 -0.23438108
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 8 7 5
+f 8 2 7
+f 9 5 4
+f 9 4 6
+f 9 6 3
+f 9 3 8
+f 10 9 8
+f 10 8 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_22.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..823adf0d502b5b6d534806226ef04f9017a77ca7
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.11470937 0.02440321 0.31120395
+v 0.11254159 0.02419054 0.28249406
+v 0.07116130 0.07535112 0.26430123
+v -0.05206651 0.07086565 0.29325819
+v -0.11317760 0.02740680 0.31088456
+v 0.06578022 0.07069154 0.30709002
+v 0.11247851 0.03305032 0.31246276
+v -0.10980189 0.02591576 0.26471555
+v -0.03776245 0.07064697 0.30803429
+v 0.11104851 0.02981093 0.28153660
+v 0.07113544 0.07263998 0.29298754
+v 0.10936510 0.02707124 0.26558472
+v -0.09992708 0.04812950 0.26653479
+v -0.08904990 0.05599979 0.31144208
+v 0.09702263 0.04530108 0.26622954
+v -0.06257128 0.07118582 0.26538699
+v -0.09909458 0.04491123 0.30896412
+v -0.06312277 0.07057380 0.27821888
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 9 3 4
+f 10 7 1
+f 10 1 2
+f 11 7 3
+f 11 6 7
+f 11 9 6
+f 11 3 9
+f 12 8 3
+f 12 2 8
+f 12 10 2
+f 13 8 5
+f 14 9 4
+f 14 5 7
+f 14 7 6
+f 14 6 9
+f 15 3 7
+f 15 7 10
+f 15 12 3
+f 15 10 12
+f 16 4 3
+f 16 3 8
+f 16 8 13
+f 16 13 14
+f 17 14 13
+f 17 13 5
+f 17 5 14
+f 18 16 14
+f 18 14 4
+f 18 4 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_23.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f902621c540cb4e0544e4a306bb9504a43116a6d
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.11403030 0.00670747 -0.44740502
+v -0.11399115 0.00637404 -0.49996288
+v -0.14971775 0.01546558 -0.44716175
+v -0.11612183 0.00714285 -0.44681602
+v -0.14823794 0.01263541 -0.49920876
+v -0.11570912 0.00658778 -0.49994600
+v -0.13384869 0.01013262 -0.47690015
+v -0.15236851 0.01349502 -0.49912141
+v -0.15146285 0.01421629 -0.46425819
+v -0.13485984 0.01136110 -0.44528548
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 7 6 1
+f 7 5 6
+f 8 3 2
+f 8 6 5
+f 8 2 6
+f 8 7 4
+f 8 5 7
+f 9 8 4
+f 9 3 8
+f 10 9 4
+f 10 4 3
+f 10 3 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_24.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d0baa3cc5ce101e45dcae4e8c3319310193f68b
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.06696325 -0.06335611 0.14396445
+v 0.10708762 -0.01457684 -0.23514915
+v 0.08917248 -0.05053520 0.14455252
+v 0.10901370 -0.01705052 0.14413088
+v 0.06457273 -0.05995122 -0.23459364
+v 0.09905506 -0.03893305 0.14343299
+v 0.09868031 -0.03938574 0.14515738
+v 0.09372986 -0.03777971 -0.20435725
+v 0.08602598 -0.04433624 -0.23698222
+v 0.10045694 -0.02579686 -0.23553070
+v 0.08459477 -0.04564860 -0.23344558
+f 5 1 4
+f 5 4 2
+f 5 3 1
+f 6 2 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 6 3
+f 9 5 2
+f 9 8 3
+f 10 2 6
+f 10 6 8
+f 10 9 2
+f 10 8 9
+f 11 9 3
+f 11 3 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_25.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1ce1c16d46d4ab4ebea265f60105769e593df14
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10278066 -0.02214129 -0.10067840
+v 0.09915057 -0.02783816 -0.23386210
+v 0.07026938 0.07718924 -0.23493151
+v -0.05123818 0.07481952 -0.09897137
+v -0.08103093 -0.05033190 -0.09549964
+v 0.07096387 0.07502706 -0.09852497
+v -0.07553254 -0.05308774 -0.23162317
+v -0.05058948 0.07214856 -0.23434181
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 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/objects/objaverse/bar/bar_6/collision/model_normalized_collision_26.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7a2a8a37f6b31e2486a49339d500c3ca258bff5
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.04824910 -0.06055162 0.30772453
+v 0.10961528 -0.01309360 0.14159384
+v -0.08733889 -0.04310939 0.31545242
+v -0.10788166 -0.00968044 0.14937692
+v -0.05086136 -0.06942856 0.14406095
+v 0.05968005 -0.05409541 0.32669860
+v 0.04922040 -0.07021691 0.14405066
+v -0.03602886 -0.06170248 0.30777230
+v 0.07799631 -0.05181982 0.26641562
+v -0.05112558 -0.06141283 0.29257024
+v -0.05338080 -0.05804486 0.30973603
+f 3 2 4
+f 5 4 2
+f 5 3 4
+f 6 2 3
+f 7 5 2
+f 8 1 6
+f 8 7 1
+f 8 5 7
+f 9 6 1
+f 9 1 7
+f 9 7 2
+f 9 2 6
+f 10 3 5
+f 10 5 8
+f 11 8 6
+f 11 6 3
+f 11 10 8
+f 11 3 10
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_27.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c868d777ab0df887ccd0176a0a7a2b9ef767c23a
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05781376 -0.06622347 0.08364534
+v 0.10278066 -0.02214129 -0.10067840
+v 0.10234406 -0.02636916 0.08059924
+v -0.03631265 0.07893013 0.08302732
+v -0.03832113 0.07761193 -0.09812230
+v 0.07135269 0.07541988 0.08365126
+v -0.05773379 -0.06604352 -0.09839544
+v 0.07096387 0.07502706 -0.09852497
+f 5 1 4
+f 6 3 2
+f 6 1 3
+f 6 4 1
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 7 1 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/objects/objaverse/bar/bar_6/collision/model_normalized_collision_28.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..befcd581e2f40c055ed0198032139af8b9c17ddc
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08176123 -0.01023711 0.40890798
+v 0.11187903 -0.01574360 0.26292797
+v 0.09937474 0.04229331 0.26392888
+v -0.08453702 0.02978362 0.40325691
+v -0.11014673 -0.01487816 0.26295045
+v 0.08198819 0.02749054 0.40132711
+v -0.08507051 -0.00964153 0.40781108
+v -0.10613439 0.03553872 0.26696959
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 1 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_29.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a040c955da7b689e319e58dc5bcc49a78d289858
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.15053701 0.00623377 -0.44769994
+v 0.15283895 0.00475009 -0.49904916
+v -0.11570912 0.00658778 -0.49994600
+v -0.11612183 0.00714285 -0.44681602
+v -0.11403030 0.00670747 -0.44740502
+v -0.11399115 0.00637404 -0.49996288
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 5 4 3
+f 6 5 3
+f 6 3 2
+f 6 2 5
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_3.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8838529bb4f6cf6396f9673c3cc0b777903aa29
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.06632280 -0.04228693 -0.35396952
+v 0.15057485 0.00622708 -0.44801596
+v 0.09462236 0.04502532 -0.36688670
+v -0.09397443 0.04294364 -0.36927861
+v -0.14982901 0.01538593 -0.44825174
+v -0.12873983 -0.00078318 -0.35622618
+v 0.12844951 0.01743244 -0.37268934
+v -0.02384355 -0.04465575 -0.35450243
+v 0.09361528 0.04024394 -0.37814030
+v -0.12256911 0.03188651 -0.36957060
+v 0.11861802 -0.02400086 -0.37127925
+v 0.11588933 0.03406925 -0.37033848
+v -0.14084289 0.01275773 -0.44853804
+v 0.06514888 -0.03097350 -0.37795172
+v -0.10605799 -0.02455901 -0.35604934
+v -0.13881256 0.00565810 -0.37199076
+v 0.14135505 -0.00088980 -0.40618111
+v -0.12063042 -0.00886810 -0.35604967
+v -0.06754437 -0.03442437 -0.36502323
+v -0.13307428 0.01912626 -0.37085200
+v 0.15053701 0.00623377 -0.44769994
+v 0.12726852 -0.01402732 -0.38106313
+v -0.14971775 0.01546558 -0.44716175
+v -0.14441291 0.01154631 -0.40403843
+v -0.14488340 0.01233355 -0.40736131
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 8 1 6
+f 9 5 3
+f 9 3 2
+f 9 2 5
+f 10 6 4
+f 10 4 5
+f 11 7 1
+f 11 1 2
+f 12 2 3
+f 12 3 1
+f 12 1 7
+f 13 5 2
+f 13 2 8
+f 14 8 2
+f 14 2 1
+f 14 1 8
+f 16 15 6
+f 16 5 15
+f 17 11 2
+f 18 15 8
+f 18 8 6
+f 18 6 15
+f 19 13 8
+f 19 8 15
+f 19 15 5
+f 19 5 13
+f 20 16 6
+f 20 6 10
+f 21 17 2
+f 21 7 17
+f 21 12 7
+f 21 2 12
+f 22 17 7
+f 22 7 11
+f 22 11 17
+f 23 20 10
+f 23 10 5
+f 24 23 5
+f 24 5 16
+f 24 16 20
+f 25 24 20
+f 25 20 23
+f 25 23 24
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_30.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53f4c2d4d06d35aa8a9ab254cbe773bde2b98ce
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,9 @@
+# https://github.com/mikedh/trimesh
+v 0.15226450 0.00870937 0.49916780
+v 0.14976385 0.00995581 0.44769428
+v -0.15283895 0.00556532 0.49924817
+v -0.15057882 0.00624273 0.44791689
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 2 1 4
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_31.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0531bc78509318acab7621e161977ed17577121c
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11823383 -0.01497339 0.39852871
+v 0.13152012 -0.00393254 0.38681292
+v 0.13004092 -0.00341808 0.40180032
+v -0.14127402 -0.00129919 0.40231074
+v -0.10576889 -0.02335712 0.38515497
+v 0.11924706 -0.01692924 0.38370711
+v -0.10861397 -0.02024000 0.39322574
+v -0.13800951 -0.00225822 0.38753274
+v -0.14012214 -0.00250017 0.39838296
+v -0.13690381 -0.00346955 0.38983049
+f 1 3 4
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 4 2
+f 8 6 5
+f 8 2 6
+f 9 5 4
+f 9 4 8
+f 10 9 8
+f 10 8 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_4.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d3d8c9ff23d0f79b7b21ff6e902393147521983
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00625748 -0.07822905 0.08333518
+v 0.01285276 -0.07718016 -0.03414508
+v -0.09257430 -0.04200056 0.14587180
+v -0.09294958 -0.03793499 -0.03968894
+v -0.06223522 -0.06357556 -0.03835194
+v -0.03882231 -0.07389269 0.14393368
+v 0.00624893 -0.07779562 -0.03788899
+v -0.06397283 -0.06425649 0.14413076
+v -0.05843846 -0.06642824 0.14327705
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 6 1 3
+f 7 5 4
+f 7 4 2
+f 7 6 5
+f 7 2 1
+f 7 1 6
+f 8 6 3
+f 8 3 5
+f 9 8 5
+f 9 5 6
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_5.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce002f6a6cbf9cf364caaf65da1f98b0ad2cd2b
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.05102537 -0.05963462 0.31003907
+v 0.10961528 -0.01309360 0.14159384
+v 0.11131571 -0.02612722 0.31065785
+v 0.09477096 0.04856777 0.31361103
+v 0.04922040 -0.07021691 0.14405066
+v 0.11470937 0.02440321 0.31120395
+v 0.08060910 -0.04528555 0.34000676
+v 0.04885885 -0.06281701 0.29303589
+v 0.09862479 0.03658932 0.19054850
+v 0.09905506 -0.03893305 0.14343299
+v 0.05968005 -0.05409541 0.32669860
+v 0.09280215 -0.03958889 0.33809804
+v 0.06179535 -0.06024826 0.29333302
+v 0.10599484 0.02084526 0.14360363
+v 0.07307128 -0.06066114 0.14270367
+v 0.10958564 -0.01429042 0.14498108
+v 0.07630414 -0.04876401 0.33629951
+v 0.11077632 0.00691095 0.14417302
+v 0.08709882 -0.04377921 0.33443556
+f 6 3 2
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 11 7 4
+f 11 4 1
+f 12 6 4
+f 12 4 7
+f 12 3 6
+f 13 1 8
+f 13 8 5
+f 14 2 5
+f 14 5 9
+f 14 9 6
+f 15 5 2
+f 15 2 10
+f 15 13 5
+f 15 10 3
+f 15 3 12
+f 16 10 2
+f 16 2 3
+f 16 3 10
+f 17 11 1
+f 17 1 13
+f 17 7 11
+f 18 14 6
+f 18 6 2
+f 18 2 14
+f 19 15 12
+f 19 13 15
+f 19 17 13
+f 19 12 7
+f 19 7 17
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_6.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93c6b3b096ee4d237b2a423f298ff8fb39f6682a
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01297617 -0.07662656 0.14488676
+v 0.09477405 -0.03787634 -0.04187825
+v 0.06124814 -0.06532416 -0.03835477
+v 0.09868031 -0.03938574 0.14515738
+v 0.00785689 -0.07722183 0.14416957
+v 0.06696325 -0.06335611 0.14396445
+v 0.00624893 -0.07779562 -0.03788899
+v 0.00614894 -0.07734393 0.00764051
+v 0.01285276 -0.07718016 -0.03414508
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 3
+f 8 7 5
+f 8 5 2
+f 8 2 7
+f 9 7 3
+f 9 3 1
+f 9 1 5
+f 9 5 7
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_7.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e079322a2381b98982fe22c6f4b31959d50cf14
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01827125 -0.07729335 -0.05377394
+v 0.08602598 -0.04433624 -0.23698222
+v 0.09477405 -0.03787634 -0.04187825
+v -0.09294958 -0.03793499 -0.03968894
+v -0.05981477 -0.06332089 -0.23507254
+v -0.09370353 -0.04073637 -0.23561548
+v -0.00899595 -0.07789671 -0.03820539
+v 0.06124814 -0.06532416 -0.03835477
+v 0.00499790 -0.07734354 -0.20415664
+v -0.06223522 -0.06357556 -0.03835194
+v 0.07652798 -0.05731573 -0.17405782
+v 0.05989771 -0.06336603 -0.23392192
+v -0.02000323 -0.07586790 -0.20422770
+v 0.07730123 -0.05615446 -0.06853010
+v 0.07359030 -0.05923752 -0.17222242
+v 0.03132805 -0.07639015 -0.17439857
+v -0.02154842 -0.07656065 -0.03905799
+v 0.07136782 -0.05969552 -0.07000137
+v 0.03226880 -0.07559523 -0.09904136
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 8 7 1
+f 8 3 4
+f 9 1 7
+f 10 6 5
+f 10 4 6
+f 10 8 4
+f 10 7 8
+f 11 2 3
+f 12 9 5
+f 12 5 2
+f 12 2 11
+f 13 9 7
+f 13 5 9
+f 14 11 3
+f 14 3 8
+f 15 12 11
+f 15 11 14
+f 16 1 9
+f 16 9 12
+f 16 15 8
+f 16 12 15
+f 17 10 5
+f 17 5 13
+f 17 13 7
+f 17 7 10
+f 18 15 14
+f 18 14 8
+f 18 8 15
+f 19 16 8
+f 19 8 1
+f 19 1 16
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_8.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c81c61978849421d50eff288d3a0e35ddf452675
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.10704759 -0.02087667 0.39781357
+v 0.14825442 0.01031387 0.43234630
+v -0.15058344 0.00624258 0.44796391
+v -0.11864399 0.02848666 0.40239265
+v 0.08120483 0.03203308 0.39442972
+v -0.14012214 -0.00250017 0.39838296
+v 0.14979825 0.00994765 0.44804409
+v 0.13893745 0.01881418 0.40547786
+v 0.08228772 -0.02420727 0.39434686
+v -0.14387481 0.00141248 0.41117908
+v 0.12811157 -0.00970157 0.39951632
+v -0.12423888 0.02432513 0.40700681
+v 0.14056786 0.01727833 0.40975026
+f 6 4 5
+f 7 5 4
+f 7 4 3
+f 8 7 2
+f 8 5 7
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 9 6 5
+f 10 6 3
+f 10 4 6
+f 11 7 1
+f 11 2 7
+f 11 5 8
+f 11 9 5
+f 11 1 9
+f 12 10 3
+f 12 3 4
+f 12 4 10
+f 13 11 8
+f 13 8 2
+f 13 2 11
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/collision/model_normalized_collision_9.obj b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33b6ac1d49d7c12077bed3b0ac47d86329196f8f
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.07307128 -0.06066114 0.14270367
+v 0.06595495 -0.06120323 0.00761564
+v 0.07774704 -0.05563783 0.06895227
+v -0.04292232 -0.07255752 0.14381120
+v 0.01861453 -0.07718939 0.03854796
+v -0.04255456 -0.07207243 0.08314481
+v 0.07836109 -0.05737850 0.14421870
+v 0.05353255 -0.06702463 0.00749492
+v 0.02015167 -0.07689633 0.09726270
+v -0.00718499 -0.07735719 0.09905825
+v -0.03882231 -0.07389269 0.14393368
+v 0.00778467 -0.07709310 0.00661145
+v 0.00740248 -0.07772648 0.03813191
+v -0.03874453 -0.07348894 0.08324822
+v 0.00614894 -0.07734393 0.00764051
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 11 7 4
+f 11 1 7
+f 11 9 1
+f 11 10 9
+f 12 6 2
+f 12 2 8
+f 12 8 5
+f 13 5 9
+f 13 9 10
+f 14 11 4
+f 14 4 6
+f 14 10 11
+f 15 12 5
+f 15 5 13
+f 15 13 10
+f 15 10 14
+f 15 14 6
+f 15 6 12
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/model.xml b/objects/objaverse/bar/bar_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e126dab1810fe664eb934263af5e4d7dc768048d
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="bar_17">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.19 0.19 0.19" refquat="0.7071067811865472 0.7071067811865475 5.551115123125783e-17 2.7755575615628907e-17"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Aluminum_Polished_1" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+    <material name="Resources_Object0_Object0-Bag_1_UniqueID3890" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Aluminum_Polished_1"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Resources_Object0_Object0-Bag_1_UniqueID3890"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0 -6.789745000000069e-05 -0.014996724700000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0 -6.789745000000069e-05 0.014863519499999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.029039400500000007 0.0948571523 -6.660260000000064e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/bar/bar_6/visual/material.mtl b/objects/objaverse/bar/bar_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/bar/bar_6/visual/model_normalized_1.obj b/objects/objaverse/bar/bar_6/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad2ee70dd92ff253fc817bc040db6061da66c85a
--- /dev/null
+++ b/objects/objaverse/bar/bar_6/visual/model_normalized_1.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.01127503 0.00714677 -0.49791803
+v -0.00001776 0.00739750 -0.46669500
+v -0.00004801 0.00669269 -0.49790357
+v 0.07024693 0.00945976 -0.47044170
+v 0.03536086 0.00886350 -0.46242751
+v 0.04589878 0.00826336 -0.49834080
+v 0.03116973 0.00930157 -0.42690909
+v 0.03393662 0.00797367 -0.49812682
+v 0.07085071 0.01038307 -0.42774549
+v 0.00021528 0.00807315 -0.42664810
+v 0.02260187 0.00763717 -0.49796723
+v 0.05789853 0.00845750 -0.49858808
+v 0.06992637 0.00845641 -0.49886894
+vn 0.04210185 -0.99884391 0.02320102
+vn 0.04460012 -0.99880269 0.02010005
+vn 0.04399904 -0.99877818 0.02249951
+vn 0.00349992 -0.99957620 0.02889931
+vn 0.02929872 -0.99935636 0.02069910
+vn 0.02139906 -0.99945591 0.02509889
+vn 0.03560112 -0.99923150 0.01640052
+vn 0.02740113 -0.99934113 0.02380098
+vn 0.00730013 -0.99981845 0.01760032
+vn 0.04309794 -0.99885224 0.02089900
+vn 0.03709828 -0.99905379 0.02269895
+vn 0.00879964 -0.99945873 0.03169869
+vn -0.00219994 -0.99937437 0.03529909
+vt 0.51522800 0.00000000
+vt 0.50000000 -0.03060400
+vt 0.50000000 0.00000000
+vt 0.59375000 -0.02792400
+vt 0.54713800 -0.03505200
+vt 0.56170500 0.00000000
+vt 0.54108600 -0.06976700
+vt 0.54568300 0.00000000
+vt 0.59375000 -0.06976700
+vt 0.50000000 -0.06976700
+vt 0.53045500 0.00000000
+vt 0.57772800 0.00000000
+vt 0.59375000 0.00000000
+f 1/1/1 2/2/2 3/3/3
+f 4/4/4 5/5/5 6/6/6
+f 7/7/7 2/2/2 5/5/5
+f 6/6/6 5/5/5 8/8/8
+f 4/4/4 9/9/9 5/5/5
+f 2/2/2 7/7/7 10/10/10
+f 8/8/8 5/5/5 11/11/11
+f 5/5/5 9/9/9 7/7/7
+f 12/12/12 4/4/4 6/6/6
+f 4/4/4 12/12/12 13/13/13
+f 11/11/11 2/2/2 1/1/1
+f 5/5/5 2/2/2 11/11/11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_0.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4dfad3597b3155facf5396925058a0fca3eef9e
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.41197758 -0.25150123 -0.04673586
+v -0.40017943 -0.23931155 -0.07682438
+v -0.39983968 0.22829698 -0.07806573
+v -0.42996929 0.22877981 -0.04122823
+v -0.42535411 -0.23785915 -0.05424188
+v -0.42223540 0.22960413 -0.04214940
+v -0.41742319 -0.23449280 -0.06960024
+v -0.42832534 -0.23916281 -0.04089930
+v -0.40977601 0.23249758 -0.06638756
+v -0.41787007 0.22548188 -0.07209726
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 6 3
+f 9 4 6
+f 10 3 2
+f 10 2 7
+f 10 9 3
+f 10 4 9
+f 10 7 5
+f 10 5 4
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_1.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27abb26b72554800ffb6d080506b40960144f0d2
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.41408040 -0.28012531 0.05051322
+v -0.41130983 -0.27366066 0.00617435
+v -0.42919751 0.21380423 0.00256048
+v -0.44084797 0.21384006 0.05008960
+v -0.43119934 -0.24909819 0.00639131
+v -0.43461335 0.21383207 0.04914681
+v -0.42785619 -0.26221818 0.02215676
+v -0.43630665 0.21384006 0.00509340
+v -0.42119440 -0.27553616 0.05185300
+v -0.41640712 -0.27027757 0.00758129
+v -0.43407990 -0.22725923 0.04726729
+v -0.43155417 -0.26420027 0.05184635
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 9 6 4
+f 9 1 6
+f 9 2 1
+f 10 7 5
+f 10 5 2
+f 10 9 7
+f 10 2 9
+f 11 4 5
+f 12 11 5
+f 12 5 7
+f 12 7 9
+f 12 9 4
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_10.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6975893c22aeae3c60ef8d5c1d26e2d52e3d2d3
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.43161255 0.13808248 -0.04141658
+v 0.41791505 0.13808248 -0.07442945
+v 0.41664657 0.24776903 -0.06496251
+v 0.38623828 0.27328275 -0.04126857
+v 0.38631101 0.13808248 -0.07172362
+v 0.42175692 0.25342533 -0.03970850
+v 0.41672545 0.23750712 -0.06866665
+v 0.42396311 0.13808248 -0.04228117
+v 0.40923649 0.26562974 -0.03956648
+v 0.38461382 0.25493205 -0.07574077
+v 0.38636365 0.13808248 -0.07931613
+v 0.40671982 0.24899820 -0.07013115
+v 0.38558524 0.26695999 -0.06501694
+v 0.40433470 0.25976213 -0.06475540
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 4 1
+f 9 1 6
+f 10 7 2
+f 10 5 4
+f 11 10 2
+f 11 2 5
+f 11 5 10
+f 12 3 7
+f 12 7 10
+f 13 10 4
+f 13 4 9
+f 14 12 10
+f 14 10 13
+f 14 3 12
+f 14 13 9
+f 14 9 3
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_11.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45052c0493f7adaf9c5ffc23d91aa4828fd50318
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.38650804 -0.28745946 0.04928285
+v 0.42832534 -0.23916281 -0.04089930
+v 0.42119440 -0.27553616 0.05185300
+v 0.43922696 -0.23984511 0.05034464
+v 0.38745391 -0.26632886 -0.04311181
+v 0.43155417 -0.26420027 0.05184635
+v 0.38734553 -0.28092220 0.04788217
+v 0.43258477 -0.24245759 0.04740202
+v 0.40853926 -0.26719601 -0.03816452
+v 0.43084483 -0.23885859 -0.02445144
+v 0.38512354 -0.27465193 -0.03976049
+v 0.41197758 -0.25150123 -0.04673586
+v 0.41881909 -0.25761180 -0.03843107
+v 0.42785619 -0.26221818 0.02215676
+v 0.41640712 -0.27027757 0.00758129
+v 0.42746970 -0.24724488 -0.02328206
+f 1 3 4
+f 6 4 3
+f 7 1 4
+f 8 2 5
+f 8 7 4
+f 8 5 7
+f 9 3 1
+f 10 6 2
+f 10 4 6
+f 10 8 4
+f 10 2 8
+f 11 7 5
+f 11 1 7
+f 11 9 1
+f 12 5 2
+f 12 11 5
+f 12 9 11
+f 13 12 2
+f 13 9 12
+f 14 6 3
+f 14 3 13
+f 15 13 3
+f 15 3 9
+f 15 9 13
+f 16 14 13
+f 16 13 2
+f 16 2 6
+f 16 6 14
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_12.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bda06374620cd6a50cd828195a4ba7b572faa5c
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.42411921 0.22981134 -0.02723877
+v -0.38636365 0.22899158 -0.07931613
+v -0.38725022 0.26781170 -0.02765571
+v -0.39496705 0.27431873 -0.02362065
+v -0.41664657 0.24776903 -0.06496251
+v -0.38558524 0.26695999 -0.06501694
+v -0.38488654 0.27589030 -0.02429739
+v -0.38634401 0.22897108 -0.07176067
+v -0.41787007 0.22548188 -0.07209726
+v -0.41825919 0.26047239 -0.02319461
+v -0.38461382 0.25493205 -0.07574077
+v -0.38465718 0.27376188 -0.03914015
+v -0.43163964 0.22897112 -0.02626563
+v -0.40433470 0.25976213 -0.06475540
+v -0.40671982 0.24899820 -0.07013115
+v -0.39422441 0.27206741 -0.03843321
+v -0.41662525 0.25878848 -0.03797361
+v -0.41672545 0.23750712 -0.06866665
+f 7 1 3
+f 8 3 1
+f 8 7 3
+f 9 2 8
+f 10 7 4
+f 11 2 9
+f 11 8 2
+f 11 7 8
+f 12 4 7
+f 12 11 6
+f 12 7 11
+f 13 5 9
+f 13 1 7
+f 13 7 10
+f 13 9 8
+f 13 8 1
+f 14 6 11
+f 15 11 9
+f 15 14 11
+f 15 5 14
+f 16 12 6
+f 16 4 12
+f 16 6 14
+f 17 13 10
+f 17 5 13
+f 17 14 5
+f 17 16 14
+f 17 10 4
+f 17 4 16
+f 18 15 9
+f 18 9 5
+f 18 5 15
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_13.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94db74c55f4f22794a7645861066a1d618a3167d
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.38579763 -0.28106579 0.00475775
+v -0.38176754 -0.25982815 -0.07344563
+v -0.38528483 -0.23958493 -0.07876349
+v -0.43420458 -0.23924339 0.00546939
+v -0.41735718 -0.25611044 -0.04903982
+v -0.38809761 -0.27336420 0.00121006
+v -0.39482772 -0.27008153 -0.05047950
+v -0.41130983 -0.27366066 0.00617435
+v -0.40882906 -0.23732311 -0.07573783
+v -0.42531474 -0.24429824 0.00258089
+v -0.41663500 -0.24878206 -0.06500965
+v -0.38489059 -0.27201129 -0.05221835
+v -0.43119934 -0.24909819 0.00639131
+v -0.40853926 -0.26719601 -0.03816452
+v -0.42208140 -0.23642054 -0.06500029
+v -0.39601474 -0.25729511 -0.07072676
+v -0.43084483 -0.23885859 -0.02445144
+v -0.40767853 -0.24651020 -0.07171147
+v -0.42746970 -0.24724488 -0.02328206
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 8 7 1
+f 9 3 2
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 12 2 1
+f 12 1 7
+f 13 8 1
+f 13 1 4
+f 13 5 8
+f 14 8 5
+f 14 7 8
+f 14 11 7
+f 14 5 11
+f 15 4 3
+f 15 3 9
+f 15 9 11
+f 15 11 5
+f 16 7 11
+f 16 12 7
+f 16 2 12
+f 16 9 2
+f 17 13 4
+f 17 4 15
+f 18 16 11
+f 18 11 9
+f 18 9 16
+f 19 5 13
+f 19 13 17
+f 19 17 15
+f 19 15 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_14.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df270de5e35ef19ab07edf1f250d7a052a0a4b8
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.38512354 -0.27465193 -0.03976049
+v 0.41735718 -0.25611044 -0.04903982
+v 0.43161255 -0.16494783 -0.04141658
+v 0.38631101 -0.16494783 -0.07172362
+v 0.38176754 -0.25982815 -0.07344563
+v 0.42396311 -0.16494783 -0.04228117
+v 0.41881909 -0.25761180 -0.03843107
+v 0.39482772 -0.27008153 -0.05047950
+v 0.41791505 -0.16494783 -0.07442945
+v 0.41742319 -0.23449280 -0.06960024
+v 0.39577515 -0.27235841 -0.03904588
+v 0.39601474 -0.25729511 -0.07072676
+v 0.38489059 -0.27201129 -0.05221835
+v 0.38636365 -0.16494783 -0.07931613
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 9 4 3
+f 10 7 2
+f 10 3 7
+f 10 9 3
+f 10 5 9
+f 11 7 3
+f 11 3 1
+f 11 8 2
+f 11 2 7
+f 12 2 8
+f 12 10 2
+f 12 5 10
+f 13 1 5
+f 13 12 8
+f 13 5 12
+f 13 11 1
+f 13 8 11
+f 14 9 5
+f 14 5 4
+f 14 4 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_15.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..065459eb30db4855e5542c3fb539fd7315cc5bdb
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.28030304 0.28114426 0.04845906
+v -0.28030304 0.26960772 -0.02784508
+v -0.28030304 0.27741682 -0.02462419
+v -0.39990969 0.28508245 0.05022919
+v -0.40287377 0.26260083 -0.02690869
+v -0.28030304 0.28756240 0.04974939
+v -0.40676951 0.27208132 0.03191130
+v -0.39496705 0.27431873 -0.02362065
+v -0.40261112 0.27706518 0.04897384
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 8 7 4
+f 8 5 7
+f 9 6 4
+f 9 1 6
+f 9 7 1
+f 9 4 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_16.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..176231c3647be1426206d6d27a9f8f1411efb5fc
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.44696971 -0.24070541 0.07931612
+v -0.44089332 -0.24003026 0.06530830
+v -0.44696971 0.21384006 0.07931612
+v -0.44236174 0.21384006 0.06508834
+v -0.49155555 -0.11695435 0.07388726
+v -0.46324467 -0.22080533 0.07388726
+v -0.49155555 -0.11695435 0.07803994
+v -0.49086554 0.12028268 0.07388726
+v -0.47790989 -0.17624155 0.07388726
+v -0.45537171 -0.23790049 0.07261107
+v -0.46324467 -0.22080533 0.07803994
+v -0.46649076 0.21019031 0.07388726
+v -0.49086554 0.12028268 0.07803994
+v -0.47790989 -0.17624155 0.07803994
+v -0.45645996 -0.23835274 0.07803994
+v -0.47680189 0.17938473 0.07388726
+v -0.46649076 0.21019031 0.07803994
+v -0.47680189 0.17938473 0.07803994
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 7 1 3
+f 8 4 5
+f 9 5 2
+f 9 7 5
+f 10 2 1
+f 10 9 2
+f 10 6 9
+f 11 9 6
+f 12 3 4
+f 13 7 3
+f 13 8 5
+f 13 5 7
+f 14 11 1
+f 14 1 7
+f 14 7 9
+f 14 9 11
+f 15 10 1
+f 15 1 11
+f 15 11 6
+f 15 6 10
+f 16 12 4
+f 16 4 8
+f 16 8 13
+f 17 3 12
+f 17 12 16
+f 18 13 3
+f 18 3 17
+f 18 17 16
+f 18 16 13
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_17.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c874b84dd2d96ef9ef59563830c075e4eee42e1
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.41127188 -0.29011391 0.07803994
+v -0.41127188 -0.29011391 0.07388726
+v -0.43258477 -0.24245759 0.04740202
+v -0.45645996 -0.23835274 0.07803994
+v -0.44523960 -0.26167513 0.07388726
+v -0.43637359 -0.24263537 0.07727994
+v -0.41408040 -0.28012531 0.05051322
+v -0.42356905 -0.28418935 0.07388726
+v -0.44523960 -0.26167513 0.07803994
+v -0.43922696 -0.23984511 0.05034464
+v -0.42119440 -0.27553616 0.05185300
+v -0.42356905 -0.28418935 0.07803994
+v -0.45537171 -0.23790049 0.07261107
+v -0.43155417 -0.26420027 0.05184635
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 7 2
+f 9 1 4
+f 9 4 5
+f 9 5 8
+f 10 6 3
+f 11 8 5
+f 11 7 8
+f 12 9 8
+f 12 8 1
+f 12 1 9
+f 13 5 4
+f 13 4 6
+f 13 6 10
+f 14 11 5
+f 14 10 3
+f 14 3 7
+f 14 7 11
+f 14 13 10
+f 14 5 13
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_18.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30f9d11bb9c72f11ff67748a8e88455444e81170
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.42531474 -0.24429824 0.00258089
+v -0.41889930 -0.24167950 -0.04181991
+v -0.42358135 0.24715957 0.00285166
+v -0.41939012 0.24533117 -0.02674489
+v -0.43035194 0.22708829 -0.03955788
+v -0.42932006 -0.23743921 -0.03928371
+v -0.42223540 0.22960413 -0.04214940
+v -0.43382655 0.24167348 0.00562533
+v -0.43420458 -0.23924339 0.00546939
+v -0.43085638 0.23820683 -0.02397364
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 5 4
+f 7 4 2
+f 7 6 5
+f 7 2 6
+f 8 3 4
+f 9 1 3
+f 9 3 8
+f 9 6 1
+f 9 8 5
+f 9 5 6
+f 10 8 4
+f 10 4 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_19.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e87eb1e5f6353b67b0dff62614755ef7d13e4d
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.47727274 -0.16494783 0.07931612
+v 0.49155555 -0.11695435 0.07388726
+v 0.49155555 -0.11695435 0.07803994
+v 0.47727274 0.13808248 0.07931612
+v 0.47727274 -0.16494783 0.07261107
+v 0.49086554 0.12028268 0.07803994
+v 0.48167132 -0.16208979 0.07803994
+v 0.47727274 0.13808248 0.07261107
+v 0.48167132 -0.16208979 0.07388726
+v 0.48808616 0.13692945 0.07803994
+v 0.49086554 0.12028268 0.07388726
+v 0.48689421 0.13661263 0.07261107
+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 7 1 5
+f 8 5 4
+f 9 7 5
+f 9 5 2
+f 9 2 7
+f 10 8 4
+f 10 4 6
+f 11 6 2
+f 11 10 6
+f 12 2 5
+f 12 5 8
+f 12 11 2
+f 12 8 10
+f 12 10 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_2.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aa322b5f75ad0e94f29b18885fa4bb6b8049b69
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.43258477 -0.24245759 0.04740202
+v 0.42932006 -0.23743921 -0.03928371
+v 0.43035194 0.22708829 -0.03955788
+v 0.42637632 0.26900425 0.05070839
+v 0.41889930 -0.24167950 -0.04181991
+v 0.43922696 -0.23984511 0.05034464
+v 0.42669636 0.24188105 -0.04065844
+v 0.43082339 0.26497136 0.05225320
+v 0.41729451 0.24441698 -0.04154317
+v 0.42500566 0.25637495 -0.01009609
+v 0.42469811 0.26732604 0.03593823
+v 0.42936673 0.26311632 0.03747820
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 9 7 5
+f 10 7 9
+f 11 9 5
+f 11 5 4
+f 11 10 9
+f 12 10 11
+f 12 8 7
+f 12 7 10
+f 12 11 4
+f 12 4 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_20.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3da6fe20f8e64b5b8bada525f032a75bb6f2b69d
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.46107263 -0.22519894 0.07872197
+v 0.48167132 -0.16208979 0.07388726
+v 0.48167132 -0.16208979 0.07803994
+v 0.46212123 -0.16494783 0.07931612
+v 0.46212123 -0.16494783 0.07261107
+v 0.47790989 -0.17624155 0.07803994
+v 0.46054202 -0.22501933 0.07261107
+v 0.46324467 -0.22080533 0.07388726
+v 0.46324467 -0.22080533 0.07803994
+v 0.47790989 -0.17624155 0.07388726
+f 1 3 4
+f 3 2 4
+f 5 4 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 1 4
+f 7 4 5
+f 8 1 7
+f 9 8 6
+f 9 6 1
+f 9 1 8
+f 10 8 7
+f 10 7 2
+f 10 2 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_21.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c202f74ea3e806ffb75a5fc35e51c1c1ce38e47e
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.38581729 -0.29639427 0.07803994
+v 0.43258477 -0.24245759 0.04740202
+v 0.42377692 -0.28429218 0.07388726
+v 0.43661473 -0.24117515 0.07805513
+v 0.38734553 -0.28092220 0.04788217
+v 0.43637359 -0.24263537 0.07727994
+v 0.42377692 -0.28429218 0.07803994
+v 0.38781026 -0.28561439 0.07743284
+v 0.43301158 -0.24082228 0.04932068
+v 0.42119440 -0.27553616 0.05185300
+v 0.38487907 -0.28795027 0.05141407
+v 0.40872915 -0.28279060 0.05266810
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 2 5
+f 9 6 2
+f 9 4 6
+f 10 5 2
+f 10 2 3
+f 11 8 5
+f 11 1 8
+f 12 11 5
+f 12 5 10
+f 12 10 3
+f 12 3 1
+f 12 1 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_22.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29271cb74e0fce7c6e7a95b94ebff44c07a5275c
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34090910 0.28114426 0.04845906
+v 0.34090910 0.26960772 -0.02784508
+v 0.34090910 0.27741682 -0.02462419
+v -0.28030304 0.28756240 0.04974939
+v -0.28030304 0.26960772 -0.02784508
+v 0.34090910 0.28756240 0.04974939
+v -0.28030304 0.28114426 0.04845906
+v -0.28030304 0.27741682 -0.02462419
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_23.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed6a0513781c533900614216de20aee6c516f5d
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.38568357 0.24244755 -0.07805344
+v 0.38957451 0.25228263 -0.06646110
+v 0.38700553 0.26546101 -0.04242914
+v -0.38465718 0.27376188 -0.03914015
+v -0.38186696 0.26103892 -0.07155222
+v -0.38700553 0.26546101 -0.04242914
+v 0.36990362 0.26054514 -0.07329618
+v -0.38568357 0.24244755 -0.07805344
+v -0.38957451 0.25228263 -0.06646110
+v 0.38186696 0.26103892 -0.07155222
+v -0.38440866 0.27144317 -0.05096618
+v 0.38440866 0.27144317 -0.05096618
+v 0.38465718 0.27376188 -0.03914015
+f 1 2 3
+f 6 1 3
+f 8 1 6
+f 8 7 1
+f 8 5 7
+f 9 6 4
+f 9 8 6
+f 9 5 8
+f 10 2 1
+f 10 1 7
+f 11 7 5
+f 11 9 4
+f 11 5 9
+f 12 2 10
+f 12 10 7
+f 12 7 11
+f 13 3 2
+f 13 2 12
+f 13 6 3
+f 13 4 6
+f 13 12 11
+f 13 11 4
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_24.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaddc3ae62b9321e9ad30aca546be53b6f7ae1fe
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.38579763 -0.28106579 0.00475775
+v 0.38745391 -0.26632886 -0.04311181
+v 0.38664844 -0.27388391 0.00355615
+v -0.38664844 -0.27388391 0.00355615
+v -0.38512354 -0.27465193 -0.03976049
+v 0.38786525 -0.27101811 -0.01356528
+v 0.38512354 -0.27465193 -0.03976049
+v -0.38579763 -0.28106579 0.00475775
+v -0.38745391 -0.26632886 -0.04311181
+v -0.38786525 -0.27101811 -0.01356528
+f 1 3 4
+f 6 4 3
+f 6 3 1
+f 7 6 1
+f 7 2 6
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 7 5
+f 9 2 7
+f 9 6 2
+f 10 4 6
+f 10 6 9
+f 10 8 4
+f 10 9 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_25.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68413e513c9a9e465ebe423d09ebac87bbfbd1a0
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34090910 0.26960772 -0.02784508
+v 0.34090910 0.26736813 -0.04265799
+v 0.34090910 0.27538771 -0.03949891
+v -0.38488654 0.27589030 -0.02429739
+v -0.38700553 0.26546101 -0.04242914
+v 0.34090910 0.27741682 -0.02462419
+v -0.38725022 0.26781170 -0.02765571
+v -0.38465718 0.27376188 -0.03914015
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_26.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ee9232bafca566612e175aeab206b336010393
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.43161255 -0.16494783 -0.04141658
+v 0.41791505 -0.16494783 -0.07442945
+v 0.43161255 0.13808248 -0.04141658
+v 0.42396311 0.13808248 -0.04228117
+v 0.40468915 -0.16494825 -0.07101156
+v 0.40151516 0.13808248 -0.07931613
+v 0.42396311 -0.16494783 -0.04228117
+v 0.41791505 0.13808248 -0.07442945
+v 0.40468952 0.13808248 -0.07101174
+v 0.40151516 -0.16494783 -0.07931613
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 7 5 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 6 2
+f 10 2 5
+f 10 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_27.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..421e73f9c9e1cd5b53cc1ce3c08e7b840f2b68c3
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.43661473 -0.24117515 0.07805513
+v -0.43301158 -0.24082228 0.04932068
+v -0.43797389 0.21382252 0.07805445
+v -0.44696971 0.21384006 0.07931612
+v -0.44696971 -0.24070541 0.07931612
+v -0.43461335 0.21383207 0.04914681
+v -0.44084797 0.21384006 0.05008960
+v -0.43922696 -0.23984511 0.05034464
+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 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/objects/objaverse/tray/tray_0/collision/model_normalized_collision_28.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddadddc8538eef0dbd700f75d41c2bc0cd1b675e
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.38738127 0.28473257 0.07805766
+v 0.38692061 0.28007610 0.04857389
+v 0.38538748 0.29596360 0.07340883
+v -0.40040673 0.29477322 0.07803994
+v -0.40261112 0.27706518 0.04897384
+v 0.38543999 0.29643619 0.07803994
+v 0.38602668 0.28656496 0.04991453
+v -0.40458005 0.28177045 0.07805766
+v -0.40040673 0.29477322 0.07388726
+v -0.39990969 0.28508245 0.05022919
+v 0.37121213 0.28756240 0.04974939
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 10 5 9
+f 11 9 3
+f 11 3 7
+f 11 10 9
+f 11 7 2
+f 11 2 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_29.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e158b0fa9c16f0292184a5395ee5315eb7b139d
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.38692061 0.28007610 0.04857389
+v 0.38700553 0.26546101 -0.04242914
+v 0.38465718 0.27376188 -0.03914015
+v 0.34090910 0.28756240 0.04974939
+v 0.34090910 0.28114426 0.04845906
+v 0.38602668 0.28656496 0.04991453
+v 0.38798429 0.27486377 0.01666458
+v 0.34090910 0.26736813 -0.04265799
+v 0.34090910 0.27538771 -0.03949891
+f 6 5 1
+f 6 4 5
+f 7 5 2
+f 7 1 5
+f 7 6 1
+f 7 2 3
+f 7 3 6
+f 8 2 5
+f 8 5 4
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 2
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_3.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e76f33201371617ebfe1764dbb3c7563e3e6f3e4
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.38581729 -0.29639427 0.07803994
+v 0.40031334 -0.28327023 0.03482096
+v 0.38781026 -0.28561439 0.07743284
+v -0.42021123 -0.27453915 0.07805766
+v -0.37121213 -0.28241903 0.00452752
+v 0.38664844 -0.27388391 0.00355615
+v 0.40122098 -0.28545260 0.04959432
+v 0.38579763 -0.28106579 0.00475775
+v -0.41127188 -0.29011391 0.07803994
+v -0.37121213 -0.27535232 0.00336052
+v 0.39868738 -0.28430301 0.03687863
+v -0.37121213 -0.28472494 0.02143136
+v -0.41667639 -0.27101845 0.04946929
+v -0.40872915 -0.28279060 0.05266810
+f 1 3 4
+f 6 4 3
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 1 4
+f 10 6 5
+f 11 8 2
+f 11 1 8
+f 11 7 1
+f 11 2 7
+f 12 9 5
+f 12 5 1
+f 12 1 9
+f 13 9 4
+f 13 10 5
+f 13 4 6
+f 13 6 10
+f 14 13 5
+f 14 5 9
+f 14 9 13
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_30.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..375ccf4bc0f578cd0ae463755f5fe34846d07302
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.37121213 -0.28878317 0.05118079
+v -0.37121213 -0.28241903 0.00452752
+v -0.37121213 -0.27535232 0.00336052
+v -0.42402981 -0.26319131 0.04765877
+v -0.41408040 -0.28012531 0.05051322
+v -0.41857782 -0.25776061 0.00354664
+v -0.37121213 -0.28207047 0.04779943
+v -0.39984959 -0.28632131 0.05165087
+v -0.38809761 -0.27336420 0.00121006
+v -0.41130983 -0.27366066 0.00617435
+v -0.38440547 -0.28368783 0.02173067
+v -0.39868738 -0.28430301 0.03687863
+f 1 2 3
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 10 5 4
+f 10 4 6
+f 10 6 9
+f 10 9 2
+f 11 2 1
+f 11 1 8
+f 12 8 5
+f 12 5 10
+f 12 11 8
+f 12 10 2
+f 12 2 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_31.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62383f1c95c347d6abdc7e30aeddf0a08ae24a15
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.38512354 -0.27465193 -0.03976049
+v 0.38448366 -0.26810027 -0.06501669
+v 0.38528483 -0.23958493 -0.07876349
+v -0.38528483 -0.23958493 -0.07876349
+v -0.38512354 -0.27465193 -0.03976049
+v 0.38176754 -0.25982815 -0.07344563
+v 0.38745391 -0.26632886 -0.04311181
+v -0.38448366 -0.26810027 -0.06501669
+v 0.37121213 -0.24070541 -0.07931613
+v 0.38730000 -0.24314928 -0.07040326
+v -0.38745391 -0.26632886 -0.04311181
+v -0.38176754 -0.25982815 -0.07344563
+v -0.38730000 -0.24314928 -0.07040326
+f 6 3 2
+f 7 1 2
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 4 3
+f 9 3 6
+f 10 7 2
+f 10 2 3
+f 11 5 7
+f 11 8 5
+f 11 7 10
+f 12 8 4
+f 12 6 8
+f 12 9 6
+f 12 4 9
+f 13 4 8
+f 13 8 11
+f 13 11 10
+f 13 10 3
+f 13 3 4
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_4.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f621c398df73a1ad9cdfa7d93b29cdd13fe10dc
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.43618429 0.24457068 0.07805513
+v 0.42669636 0.24188105 -0.04065844
+v 0.42629506 0.28310240 0.07803994
+v 0.38543999 0.29643619 0.07803994
+v 0.38700553 0.26546101 -0.04242914
+v 0.38738127 0.28473257 0.07805766
+v 0.41662525 0.25878848 -0.03797361
+v 0.38465718 0.27376188 -0.03914015
+v 0.41030797 0.25320941 -0.04364387
+v 0.41006269 0.29077187 0.07388726
+v 0.39422441 0.27206741 -0.03843321
+v 0.41006269 0.29077187 0.07803994
+v 0.38538748 0.29596360 0.07340883
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 6 1 3
+f 7 3 2
+f 8 6 4
+f 8 5 6
+f 9 7 2
+f 9 2 5
+f 11 7 9
+f 11 10 3
+f 11 3 7
+f 11 9 5
+f 11 5 8
+f 12 10 4
+f 12 3 10
+f 12 6 3
+f 12 4 6
+f 13 11 8
+f 13 8 4
+f 13 4 10
+f 13 10 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_5.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd1771d15d6b69579993d10be3aba82b455d2e2d
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.43461335 0.21383207 0.04914681
+v -0.39590000 0.27649561 -0.00884886
+v -0.39990969 0.28508245 0.05022919
+v -0.43267330 0.21379429 0.03245944
+v -0.43082339 0.26497136 0.05225320
+v -0.41563483 0.27341427 0.02284629
+v -0.41899124 0.27677069 0.05238659
+v -0.43630665 0.21384006 0.00509340
+v -0.40899249 0.27114547 -0.00797219
+v -0.44084797 0.21384006 0.05008960
+v -0.41825919 0.26047239 -0.02319461
+v -0.42919751 0.21380423 0.00256048
+v -0.43234146 0.23994015 -0.00917415
+v -0.42936673 0.26311632 0.03747820
+v -0.40036356 0.27167715 -0.02581131
+v -0.42858782 0.24271641 -0.02579457
+v -0.41209629 0.25505335 -0.02894113
+v -0.42769981 0.25078413 -0.00820387
+f 1 2 3
+f 2 1 4
+f 7 1 3
+f 7 3 6
+f 9 6 3
+f 10 7 5
+f 10 1 7
+f 10 8 4
+f 10 4 1
+f 11 7 6
+f 11 6 9
+f 12 2 4
+f 12 4 8
+f 13 10 5
+f 13 8 10
+f 14 5 7
+f 14 7 11
+f 15 11 9
+f 15 2 12
+f 15 9 3
+f 15 3 2
+f 16 12 8
+f 16 8 13
+f 16 13 5
+f 16 5 14
+f 17 15 12
+f 17 12 16
+f 17 16 11
+f 17 11 15
+f 18 16 14
+f 18 14 11
+f 18 11 16
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_6.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcff098f9b9ff11b5408442d54d723eccd854427
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.42763924 -0.28181082 0.07803994
+v 0.47727274 -0.16494783 0.07261107
+v 0.47727274 -0.16494783 0.07931612
+v 0.43787951 0.13808258 0.07805021
+v 0.43453802 0.13808248 0.04915721
+v 0.47727274 0.13808248 0.07931612
+v 0.44523960 -0.26167513 0.07388726
+v 0.42695202 -0.28099312 0.07261107
+v 0.47727274 0.13808248 0.07261107
+v 0.44523960 -0.26167513 0.07803994
+v 0.42858451 -0.26777476 0.05019656
+v 0.43551724 -0.27424110 0.07388726
+v 0.44084797 0.13808248 0.05008960
+v 0.43155417 -0.26420027 0.05184635
+v 0.43551724 -0.27424110 0.07803994
+f 6 3 2
+f 6 1 3
+f 6 4 1
+f 7 2 3
+f 8 1 4
+f 8 4 5
+f 9 6 2
+f 9 4 6
+f 10 7 3
+f 11 8 5
+f 12 1 8
+f 12 7 10
+f 12 11 7
+f 12 8 11
+f 13 9 2
+f 13 5 4
+f 13 4 9
+f 13 11 5
+f 13 2 11
+f 14 11 2
+f 14 2 7
+f 14 7 11
+f 15 12 10
+f 15 1 12
+f 15 10 3
+f 15 3 1
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_7.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e308bc4ca8edf731fc351878b37f26bba7564c82
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.38730000 -0.24314928 -0.07040326
+v 0.40468915 -0.16494825 -0.07101156
+v 0.38957451 0.25228263 -0.06646110
+v -0.38957451 0.25228263 -0.06646110
+v -0.40017943 -0.23931155 -0.07682438
+v -0.40583492 -0.24519932 -0.06404752
+v 0.38528483 -0.23958493 -0.07876349
+v -0.40977601 0.23249758 -0.06638756
+v 0.40151516 0.13808248 -0.07931613
+v -0.39983968 0.22829698 -0.07806573
+v 0.40468952 0.13808248 -0.07101174
+v 0.40151516 -0.16494783 -0.07931613
+v -0.38568357 0.24244755 -0.07805344
+v 0.38568357 0.24244755 -0.07805344
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 6 5
+f 7 1 6
+f 8 6 4
+f 8 5 6
+f 10 5 8
+f 11 9 3
+f 11 3 2
+f 12 2 7
+f 12 10 9
+f 12 7 5
+f 12 5 10
+f 12 11 2
+f 12 9 11
+f 13 10 8
+f 13 8 4
+f 13 4 3
+f 13 9 10
+f 14 13 3
+f 14 3 9
+f 14 9 13
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_8.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df63240aa758c94101d04336d13835e8ab940e0
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.43797389 0.21382252 0.07805445
+v -0.39990969 0.28508245 0.05022919
+v -0.40040673 0.29477322 0.07803994
+v -0.40040673 0.29477322 0.07388726
+v -0.46188918 0.22378417 0.07388726
+v -0.43461335 0.21383207 0.04914681
+v -0.43321694 0.27560883 0.07388726
+v -0.46188918 0.22378417 0.07803994
+v -0.43082339 0.26497136 0.05225320
+v -0.46649076 0.21019031 0.07388726
+v -0.41899124 0.27677069 0.05238659
+v -0.40992612 0.29076142 0.07803994
+v -0.40784556 0.27442271 0.04659573
+v -0.46649076 0.21019031 0.07803994
+v -0.43873020 0.24322760 0.05040579
+v -0.40992612 0.29076142 0.07388726
+v -0.43321694 0.27560883 0.07803994
+v -0.44084797 0.21384006 0.05008960
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 8 7 5
+f 9 5 7
+f 10 8 5
+f 11 9 7
+f 12 3 4
+f 12 1 3
+f 13 2 6
+f 13 11 2
+f 13 9 11
+f 14 10 6
+f 14 6 1
+f 14 1 8
+f 14 8 10
+f 15 13 6
+f 15 9 13
+f 15 10 5
+f 15 5 9
+f 16 4 2
+f 16 2 11
+f 16 12 4
+f 16 11 7
+f 16 7 12
+f 17 12 7
+f 17 7 8
+f 17 8 1
+f 17 1 12
+f 18 15 6
+f 18 6 10
+f 18 10 15
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/collision/model_normalized_collision_9.obj b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6092e9bbd6a6c02c07c35ef9f97b26b27145712
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.48808616 0.13692945 0.07803994
+v 0.48689421 0.13661263 0.07261107
+v 0.46188918 0.22378417 0.07388726
+v 0.42629506 0.28310240 0.07803994
+v 0.43787951 0.13808258 0.07805021
+v 0.46188918 0.22378417 0.07803994
+v 0.47680189 0.17938473 0.07388726
+v 0.43453802 0.13808248 0.04915721
+v 0.43309469 0.27610834 0.07803994
+v 0.47680189 0.17938473 0.07803994
+v 0.42637632 0.26900425 0.05070839
+v 0.42554834 0.28278147 0.07307443
+v 0.43082339 0.26497136 0.05225320
+v 0.43309469 0.27610834 0.07388726
+v 0.44084797 0.13808248 0.05008960
+f 5 2 1
+f 7 1 2
+f 7 3 6
+f 8 2 5
+f 9 6 3
+f 9 4 5
+f 9 5 6
+f 10 7 6
+f 10 1 7
+f 10 6 5
+f 10 5 1
+f 12 8 5
+f 12 5 4
+f 12 11 8
+f 13 7 2
+f 13 3 7
+f 14 12 4
+f 14 4 9
+f 14 9 3
+f 14 3 13
+f 14 13 11
+f 14 11 12
+f 15 13 2
+f 15 2 8
+f 15 8 11
+f 15 11 13
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/model.xml b/objects/objaverse/tray/tray_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e3f0b21a6f3c08e41cd23f2c4ad6c60b8daf5812
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="tray_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.2250000000000001 0.2250000000000001 0.2250000000000001" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
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diff --git a/objects/objaverse/tray/tray_0/visual/material.mtl b/objects/objaverse/tray/tray_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_0/visual/model_normalized_0.obj b/objects/objaverse/tray/tray_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9016fa9ac04cb27fea5601e55f37e2de9096bcb
--- /dev/null
+++ b/objects/objaverse/tray/tray_0/visual/model_normalized_0.obj
@@ -0,0 +1,5213 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_0.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c80253221b30f6d8a91918b7327f08fbd966f62a
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.38636362 0.20011855 -0.02066256
+v 0.38617683 0.20011855 -0.04268955
+v 0.40368770 0.29599448 0.00581521
+v 0.22074814 0.29642297 0.00166713
+v 0.18939393 0.21527006 -0.02066256
+v 0.38530427 0.28161800 -0.03396351
+v 0.40670681 0.28472985 -0.00265962
+v 0.21969696 0.20011855 -0.02066256
+v 0.18835660 0.28641507 -0.02830623
+v 0.21969696 0.20011855 -0.04280706
+v 0.18937219 0.29050558 -0.00414543
+v 0.18939393 0.21527006 -0.04280706
+v 0.18784091 0.27079287 -0.03635247
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+f 11 4 9
+f 12 10 5
+f 12 6 2
+f 12 2 10
+f 13 11 9
+f 13 5 11
+f 13 12 5
+f 13 9 6
+f 13 6 12
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_1.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5133d2fbd1981958ad6a6f593314644c4d802d
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.42571819 -0.34655366 0.04190298
+v 0.49663867 -0.25249881 0.03755461
+v 0.34098237 -0.32177923 0.03381774
+v 0.41939032 -0.25561935 -0.00963056
+v 0.43699128 -0.29101169 0.00355801
+v 0.46783750 -0.25574438 0.03901106
+v 0.47716385 -0.30427116 0.03795488
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+v 0.47708300 -0.30429121 0.04150796
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+v 0.38915981 -0.28163837 -0.00925170
+v 0.45147326 -0.33126796 0.04190298
+v 0.49022309 -0.27872433 0.04146197
+v 0.34095565 -0.33397850 0.04006565
+v 0.38650709 -0.28594361 -0.00680043
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+f 22 15 9
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+f 22 13 18
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_10.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad4a354e98dd5f94b0e24c532782f35eda1b1d6
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.42652122 -0.25874066 -0.00447745
+v -0.41232108 -0.25252571 -0.03756270
+v -0.42551819 0.26591260 -0.00266229
+v -0.45979776 0.26010993 0.01175236
+v -0.46963943 -0.25290468 0.01950777
+v -0.42162882 0.25626043 -0.03260786
+v -0.42234704 -0.25155006 -0.03318058
+v -0.47035362 0.24475429 0.01899815
+v -0.41171953 0.25782730 -0.03677785
+v -0.44689147 0.25670293 -0.00878209
+v -0.45882862 -0.25078758 0.00693433
+f 1 2 3
+f 5 1 3
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+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 5 3
+f 8 3 4
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 8 4
+f 10 4 6
+f 10 6 7
+f 10 5 8
+f 11 10 7
+f 11 7 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_11.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25fc9d2d00ac210cc87a0c18235f6bc506cf1c9
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.38730633 0.29835339 0.00348400
+v 0.38850400 0.30683530 0.01485389
+v -0.42481351 0.30272273 0.03032206
+v -0.41680340 0.32164234 0.03937049
+v 0.38630086 0.32073492 0.01060255
+v 0.38662597 0.32377993 0.03690033
+v 0.38755157 0.31764983 0.03128032
+v -0.41425827 0.31582544 0.01422375
+v -0.41714894 0.29171981 0.00959655
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 5
+f 7 5 6
+f 8 5 1
+f 8 3 4
+f 8 4 5
+f 9 8 1
+f 9 1 3
+f 9 3 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_12.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fb19df13810677efd812e1202e63f5bf9ba97e6
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.46679928 0.26196510 0.03917165
+v -0.41622614 0.26046676 -0.03425779
+v -0.42126772 0.31403468 0.03748883
+v -0.41560058 0.34856115 0.04269726
+v -0.46268832 0.32189872 0.03800848
+v -0.41203080 0.32480083 0.02062511
+v -0.42551819 0.26591260 -0.00266229
+v -0.49557182 0.25829134 0.03755461
+v -0.41156895 0.28371279 -0.02549079
+v -0.45015802 0.26874937 0.02776299
+v -0.43251209 0.26792249 -0.02029661
+v -0.43519912 0.25664103 -0.02254210
+v -0.49505023 0.25818811 0.04226077
+v -0.43979391 0.33938363 0.03755461
+v -0.41587311 0.34905439 0.03683454
+v -0.49238990 0.27125864 0.03755461
+v -0.42157242 0.28078279 -0.02134867
+v -0.46265538 0.32186577 0.04144820
+v -0.43946226 0.33916556 0.04208616
+v -0.49307937 0.26997077 0.04144820
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 9 6 2
+f 10 7 3
+f 10 3 1
+f 10 1 7
+f 12 2 1
+f 12 11 2
+f 13 1 4
+f 13 12 1
+f 13 8 12
+f 14 9 5
+f 15 4 6
+f 15 6 9
+f 15 9 14
+f 16 5 11
+f 16 12 8
+f 16 11 12
+f 17 9 2
+f 17 2 11
+f 17 11 5
+f 17 5 9
+f 18 5 16
+f 18 14 5
+f 19 15 14
+f 19 4 15
+f 19 14 18
+f 19 18 13
+f 19 13 4
+f 20 16 8
+f 20 8 13
+f 20 18 16
+f 20 13 18
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_13.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2ea834e56a39dc457d45b173384e39cfde23b3e
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.40155014 0.16981552 -0.02032479
+v 0.40022289 0.16981552 -0.04157888
+v 0.21969696 0.21527006 -0.04280706
+v -0.31060605 0.21527006 -0.02066256
+v -0.37121211 0.16981552 -0.02066256
+v 0.21969696 0.21527006 -0.02066256
+v 0.40155014 0.20011855 -0.02032479
+v -0.37120000 0.16981552 -0.04280311
+v 0.40022289 0.20011855 -0.04157888
+v -0.37120000 0.20011855 -0.04280311
+v -0.37121211 0.20011855 -0.02066256
+v -0.31060605 0.21527006 -0.04280706
+f 6 3 4
+f 7 1 2
+f 7 3 6
+f 7 6 4
+f 7 5 1
+f 8 3 2
+f 8 2 1
+f 8 1 5
+f 9 7 2
+f 9 2 3
+f 9 3 7
+f 10 8 5
+f 11 10 5
+f 11 7 4
+f 11 5 7
+f 12 4 3
+f 12 3 8
+f 12 8 10
+f 12 11 4
+f 12 10 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_14.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bffe084a8da2e52bd902db3edf400cd4f9ad8181
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.44609090 0.32026040 0.03564956
+v -0.41179752 0.35175231 0.04165242
+v -0.41425827 0.31582544 0.01422375
+v -0.41223703 0.35176565 0.03785435
+v 0.41217425 0.35190231 0.03800848
+v -0.41797022 0.32431006 0.04012151
+v 0.42781536 0.31507347 0.01907165
+v 0.44790881 0.32247412 0.04237091
+v 0.43996032 0.33967031 0.03800848
+v 0.41194736 0.35165612 0.04177303
+v 0.43986841 0.33951147 0.04158399
+f 5 4 2
+f 5 3 4
+f 6 2 4
+f 6 4 3
+f 6 3 1
+f 7 1 3
+f 7 3 5
+f 8 2 6
+f 8 6 1
+f 9 7 5
+f 9 1 7
+f 9 8 1
+f 10 5 2
+f 10 2 8
+f 11 9 5
+f 11 5 10
+f 11 10 8
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_15.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94d6fc5f4f55bfdfbc5ff23ca13a8bce5c6703a2
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.18939667 -0.23929003 -0.02039065
+v -0.18928665 -0.23881847 -0.04241177
+v -0.18939393 -0.19382083 -0.02066256
+v -0.35606059 -0.19382083 -0.02066256
+v -0.35606046 -0.25442824 -0.02066021
+v -0.18939393 -0.19382083 -0.04280706
+v -0.27980955 -0.25517544 -0.01982376
+v -0.35606059 -0.19382083 -0.04280706
+v -0.20493423 -0.24069894 -0.02003266
+v -0.35607229 -0.25360826 -0.04230617
+v -0.28063122 -0.25307668 -0.04143242
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 4 5
+f 7 2 1
+f 8 4 6
+f 9 7 1
+f 9 1 3
+f 9 3 7
+f 10 7 5
+f 10 5 4
+f 10 4 8
+f 10 8 6
+f 10 6 2
+f 11 10 2
+f 11 2 7
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_16.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c56d404581476038d8f846c30e0c551236f2ce7
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.22051000 0.27653240 -0.00670549
+v 0.22505953 0.28003619 -0.00353401
+v -0.42551819 0.26591260 -0.00266229
+v -0.41974456 0.29544603 -0.00878954
+v 0.22074814 0.29642297 0.00166713
+v -0.41852206 0.26181147 -0.00830998
+v 0.00712322 0.26236918 -0.00949517
+v 0.21909698 0.28984419 -0.00215350
+v -0.41714894 0.29171981 0.00959655
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 7 6 4
+f 7 4 1
+f 8 5 2
+f 8 2 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 2 5
+f 9 5 4
+f 9 4 3
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_17.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b26c3c58b80923d6f3e93de1e08ff37d345dae9
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.40155014 0.20011855 -0.02032479
+v 0.40022289 0.20011855 -0.04157888
+v 0.40456814 0.31497768 0.03248407
+v 0.38662597 0.32377993 0.03690033
+v 0.38636362 0.20011855 -0.02066256
+v 0.38530427 0.28161800 -0.03396351
+v 0.40185195 0.32268626 0.03777236
+v 0.39705806 0.28083609 -0.03260738
+v 0.38501145 0.30729803 -0.00996783
+v 0.38617683 0.20011855 -0.04268955
+v 0.39768354 0.30604880 -0.00877447
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 8 2 6
+f 9 5 4
+f 9 4 7
+f 9 8 6
+f 10 6 2
+f 10 2 5
+f 10 9 6
+f 10 5 9
+f 11 7 3
+f 11 3 8
+f 11 9 7
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_18.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee48136ca5e1ad3d26eb1ba81129fbc0bb7019c
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.41359710 -0.32255848 0.01908225
+v 0.44713288 -0.28484362 0.01009772
+v 0.43988455 -0.30706117 0.01987182
+v -0.42968726 -0.28283504 0.01219805
+v -0.38490591 -0.29883105 -0.02051886
+v -0.41376648 -0.32296733 0.01948734
+v 0.42292995 -0.27683190 -0.02309189
+v -0.42956345 -0.31179742 0.01787207
+v 0.38490591 -0.29883105 -0.02051886
+v 0.43611445 -0.27716561 -0.01035300
+v 0.41987640 -0.29789587 -0.00578332
+v -0.42292995 -0.27683190 -0.02309189
+v 0.43208695 -0.28665370 -0.00646213
+v 0.41943075 -0.28564798 -0.01899995
+v -0.41943075 -0.28564798 -0.01899995
+v -0.41987640 -0.29789587 -0.00578332
+f 3 2 4
+f 6 1 3
+f 8 6 3
+f 8 3 4
+f 9 6 5
+f 9 1 6
+f 10 2 3
+f 10 4 2
+f 11 3 1
+f 11 1 9
+f 12 10 7
+f 12 4 10
+f 12 8 4
+f 12 9 5
+f 12 7 9
+f 13 10 3
+f 13 7 10
+f 14 11 9
+f 14 9 7
+f 14 7 13
+f 14 13 3
+f 14 3 11
+f 15 12 5
+f 15 8 12
+f 16 15 5
+f 16 5 6
+f 16 6 8
+f 16 8 15
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_19.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2534a4283cb0a6915086013c6b695fb59453c4b1
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.38595704 0.28763327 -0.03018866
+v 0.38541309 0.29532054 -0.02405195
+v 0.38730633 0.29835339 0.00348400
+v -0.38560396 0.32909116 0.01910480
+v -0.40870999 0.29171821 -0.02030143
+v 0.38560396 0.32909116 0.01910480
+v -0.38447560 0.31837093 0.00657872
+v -0.41714894 0.29171981 0.00959655
+v -0.41156895 0.28371279 -0.02549079
+v -0.41425827 0.31582544 0.01422375
+v -0.40877797 0.30348304 -0.00672674
+f 5 2 1
+f 6 2 4
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 8 6 4
+f 8 3 6
+f 9 5 1
+f 9 1 8
+f 10 8 4
+f 10 9 8
+f 10 5 9
+f 11 10 4
+f 11 4 5
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_2.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b517c5fc75bd5d1f8124ee67d7deb939f189d981
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.46343964 0.26107367 0.03779532
+v 0.48570807 0.28760339 0.03716758
+v 0.48559547 0.28771493 0.04226077
+v 0.44508017 0.33377066 0.04269726
+v 0.39959206 0.25880243 -0.03985690
+v 0.46268832 0.32189872 0.03800848
+v 0.41797022 0.32431006 0.04012151
+v 0.43519912 0.25664103 -0.02254210
+v 0.48046048 0.29917114 0.03800848
+v 0.46265538 0.32186577 0.04144820
+v 0.39743325 0.29440866 -0.02254210
+v 0.46509243 0.27717654 0.04012316
+v 0.40185195 0.32268626 0.03777236
+v 0.45979762 0.26010989 0.01175143
+v 0.43251209 0.26792249 -0.02029661
+v 0.44532602 0.33395206 0.03674582
+v 0.48030776 0.29908125 0.04157767
+v 0.41047071 0.26933424 -0.00942030
+v 0.39768354 0.30604880 -0.00877447
+v 0.40870999 0.29171821 -0.02030143
+v 0.41171953 0.25782730 -0.03677785
+v 0.41000259 0.26921296 -0.03399682
+v 0.39861786 0.27092717 -0.03677864
+f 1 2 3
+f 8 1 5
+f 9 3 2
+f 10 4 3
+f 10 9 6
+f 12 7 1
+f 12 1 3
+f 12 3 4
+f 12 4 7
+f 13 1 7
+f 13 7 4
+f 14 8 2
+f 14 2 1
+f 14 1 8
+f 15 6 9
+f 15 9 2
+f 15 2 8
+f 16 10 6
+f 16 4 10
+f 16 13 4
+f 17 10 3
+f 17 3 9
+f 17 9 10
+f 18 13 5
+f 18 5 1
+f 18 1 13
+f 19 11 5
+f 19 5 13
+f 19 16 11
+f 19 13 16
+f 20 6 15
+f 20 16 6
+f 20 11 16
+f 21 8 5
+f 22 15 8
+f 22 8 21
+f 22 20 15
+f 22 11 20
+f 23 22 21
+f 23 21 5
+f 23 5 11
+f 23 11 22
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_20.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a5d719edcac97563f31f73630f83719f6937e09
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09848257 -0.25443205 -0.02039798
+v -0.03797249 -0.23872488 -0.04232924
+v -0.03787879 -0.19382083 -0.02066256
+v -0.18939393 -0.19382083 -0.02066256
+v -0.18928665 -0.23881847 -0.04241177
+v -0.15909171 -0.25442904 -0.02014193
+v -0.03787656 -0.23929147 -0.02033259
+v -0.09856730 -0.25348180 -0.04198431
+v -0.03787879 -0.19382083 -0.04280706
+v -0.18939667 -0.23929003 -0.02039065
+v -0.15895495 -0.25338256 -0.04170281
+v -0.18939393 -0.19382083 -0.04280706
+f 6 3 4
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 8 1 6
+f 9 2 5
+f 9 7 2
+f 9 3 7
+f 9 4 3
+f 10 6 4
+f 10 5 6
+f 11 8 6
+f 11 6 5
+f 11 5 8
+f 12 9 5
+f 12 4 9
+f 12 10 4
+f 12 5 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_21.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..403be810dab2a1a7a43edb7c3e9b4dc14a22d104
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18939393 0.21527006 -0.02066256
+v 0.18939393 0.21527006 -0.04280706
+v 0.18937219 0.29050558 -0.00414543
+v -0.18937214 0.29050564 -0.00414584
+v -0.18939393 0.21527006 -0.04280706
+v 0.18756485 0.28105400 -0.03170736
+v -0.18939393 0.21527006 -0.02066256
+v -0.18756485 0.28105400 -0.03170736
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_22.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..397d547688761ad8bf16094cadcdcdd32c734fbe
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.38620705 -0.25451001 -0.02064587
+v 0.40010979 -0.23919487 -0.04158182
+v 0.40155014 -0.19382083 -0.02032479
+v 0.26515150 -0.19382083 -0.02066256
+v 0.26528203 -0.23872481 -0.04232436
+v 0.26514846 -0.23929118 -0.02032808
+v 0.40154321 -0.23927802 -0.02026945
+v 0.38597999 -0.25356343 -0.04217688
+v 0.38617683 -0.19382083 -0.04268955
+v 0.31060228 -0.25443247 -0.02047427
+v 0.26515150 -0.19382083 -0.04280706
+v 0.40022289 -0.19382083 -0.04157888
+v 0.31069509 -0.25350957 -0.04207273
+f 6 3 4
+f 7 3 6
+f 8 7 1
+f 8 2 7
+f 9 2 8
+f 9 4 3
+f 10 6 5
+f 10 7 6
+f 10 1 7
+f 11 6 4
+f 11 5 6
+f 11 4 9
+f 11 9 8
+f 11 8 5
+f 12 7 2
+f 12 3 7
+f 12 9 3
+f 12 2 9
+f 13 8 1
+f 13 1 10
+f 13 10 5
+f 13 5 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_23.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9c885a62c59ee357575c2d8e86f05f22115ac0a
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.49656860 -0.25248759 0.04190298
+v 0.46409797 0.29229222 0.04130158
+v 0.46783750 -0.25574438 0.03901106
+v 0.45591521 0.28711183 0.01914738
+v 0.49270702 0.27135587 0.03800848
+v 0.45414864 -0.25271471 0.00030102
+v 0.48559547 0.28771493 0.04226077
+v 0.49663867 -0.25249881 0.03755461
+v 0.45512409 0.24459004 -0.00032532
+v 0.49266258 0.27134145 0.04144820
+v 0.48570807 0.28760339 0.03716758
+f 1 2 3
+f 3 2 4
+f 6 3 4
+f 7 2 1
+f 8 1 3
+f 8 3 6
+f 9 6 4
+f 9 8 6
+f 9 5 8
+f 10 7 1
+f 10 5 7
+f 10 8 5
+f 10 1 8
+f 11 7 5
+f 11 4 2
+f 11 2 7
+f 11 9 4
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_24.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f4dac12b40c5baf3f77f20265890e8589c9b190
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.41644112 -0.34468617 0.03632315
+v 0.41483446 -0.32662546 0.02508548
+v 0.40424303 -0.30684377 0.02074613
+v -0.35612661 -0.30335134 0.00762085
+v 0.41359710 -0.32255848 0.01908225
+v -0.35628905 -0.31077402 0.01837081
+v -0.35575825 -0.33390970 0.02326042
+v 0.40165598 -0.30024089 0.00993640
+v -0.35579451 -0.33542893 0.02716294
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 7 1
+f 9 1 6
+f 9 6 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_25.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f07df84ceb8bd294eef19f2fc077bc5e0dfbb3d2
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40155014 -0.19382083 -0.02032479
+v 0.40022289 -0.19382083 -0.04157888
+v 0.40155014 0.16981552 -0.02032479
+v -0.35606059 0.16981552 -0.02066256
+v -0.35606059 -0.19382083 -0.02066256
+v -0.35606059 0.16981552 -0.04280706
+v 0.40022289 0.16981552 -0.04157888
+v -0.35606059 -0.19382083 -0.04280706
+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/objects/objaverse/tray/tray_1/collision/model_normalized_collision_26.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7d14fddb4eba497ee24257ffd1f47ebbab712ac
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.34085638 -0.35694465 0.04252339
+v -0.35606309 -0.31514521 0.02530341
+v 0.34098237 -0.32177923 0.03381774
+v -0.35621474 -0.32156300 0.03386476
+v -0.35594417 -0.35679427 0.03692321
+v 0.34095565 -0.33397850 0.04006565
+v 0.34091186 -0.31531503 0.02519516
+v -0.35470827 -0.35666283 0.04252339
+v 0.34085014 -0.35650518 0.03672373
+v -0.35615728 -0.33383875 0.04010031
+f 5 4 2
+f 6 3 4
+f 7 2 4
+f 7 4 3
+f 7 5 2
+f 8 5 1
+f 9 1 5
+f 9 5 7
+f 9 7 3
+f 9 6 1
+f 9 3 6
+f 10 4 5
+f 10 5 8
+f 10 6 4
+f 10 8 1
+f 10 1 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_27.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fc123057f1eae7a46ee6e4ef7ec3d321b7c602d
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.45737783 -0.25718169 0.03219274
+v 0.46082173 -0.25412883 0.01106519
+v 0.46343964 0.26107367 0.03779532
+v 0.44400828 0.26606324 0.01695733
+v 0.43795619 -0.25629115 0.00437773
+v 0.45979762 0.26010989 0.01175143
+v 0.45578413 0.26378102 0.03260748
+v 0.46397769 -0.25485413 0.03728004
+v 0.44589644 -0.25870551 0.01570584
+v 0.43678413 0.26289774 0.00581513
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 4 1
+f 7 6 4
+f 7 3 6
+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 9 1 5
+f 10 6 5
+f 10 5 4
+f 10 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_28.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaadf348c800b66a208986b3b5b2c28e366f3ab5
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.45766422 -0.28211894 0.01833907
+v 0.44426939 0.26798559 -0.00673318
+v 0.44501498 0.28954768 0.01178306
+v 0.44713288 -0.28484362 0.01009772
+v 0.45591521 0.28711183 0.01914738
+v 0.44560434 -0.26310413 -0.00766802
+v 0.44154166 -0.28094798 -0.00064069
+v 0.43809430 0.27104866 -0.01245365
+v 0.43958780 -0.26599528 -0.01372647
+v 0.43958039 0.28543195 0.00100651
+f 4 1 3
+f 5 1 2
+f 5 3 1
+f 6 2 1
+f 7 1 4
+f 7 4 3
+f 8 5 2
+f 9 6 1
+f 9 1 7
+f 9 8 2
+f 9 2 6
+f 10 3 5
+f 10 5 8
+f 10 7 3
+f 10 9 7
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_29.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8ada0bc5478f4434d7fcfc98337b80cb6078e50
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.20511729 -0.29316016 -0.00187818
+v -0.20465755 -0.28546389 -0.00637233
+v -0.24172161 -0.27527178 -0.00617452
+v -0.24742669 -0.27174034 -0.01031396
+v -0.24987982 -0.28497114 -0.00545260
+v -0.20553869 -0.27330735 -0.01248374
+v -0.24757550 -0.29109070 -0.00205979
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 3
+f 7 3 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_3.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0409314240a18421c760f1f455ca7d9aa672ca
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.44154166 -0.28094798 -0.00064069
+v 0.43611445 -0.27716561 -0.01035300
+v 0.43519912 0.25664103 -0.02254210
+v 0.40519488 0.26455187 -0.01384423
+v 0.40143237 -0.28455936 -0.00466920
+v 0.44355444 0.25954019 0.01272674
+v 0.43387777 -0.26323057 -0.02129167
+v 0.39783897 -0.27715350 -0.03432478
+v 0.44463177 -0.25381037 0.01189838
+v 0.42551819 0.26591260 -0.00266229
+v 0.40916079 -0.27558801 -0.03148743
+v 0.39959206 0.25880243 -0.03985690
+v 0.42060516 -0.26300530 -0.03123760
+v 0.42162882 0.25626043 -0.03260786
+f 6 4 5
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 9 1 3
+f 9 3 6
+f 9 6 5
+f 9 5 1
+f 10 6 3
+f 10 4 6
+f 11 2 1
+f 11 1 8
+f 11 7 2
+f 12 8 5
+f 12 5 4
+f 12 4 10
+f 13 11 8
+f 13 8 12
+f 13 7 11
+f 13 3 7
+f 14 13 12
+f 14 3 13
+f 14 12 10
+f 14 10 3
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_30.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6691d41e6d9746536c815e16775c61ca0f5a7737
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.24757550 -0.29109070 -0.00205979
+v 0.24987982 -0.28497114 -0.00545260
+v 0.24172161 -0.27527178 -0.00617452
+v 0.20553869 -0.27330735 -0.01248374
+v 0.20465755 -0.28546389 -0.00637233
+v 0.24742669 -0.27174034 -0.01031396
+v 0.20511729 -0.29316016 -0.00187818
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 7 4 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_31.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c250505915e4aa17cf70445b969d8ef6b7f03df1
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02189878 -0.29225898 -0.00218365
+v 0.02260699 -0.28528573 -0.00602235
+v 0.01543961 -0.27727051 -0.00808940
+v -0.02143088 -0.27278939 -0.01189507
+v -0.02260699 -0.28528573 -0.00602235
+v 0.02143088 -0.27278939 -0.01189507
+v -0.02189878 -0.29225898 -0.00218365
+v -0.01543961 -0.27727051 -0.00808940
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 4 5
+f 8 4 7
+f 8 6 4
+f 8 3 6
+f 8 7 1
+f 8 1 3
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_4.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887a1527b3cac086002dfed7e31374b733371f83
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26490973 -0.24008000 -0.02027495
+v 0.26528203 -0.23872481 -0.04232436
+v 0.26515150 -0.19382083 -0.02066256
+v -0.03787879 -0.19382083 -0.02066256
+v -0.03797249 -0.23872488 -0.04232924
+v 0.26515150 -0.22412970 -0.02066189
+v 0.14386570 -0.25347194 -0.04189675
+v -0.03768674 -0.23999917 -0.02028697
+v 0.26515150 -0.19382083 -0.04280706
+v -0.03787879 -0.22412970 -0.02066189
+v 0.08333172 -0.25443164 -0.02028399
+v -0.03787879 -0.19382083 -0.04280706
+v 0.14394109 -0.25443244 -0.02031853
+v 0.08340742 -0.25340132 -0.04185916
+f 1 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 8 1 4
+f 9 3 2
+f 9 2 5
+f 9 4 3
+f 10 8 4
+f 10 4 5
+f 10 5 8
+f 11 1 8
+f 12 9 5
+f 12 5 4
+f 12 4 9
+f 13 11 7
+f 13 7 1
+f 13 1 11
+f 14 11 8
+f 14 8 5
+f 14 5 7
+f 14 7 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_5.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..263969860f7d7e33e0afb60267b3604b3fb89e57
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.18939393 0.21527006 -0.02066256
+v -0.18939393 0.21527006 -0.04280706
+v -0.18937214 0.29050564 -0.00414584
+v -0.41974456 0.29544603 -0.00878954
+v -0.42076679 0.21527006 -0.01158255
+v -0.18784091 0.27079287 -0.03635247
+v -0.31060605 0.20011855 -0.04280706
+v -0.18835667 0.28641667 -0.02830550
+v -0.31060605 0.20011855 -0.02066256
+v -0.41294383 0.21527006 -0.03865322
+v -0.37120000 0.20011855 -0.04280311
+v -0.39705806 0.28083609 -0.03260738
+v -0.37121211 0.20011855 -0.02066256
+v -0.41000114 0.26921149 -0.03399800
+v -0.41156895 0.28371279 -0.02549079
+f 5 1 3
+f 5 3 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 8 4 3
+f 8 3 6
+f 9 7 1
+f 9 1 5
+f 10 5 4
+f 11 6 2
+f 11 2 7
+f 11 5 10
+f 12 8 6
+f 12 4 8
+f 13 9 5
+f 13 5 11
+f 13 11 7
+f 13 7 9
+f 14 10 4
+f 14 11 10
+f 14 12 6
+f 14 6 11
+f 15 14 4
+f 15 4 12
+f 15 12 14
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_6.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac76008328cdaf78d916f0d0df1ad3a6e4d291d5
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.35470827 -0.35666283 0.04252339
+v -0.35594417 -0.35679427 0.03692321
+v -0.38751894 -0.27468148 -0.01370587
+v -0.46082173 -0.25412883 0.01106519
+v -0.45168408 -0.33155391 0.04144820
+v -0.35644945 -0.31719043 0.02844354
+v -0.42586120 -0.34687930 0.04144820
+v -0.42778297 -0.28114371 -0.01578311
+v -0.45128348 -0.25556693 0.02264250
+v -0.35612661 -0.30335134 0.00762085
+v -0.48734872 -0.28274217 0.03692321
+v -0.41939032 -0.25561935 -0.00963056
+v -0.42588089 -0.34692235 0.03800848
+v -0.42358534 -0.29051221 -0.01090699
+v -0.35615728 -0.33383875 0.04010031
+v -0.35575825 -0.33390970 0.02326042
+v -0.47713459 -0.30438188 0.03800848
+v -0.45414864 -0.25271471 0.00030102
+v -0.48773211 -0.28289256 0.04226077
+v -0.45171343 -0.33159041 0.03800848
+v -0.43611445 -0.27716561 -0.01035300
+v -0.45253561 -0.28860859 0.03859046
+v -0.47709625 -0.30435379 0.04144820
+f 7 2 1
+f 7 1 5
+f 10 6 1
+f 10 9 6
+f 12 3 8
+f 12 10 3
+f 12 9 10
+f 13 7 5
+f 13 2 7
+f 14 8 3
+f 14 2 13
+f 15 1 6
+f 15 6 9
+f 16 10 1
+f 16 1 2
+f 16 3 10
+f 16 14 3
+f 16 2 14
+f 18 11 4
+f 18 12 8
+f 18 4 9
+f 18 9 12
+f 19 9 4
+f 19 4 11
+f 19 1 15
+f 19 5 1
+f 19 11 17
+f 20 14 13
+f 20 13 5
+f 20 8 14
+f 20 17 8
+f 20 5 17
+f 21 18 8
+f 21 11 18
+f 21 17 11
+f 21 8 17
+f 22 19 15
+f 22 15 9
+f 22 9 19
+f 23 19 17
+f 23 17 5
+f 23 5 19
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_7.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..366dc11a3ba518f0f2320a1a8417fb19002d2705
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.44919968 -0.28628359 0.03647379
+v -0.43795619 -0.25629115 0.00437773
+v -0.43678413 0.26289774 0.00581513
+v -0.49505023 0.25818811 0.04226077
+v -0.49028161 -0.27873151 0.03800848
+v -0.46847539 0.25859176 0.01958217
+v -0.46679928 0.26196510 0.03917165
+v -0.44713291 -0.28484364 0.01009763
+v -0.46447140 -0.28610695 0.04081554
+v -0.44400828 0.26606324 0.01695733
+v -0.49557182 0.25829134 0.03755461
+v -0.49023736 -0.27871605 0.04144820
+f 1 2 3
+f 6 3 2
+f 8 2 1
+f 8 6 2
+f 8 5 6
+f 9 7 4
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 4 7
+f 10 7 1
+f 10 1 3
+f 11 6 5
+f 11 4 10
+f 11 10 3
+f 11 3 6
+f 12 9 4
+f 12 5 9
+f 12 11 5
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_8.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8798c12217df2e77c126de1ac7e7e6847d77587
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.35606046 -0.25442824 -0.02066021
+v -0.35607229 -0.25360826 -0.04230617
+v -0.35606059 0.16981552 -0.02066256
+v -0.42076679 0.21527006 -0.01158255
+v -0.41939032 -0.25561935 -0.00963056
+v -0.41294383 0.21527006 -0.03865322
+v -0.35606059 0.16981552 -0.04280706
+v -0.37121211 0.21527006 -0.02066256
+v -0.41232108 -0.25252571 -0.03756270
+v -0.37120000 0.21527006 -0.04280311
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 8 6 4
+f 8 4 3
+f 9 5 4
+f 9 4 6
+f 9 2 5
+f 10 7 2
+f 10 6 8
+f 10 8 3
+f 10 3 7
+f 10 9 6
+f 10 2 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/collision/model_normalized_collision_9.obj b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa858828cd8937becefe4c70c606079ec872fbcf
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.40143237 -0.28455936 -0.00466920
+v 0.39783897 -0.27715350 -0.03432478
+v 0.40735868 -0.23988777 -0.01857593
+v -0.45414864 -0.25271471 0.00030102
+v -0.40915921 -0.27559301 -0.03148590
+v -0.44154166 -0.28094798 -0.00064069
+v -0.28038332 -0.23908592 -0.04255678
+v -0.45169772 -0.26549621 0.00222131
+v 0.40010979 -0.23919487 -0.04158182
+v -0.42234704 -0.25155006 -0.03318058
+v -0.28018289 -0.23978944 -0.02048426
+v -0.44767083 -0.25140813 -0.00948376
+v -0.43611445 -0.27716561 -0.01035300
+v -0.44560434 -0.26310413 -0.00766802
+v -0.42060516 -0.26300530 -0.03123760
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 7 2 5
+f 8 6 1
+f 8 1 4
+f 9 7 3
+f 9 3 2
+f 9 2 7
+f 10 7 5
+f 11 4 3
+f 11 3 7
+f 12 7 10
+f 12 11 7
+f 12 4 11
+f 13 5 6
+f 14 8 4
+f 14 4 12
+f 14 13 6
+f 14 6 8
+f 15 10 5
+f 15 5 13
+f 15 13 14
+f 15 14 12
+f 15 12 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_1/model.xml b/objects/objaverse/tray/tray_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c6745404c5386e9d23b748fc47afd7f30d65dbce
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="tray_12">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <material name="Material.003_senza" specular="0.5" shininess="0.19123955" rgba="0.800000 0.800000 0.800000 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.003_senza"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.000529445699999998 -0.00011201925000000088 -0.008989482600000003" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.000529445699999998 -0.00011201925000000088 0.008966424600000003" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.07389948510000004 0.10407008220000004 -1.1529000000000023e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/tray/tray_1/visual/material.mtl b/objects/objaverse/tray/tray_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c0af1eb8b5469de3a7f3c07912ef83dff3b17aab
--- /dev/null
+++ b/objects/objaverse/tray/tray_1/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 191.23955000
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_1.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997209fedbd1aac93d4cff52ea4b3f525c91a7ad
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.38738688 -0.36878067 0.01988636
+v -0.37121213 -0.34238120 -0.01605761
+v -0.37121213 -0.31818182 -0.01420455
+v -0.49077262 -0.31707824 0.01988636
+v -0.46671683 -0.35308047 0.01420455
+v -0.44151104 -0.31453458 -0.01519601
+v -0.37121213 -0.36411353 0.01710085
+v -0.46671683 -0.35308047 0.01988636
+v -0.37121213 -0.31818182 -0.01988636
+v -0.49077262 -0.31707824 0.01420455
+v -0.42131970 -0.33277271 -0.01486423
+v -0.45522513 -0.32369786 0.01515864
+v -0.37121213 -0.35139860 -0.00415209
+v -0.43621819 -0.32258183 -0.01515864
+f 5 2 1
+f 6 4 3
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 10 5 4
+f 10 4 6
+f 11 2 5
+f 11 9 2
+f 12 7 3
+f 12 3 4
+f 12 4 7
+f 13 7 1
+f 13 1 2
+f 13 2 3
+f 13 3 7
+f 14 11 5
+f 14 6 9
+f 14 9 11
+f 14 10 6
+f 14 5 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_11.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8821b9a37a4379645cc690ca283f5c65f3e0c21
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.42863865 -0.37795467 0.01988636
+v 0.44696971 -0.36363637 0.01420455
+v 0.44696971 -0.36363637 0.01988636
+v -0.45866350 -0.35846150 0.01988636
+v -0.42863865 -0.37795467 0.01420455
+v 0.44118952 -0.37013717 0.01988636
+v 0.42863865 -0.37795467 0.01420455
+v -0.42863865 -0.37795467 0.01988636
+v -0.45866350 -0.35846150 0.01420455
+v 0.44118952 -0.37013717 0.01420455
+v -0.45166443 -0.36313810 0.01420455
+v -0.45166443 -0.36313810 0.01988636
+f 1 3 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 2 5
+f 9 3 2
+f 9 4 3
+f 10 7 2
+f 10 2 6
+f 10 6 7
+f 11 5 8
+f 11 9 5
+f 11 4 9
+f 12 11 8
+f 12 8 4
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_12.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d1872c2134bd426bcc836b64d65af4cc7c19b46
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.44696971 -0.36363637 0.01988636
+v 0.45347092 -0.33767726 0.01853463
+v 0.38738688 -0.36878067 0.01988636
+v 0.44822971 -0.33417524 0.01516098
+v 0.38643776 -0.36400899 0.01728254
+v 0.38814112 -0.35742125 0.01191805
+v 0.38856257 -0.35954016 0.01515864
+v 0.43636362 -0.34013608 0.01253795
+f 1 2 3
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 6 1 3
+f 6 3 5
+f 7 6 5
+f 7 5 4
+f 7 4 6
+f 8 6 4
+f 8 4 1
+f 8 1 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_16.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..880cc137a393974d06adaad915c909ad1ee85634
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151516 0.18181819 -0.01420455
+v 0.40151516 0.18181819 -0.01988636
+v 0.40151516 0.31818183 -0.01420455
+v -0.09848485 0.31818183 -0.01420455
+v -0.09848485 0.18181819 -0.01988636
+v -0.09848485 0.31818183 -0.01988636
+v -0.09848485 0.18181819 -0.01420455
+v 0.40151516 0.31818183 -0.01988636
+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/objects/objaverse/tray/tray_10/collision/model_normalized_collision_2.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8f820cbcf32f6700814f1184d01ffae5968788d
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_2.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.45866350 -0.35846150 0.01988636
+v 0.49159106 -0.31500230 0.01420455
+v 0.47317653 -0.27492635 0.01515864
+v 0.46497363 -0.27028069 -0.00395056
+v 0.45222348 -0.31156858 -0.00437456
+v 0.50000001 -0.27272728 0.01420455
+v 0.46671683 -0.35308047 0.01420455
+v 0.45991236 -0.27228788 -0.01080918
+v 0.50000001 -0.27272728 0.01988636
+v 0.47677448 -0.33802806 0.01420455
+v 0.45866350 -0.35846150 0.01420455
+v 0.49159106 -0.31500230 0.01988636
+v 0.46671683 -0.35308047 0.01988636
+v 0.47677448 -0.33802806 0.01988636
+f 5 1 3
+f 8 2 5
+f 8 6 2
+f 8 4 6
+f 8 5 3
+f 8 3 4
+f 9 6 4
+f 9 4 3
+f 9 3 1
+f 9 2 6
+f 10 7 5
+f 10 5 2
+f 11 7 1
+f 11 1 5
+f 11 5 7
+f 12 9 1
+f 12 2 9
+f 12 10 2
+f 13 12 1
+f 13 1 7
+f 13 7 10
+f 14 13 10
+f 14 10 12
+f 14 12 13
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_20.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..924239810e89a77a394cfb253316e235931e5481
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46419902 -0.27314058 0.00142857
+v 0.45913776 -0.27514769 -0.00543007
+v 0.45597592 -0.27150488 -0.01575482
+v 0.45913778 0.27514765 -0.00543008
+v 0.44696971 0.27272728 -0.01988636
+v 0.46419903 0.27314058 0.00142856
+v 0.44696971 -0.27272728 -0.01988636
+v 0.45597592 0.27150484 -0.01575481
+f 1 2 3
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 7 5 3
+f 7 3 2
+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/objects/objaverse/tray/tray_10/collision/model_normalized_collision_22.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a5b67f9e8437f1e05f50c32f4b2daa421884c83
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_22.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.40151516 0.31818183 -0.01420455
+v -0.37121213 0.35110723 0.00109266
+v -0.37121213 0.31818183 -0.01420455
+v 0.39993348 0.34053303 -0.01515864
+v 0.40152924 0.34855567 0.00279278
+v -0.37121213 0.34238120 -0.01605761
+v 0.40353630 0.34349437 -0.00406591
+v 0.40151516 0.31818183 -0.01988636
+v -0.37121213 0.31818183 -0.01988636
+f 5 2 3
+f 5 3 1
+f 5 4 2
+f 6 2 4
+f 7 5 1
+f 7 4 5
+f 8 6 4
+f 8 1 3
+f 8 7 1
+f 8 4 7
+f 9 8 3
+f 9 6 8
+f 9 2 6
+f 9 3 2
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_23.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef8242ca855184c47d8adc9a96409e73973710d
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 0.27272728 -0.01420455
+v -0.09848485 0.27272728 -0.01988636
+v -0.09848485 0.31818183 -0.01420455
+v -0.41666668 0.31818183 -0.01420455
+v -0.41666668 0.27272728 -0.01988636
+v -0.09848485 0.31818183 -0.01988636
+v -0.41666668 0.27272728 -0.01420455
+v -0.41666668 0.31818183 -0.01988636
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_25.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3472815df235d7520965258a45cb2b68566243ad
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.41666668 -0.27272728 -0.01420455
+v -0.41666668 -0.27272728 -0.01988636
+v -0.41666668 0.27272728 -0.01420455
+v -0.44696971 0.27272728 -0.01420455
+v -0.44696971 -0.27272728 -0.01988636
+v -0.44696971 0.27272728 -0.01988636
+v -0.44696971 -0.27272728 -0.01420455
+v -0.41666668 0.27272728 -0.01988636
+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/objects/objaverse/tray/tray_10/collision/model_normalized_collision_26.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c359f28cbf1b427661c654a8447a974f48e524e
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.42520480 0.33858719 -0.00437472
+v 0.44696971 0.34848486 0.01420455
+v 0.38856257 0.35954016 0.01515864
+v 0.38636364 0.38636365 0.01988636
+v 0.42863865 0.37795467 0.01420455
+v 0.44696971 0.34848486 0.01988636
+v 0.38592429 0.34627600 -0.01080919
+v 0.44118952 0.37013717 0.01420455
+v 0.38814113 0.35742131 0.01191809
+v 0.38636364 0.38636365 0.01420455
+v 0.42863865 0.37795467 0.01988636
+v 0.38391724 0.35133721 -0.00395055
+v 0.44118952 0.37013717 0.01988636
+f 6 4 3
+f 6 1 2
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 6 3
+f 9 1 6
+f 9 7 1
+f 10 4 5
+f 10 5 7
+f 11 8 5
+f 11 5 4
+f 11 4 6
+f 12 9 3
+f 12 3 4
+f 12 7 9
+f 12 10 7
+f 12 4 10
+f 13 11 6
+f 13 6 8
+f 13 8 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_29.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a65f027538d29566632b25675f21a51d7a8389a8
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.44696971 0.27272728 -0.01420455
+v 0.44696971 0.27272728 -0.01988636
+v 0.44795787 0.31884209 0.00204859
+v 0.40151516 0.31818183 -0.01420455
+v 0.40151516 0.27272728 -0.01420455
+v 0.44151104 0.31453458 -0.01519601
+v 0.45280337 0.30692832 -0.00183650
+v 0.40151516 0.31818183 -0.01988636
+v 0.40151516 0.27272728 -0.01988636
+v 0.44005814 0.32368752 -0.00376595
+f 5 2 1
+f 5 3 4
+f 7 1 2
+f 7 5 1
+f 7 3 5
+f 7 6 3
+f 7 2 6
+f 8 5 4
+f 8 6 2
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 8 4
+f 10 4 3
+f 10 3 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_31.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1919a1b08a50f847cfdc00b020fb1ab9a64ce3ad
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.44696971 -0.27272728 -0.01420455
+v 0.44696971 -0.27272728 -0.01988636
+v 0.44696971 0.27272728 -0.01420455
+v 0.40151516 0.27272728 -0.01420455
+v 0.40151516 -0.27272728 -0.01988636
+v 0.44696971 0.27272728 -0.01988636
+v 0.40151516 -0.27272728 -0.01420455
+v 0.40151516 0.27272728 -0.01988636
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_4.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eab72ab90463d30619a338e61f67df5e32b5f6c
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_4.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.44696971 -0.36363637 0.01988636
+v 0.44696971 -0.36363637 0.01420455
+v 0.44696971 -0.27272728 -0.01420455
+v 0.40151516 -0.27272728 -0.01420455
+v 0.40146088 -0.36336350 0.01851225
+v 0.39993348 -0.34053303 -0.01515864
+v 0.45377248 -0.32272724 0.01253802
+v 0.43621819 -0.32258183 -0.01515864
+v 0.39866951 -0.34933015 -0.00258630
+v 0.44696971 -0.27272728 -0.01988636
+v 0.42131971 -0.33277272 -0.01486421
+v 0.40151516 -0.27272728 -0.01988636
+f 5 2 1
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 9 5 4
+f 9 6 2
+f 9 2 5
+f 10 7 2
+f 10 3 7
+f 10 2 8
+f 10 4 3
+f 11 8 2
+f 11 2 6
+f 11 10 8
+f 11 6 10
+f 12 9 4
+f 12 6 9
+f 12 10 6
+f 12 4 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_5.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f75044e7ce49735a0a90a7ce803085c37a6ff73
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.45222348 0.31156859 -0.00437456
+v -0.44055218 0.32691581 -0.00614155
+v -0.45522513 0.32369786 0.01515864
+v -0.44118952 0.37013717 0.01988636
+v -0.49077262 0.31707825 0.01420455
+v -0.44432384 0.31641398 -0.01018914
+v -0.45166443 0.36313810 0.01420455
+v -0.49077262 0.31707825 0.01988636
+v -0.44118952 0.37013717 0.01420455
+v -0.47677447 0.33802806 0.01420455
+v -0.47677447 0.33802806 0.01988636
+v -0.45166443 0.36313810 0.01988636
+f 3 2 4
+f 6 2 3
+f 6 3 1
+f 6 1 5
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 9 7 4
+f 9 4 2
+f 9 2 6
+f 9 6 7
+f 10 7 6
+f 10 6 5
+f 10 5 8
+f 11 10 8
+f 11 8 4
+f 11 7 10
+f 12 11 4
+f 12 4 7
+f 12 7 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_6.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ffab9483e2533c40eee4afa50f62ea68447fe64
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.41666668 0.27272728 -0.01420455
+v -0.41666668 0.27272728 -0.01988636
+v -0.41666668 0.31818183 -0.01988636
+v -0.45377248 0.32272724 0.01253802
+v -0.46419902 0.27314059 0.00142857
+v -0.41666668 0.31818183 -0.01420455
+v -0.45597592 0.27150489 -0.01575482
+v -0.46905055 0.28925715 0.01328236
+v -0.44640890 0.30768353 -0.01486391
+v -0.46260728 0.31850660 0.01690016
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 5 1
+f 8 7 5
+f 9 4 3
+f 9 3 7
+f 9 7 8
+f 10 8 1
+f 10 1 4
+f 10 9 8
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_7.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a198d2a287608a9bc5e10b0d3783cd60f33e333
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.44118952 -0.37013717 0.01988636
+v 0.46724660 -0.32160647 0.01988636
+v 0.46905055 -0.28925714 0.01328236
+v 0.46419902 -0.27314058 0.00142857
+v 0.44640890 -0.30768353 -0.01486392
+v 0.45597592 -0.27150488 -0.01575482
+v 0.45522513 -0.32369786 0.01515864
+v 0.45166443 -0.36313810 0.01420455
+v 0.44696971 -0.27272728 -0.01988636
+v 0.45166443 -0.36313810 0.01988636
+v 0.44118952 -0.37013717 0.01420455
+v 0.44151115 -0.31453465 -0.01519594
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 6 2
+f 8 5 6
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 9 1 7
+f 10 8 2
+f 10 2 1
+f 10 1 8
+f 11 8 1
+f 12 5 8
+f 12 8 11
+f 12 9 5
+f 12 11 1
+f 12 1 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/collision/model_normalized_collision_9.obj b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed00d6496655e429f6ca3a79d3124a8147439e52
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/collision/model_normalized_collision_9.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.37121213 0.31818183 -0.01420455
+v -0.37121213 0.31818183 -0.01988636
+v -0.37121213 0.35110723 0.00109266
+v -0.43524284 0.35361024 0.01988636
+v -0.44151115 0.31453466 -0.01519593
+v -0.45377248 0.32272724 0.01253802
+v -0.37121213 0.34238120 -0.01605761
+v -0.45347092 0.33767726 0.01853463
+v -0.42131970 0.33277272 -0.01486421
+v -0.43621819 0.32258183 -0.01515864
+v -0.44696971 0.34848486 0.01988636
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 7 4 3
+f 8 6 3
+f 8 3 4
+f 8 5 6
+f 9 7 2
+f 9 4 7
+f 10 9 2
+f 10 2 5
+f 10 5 8
+f 11 10 8
+f 11 8 4
+f 11 4 9
+f 11 9 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_10/model.xml b/objects/objaverse/tray/tray_10/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4cb30e5db4e5404a7a27a578a65ee3445f0f8563
--- /dev/null
+++ b/objects/objaverse/tray/tray_10/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="tray_13">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.186" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.186"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0008829429000000014 0.0 -0.004176135600000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0008829429000000014 0.0 0.004176135600000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.08113636650000003 0.10500000210000004 0.0" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_0.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e2ba07cc3ad358842a8f1ffeeaa1a0791cb2e2
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_0.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.48852660 0.28535564 0.05300010
+v -0.41666666 0.30212155 -0.04699970
+v -0.41801879 0.32754126 0.05300010
+v -0.41540225 0.33797250 0.05300010
+v -0.46435393 0.31558880 -0.04699970
+v -0.41658695 0.30212155 -0.03754958
+v -0.48381105 0.28340221 -0.05300010
+v -0.46435393 0.31558880 0.05300010
+v -0.41473645 0.33291230 -0.05300010
+v -0.47106021 0.29382874 0.05300010
+v -0.47558845 0.30435427 -0.04699970
+v -0.44696969 0.28697003 -0.03762265
+v -0.43999859 0.33074568 0.05300010
+v -0.47558845 0.30435427 0.05300010
+v -0.44696969 0.28697003 -0.04699970
+v -0.43999859 0.33074568 -0.04699970
+f 1 3 4
+f 6 4 3
+f 8 1 4
+f 9 7 5
+f 9 2 7
+f 9 6 2
+f 9 4 6
+f 10 6 3
+f 10 3 1
+f 11 7 1
+f 11 5 7
+f 11 8 5
+f 12 1 7
+f 12 10 1
+f 12 6 10
+f 13 8 4
+f 13 5 8
+f 14 11 1
+f 14 1 8
+f 14 8 11
+f 15 12 7
+f 15 7 2
+f 15 2 6
+f 15 6 12
+f 16 9 5
+f 16 5 13
+f 16 13 4
+f 16 4 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_10.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b43badf040ad95d0fefc4b46fc2ce76510bd251b
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_10.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40143725 -0.19787845 -0.03738362
+v 0.40151515 -0.19787845 -0.04699970
+v 0.40151515 -0.01606027 -0.04699970
+v -0.23484848 -0.01606027 -0.03736069
+v -0.23484848 -0.19787845 -0.04699970
+v 0.40143725 -0.01606027 -0.03738362
+v -0.23484848 -0.19787845 -0.03736069
+v -0.23484848 -0.01606027 -0.04699970
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_12.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef0e6eb1be71ac27fe92a6c03a20c0331821603
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40143725 -0.28878754 -0.03738362
+v 0.40151515 -0.28878754 -0.04699970
+v 0.40143725 -0.19787845 -0.03738362
+v -0.41658695 -0.19787845 -0.03754958
+v -0.41666666 -0.28878754 -0.04699970
+v 0.40151515 -0.19787845 -0.04699970
+v -0.41658695 -0.28878754 -0.03754958
+v -0.41666666 -0.19787845 -0.04699970
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_13.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4978d19ada51596b89a2636229deb0bb8363d1f5
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40027369 -0.33996433 0.05300010
+v 0.40288876 -0.32952195 -0.01512309
+v 0.40289027 -0.32953341 0.05300010
+v -0.41778354 -0.32757224 0.05300010
+v -0.41516704 -0.33800347 -0.01512131
+v 0.40027369 -0.33996433 -0.01512131
+v -0.41516704 -0.33800347 0.05300010
+v -0.41779318 -0.32753835 -0.01512649
+f 1 3 4
+f 6 1 5
+f 6 2 3
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 8 6 5
+f 8 2 6
+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/objects/objaverse/tray/tray_11/collision/model_normalized_collision_14.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..550b5288c114c0165b89cae90119ad648cfd98aa
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.19787845 -0.03736069
+v -0.23484848 -0.19787845 -0.04699970
+v -0.23484848 0.15060640 -0.04699970
+v -0.35606060 0.15060640 -0.03736069
+v -0.35606060 -0.19787845 -0.03736069
+v -0.23484848 0.15060640 -0.03736069
+v -0.35606060 -0.19787845 -0.04699970
+v -0.35606060 0.15060640 -0.04699970
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 8 3 7
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_15.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d76588c47ba68dd322be27acc0dd127413013a6
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.48730660 -0.25980534 0.05300010
+v -0.48728335 -0.25980228 0.01517546
+v -0.48950232 0.24312536 0.05300010
+v -0.48950062 0.24312514 0.01518116
+v -0.49993302 0.24050925 0.01518172
+v -0.49773695 -0.25718913 0.01518172
+v -0.49993302 0.24050925 0.05300010
+v -0.49773695 -0.25718913 0.05300010
+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 1 3
+f 7 3 5
+f 7 5 6
+f 8 7 6
+f 8 6 1
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_16.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abae2427a223907a418a6d6ecb01045e1df60d5c
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 0.15060640 -0.03736069
+v 0.26515151 0.15060640 -0.04699970
+v 0.26515151 0.24151549 -0.04699970
+v -0.35606060 0.24151549 -0.03736069
+v -0.35606060 0.15060640 -0.03736069
+v -0.35606060 0.15060640 -0.04699970
+v 0.26515151 0.24151549 -0.03736069
+v -0.35606060 0.24151549 -0.04699970
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_17.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd04fb078f2ca65b8a75867731bf341f9d3d8618
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.40143725 0.30212155 -0.03738362
+v 0.40151515 0.30212155 -0.04699970
+v 0.40050891 0.33993336 -0.01512131
+v -0.41540225 0.33797250 -0.01512131
+v -0.41666666 0.30212155 -0.04699970
+v -0.41801339 0.32750022 -0.01512758
+v 0.40314328 0.32948207 -0.01512340
+v 0.39984299 0.33487275 -0.05300010
+v -0.41658695 0.30212155 -0.03754958
+v -0.41473645 0.33291230 -0.05300010
+f 5 2 1
+f 7 1 2
+f 7 6 1
+f 7 3 4
+f 7 4 6
+f 8 7 2
+f 8 3 7
+f 8 4 3
+f 9 6 5
+f 9 5 1
+f 9 1 6
+f 10 6 4
+f 10 5 6
+f 10 4 8
+f 10 8 2
+f 10 2 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_18.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9828987504ed61093fc16496197a8e789257d50
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35606060 -0.19787845 -0.03736069
+v -0.35606060 -0.19787845 -0.04699970
+v -0.35606060 0.24151549 -0.03736069
+v -0.41658695 0.24151549 -0.03754958
+v -0.41666666 -0.19787845 -0.04699970
+v -0.35606060 0.24151549 -0.04699970
+v -0.41658695 -0.19787845 -0.03754958
+v -0.41666666 0.24151549 -0.04699970
+f 1 3 4
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_19.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f3df09a316cfb95d685971a6a8408514dd5de2
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.48726471 -0.25979983 -0.01512756
+v -0.46212121 -0.25848451 -0.04699970
+v -0.46212121 0.24151549 -0.03762265
+v -0.48949926 0.24312496 -0.01512187
+v -0.49773695 -0.25718913 -0.04699970
+v -0.46212121 -0.25848451 -0.03762265
+v -0.49773695 -0.25718913 -0.01512131
+v -0.49487350 0.23984294 -0.05300010
+v -0.46212121 0.24151549 -0.04699970
+v -0.49993302 0.24050925 -0.01512131
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 9 3 2
+f 9 2 8
+f 9 8 4
+f 9 4 3
+f 10 7 4
+f 10 4 8
+f 10 8 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_2.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a57c8274248fc984b73c7ef182ca49b651136b
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_2.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.49610206 0.26706615 0.05300010
+v 0.49610206 0.26706615 -0.04699970
+v 0.47558845 0.30435427 0.05300010
+v 0.44535530 0.32852695 0.05300010
+v 0.44696969 0.28697003 -0.04699970
+v 0.46435393 0.31558880 -0.04699970
+v 0.49074534 0.27999893 0.05300010
+v 0.46212121 0.27181852 -0.04699970
+v 0.45382840 0.31106055 0.05300010
+v 0.47558845 0.30435427 -0.04699970
+v 0.46435393 0.31558880 0.05300010
+v 0.44340186 0.32381140 -0.05300010
+v 0.48020640 0.27931029 0.05300010
+v 0.44696969 0.28697003 -0.03762265
+v 0.49074534 0.27999893 -0.04699970
+f 1 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 1 4
+f 10 6 3
+f 10 3 7
+f 11 6 4
+f 11 4 3
+f 11 3 6
+f 12 4 6
+f 12 8 5
+f 12 2 8
+f 12 6 10
+f 13 8 1
+f 13 1 9
+f 14 9 4
+f 14 13 9
+f 14 5 8
+f 14 8 13
+f 14 12 5
+f 14 4 12
+f 15 10 7
+f 15 7 2
+f 15 12 10
+f 15 2 12
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_21.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5074e3e49aefa97a307ec16c3f0a633951c59e
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46966388 -0.29457499 -0.05300010
+v 0.46212121 -0.28878754 -0.03762265
+v 0.40151515 -0.28878754 -0.04699970
+v 0.40143725 0.24151549 -0.03738362
+v 0.46212121 0.24151549 -0.03762265
+v 0.40143725 -0.28878754 -0.03738362
+v 0.40151515 0.24151549 -0.04699970
+v 0.46212121 0.24151549 -0.04699970
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 8 1 7
+f 8 7 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_22.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8aa92fc5112b6427fce7a435a50bcddd7477ad2
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.49999999 -0.19787845 0.05300010
+v 0.49999999 -0.19787845 0.01518172
+v 0.49993302 0.24050925 0.05300010
+v 0.48950232 0.24312536 0.05300010
+v 0.48999893 -0.19787864 0.01518114
+v 0.48950062 0.24312514 0.01518116
+v 0.49000001 -0.19787845 0.05300010
+v 0.49993302 0.24050925 0.01518172
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 3 2
+f 8 2 5
+f 8 5 6
+f 8 6 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_24.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..548ba038547cc2f91c36f2d4a40cfa6bd652e320
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.49999999 0.09572159 0.02374314
+v 0.49999999 0.09195088 -0.01983020
+v 0.49993302 0.24050925 -0.01512131
+v 0.48950062 0.24312514 0.01518116
+v 0.49000001 0.09572159 0.02374314
+v 0.48949926 0.24312496 -0.01512187
+v 0.49993302 0.24050925 0.01518172
+v 0.49000001 0.09195088 -0.01983020
+f 1 2 3
+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 6 2
+f 8 5 4
+f 8 4 6
+f 8 2 1
+f 8 1 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_26.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db8540d6a47c097aee31fd94d46ee923861720d
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.49000001 0.09572159 0.02374314
+v -0.49000001 0.09195088 -0.01983020
+v -0.48950062 0.24312514 0.01518116
+v -0.48949926 0.24312496 -0.01512187
+v -0.49993302 0.24050925 -0.01512131
+v -0.49999999 0.09572159 0.02374314
+v -0.49999999 0.09195088 -0.01983020
+v -0.49993302 0.24050925 0.01518172
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 6 1 3
+f 7 5 4
+f 7 4 2
+f 7 6 5
+f 7 2 1
+f 7 1 6
+f 8 6 3
+f 8 3 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_27.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50b1073b7e3dd98b337ceade34d4ada2faf4c377
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.48730660 -0.25980534 0.05300010
+v 0.49773695 -0.25718913 -0.01512131
+v 0.49773695 -0.25718913 0.05300010
+v 0.49000001 -0.19787845 0.05300010
+v 0.48726471 -0.25979983 -0.01512756
+v 0.49999999 -0.19787845 -0.01512131
+v 0.49999999 -0.19787845 0.05300010
+v 0.48999755 -0.19787864 -0.01512189
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 6 4
+f 7 4 3
+f 7 3 6
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_28.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9661f48fac953e50f6e2a38e33942269b845e53
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.49999999 -0.19787845 0.01518172
+v 0.49999999 -0.19787845 -0.01512131
+v 0.49999999 -0.09487825 -0.01970208
+v 0.49000001 -0.09697801 0.02290353
+v 0.48999755 -0.19787864 -0.01512189
+v 0.49999999 -0.09697801 0.02290353
+v 0.48999893 -0.19787864 0.01518114
+v 0.49000001 -0.09487825 -0.01970208
+f 1 2 3
+f 5 3 2
+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 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_3.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7847f759ecfca1bffb00640344422ce171ac0337
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_3.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.41516704 -0.33800347 0.05300010
+v -0.41646173 -0.33268520 -0.05300010
+v -0.41658695 -0.28878754 -0.03754958
+v -0.48788404 -0.28690700 0.05300010
+v -0.45393976 -0.32358002 -0.04699970
+v -0.41778354 -0.32757224 0.05300010
+v -0.41516704 -0.33800347 -0.01512131
+v -0.45393976 -0.32358002 0.05300010
+v -0.48316845 -0.28495353 -0.05300010
+v -0.47018199 -0.29497276 0.05300010
+v -0.41666666 -0.28878754 -0.04699970
+v -0.42642324 -0.33636855 -0.01512131
+v -0.48202832 -0.29596183 0.05300010
+v -0.42642324 -0.33636855 0.05300010
+v -0.48202832 -0.29596183 -0.04699970
+f 6 1 3
+f 6 4 1
+f 7 3 1
+f 8 1 4
+f 9 2 5
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 7 2
+f 11 3 7
+f 11 9 3
+f 11 2 9
+f 12 5 2
+f 12 2 7
+f 12 7 1
+f 12 8 5
+f 13 8 4
+f 13 5 8
+f 14 12 1
+f 14 1 8
+f 14 8 12
+f 15 9 5
+f 15 5 13
+f 15 13 4
+f 15 4 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_30.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ede2175d7ec240ac3233abe3d83bb4bc9dd5d18
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.01606027 -0.03736069
+v 0.26515151 -0.01606027 -0.04699970
+v 0.26515151 0.15060640 -0.03736069
+v -0.23484848 0.15060640 -0.03736069
+v -0.23484848 -0.01606027 -0.04699970
+v -0.23484848 0.15060640 -0.04699970
+v -0.23484848 -0.01606027 -0.03736069
+v 0.26515151 0.15060640 -0.04699970
+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/objects/objaverse/tray/tray_11/collision/model_normalized_collision_8.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e15de67478fcf5ee9892da1da0eb0ffed964b870
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_8.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.47018199 -0.29497276 0.05300010
+v -0.46966388 -0.29457499 -0.05300010
+v -0.46212121 -0.25848451 -0.03762265
+v -0.49773695 -0.25718913 0.05300010
+v -0.49010278 -0.28155028 -0.04699970
+v -0.48730660 -0.25980534 0.05300010
+v -0.49010278 -0.28155028 0.05300010
+v -0.49773695 -0.25718913 -0.04699970
+v -0.46212121 -0.25848451 -0.04699970
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 8 3
+f 9 3 2
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/collision/model_normalized_collision_9.obj b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97345163772ed2bc77908d2f6c83dc1346971fee
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.46212121 0.24151549 -0.03762265
+v -0.45343109 0.31054209 -0.05300010
+v 0.45343109 0.31054209 -0.05300010
+v -0.44696969 0.30212155 -0.03762265
+v -0.46212121 0.24151549 -0.04699970
+v 0.44696969 0.30212155 -0.03762265
+v -0.46212121 0.24151549 -0.03762265
+v -0.47054166 0.29343100 -0.05300010
+v 0.46212121 0.24151549 -0.04699970
+v 0.47054166 0.29343100 -0.05300010
+v -0.46212121 0.28697003 -0.03762265
+v 0.46212121 0.28697003 -0.03762265
+f 3 2 4
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 2 3
+f 8 5 7
+f 9 1 5
+f 10 1 9
+f 10 8 3
+f 10 9 5
+f 10 5 8
+f 11 8 7
+f 11 7 4
+f 11 4 2
+f 11 2 8
+f 12 6 1
+f 12 1 10
+f 12 10 3
+f 12 3 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/visual/material.mtl b/objects/objaverse/tray/tray_11/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2b7c3b65575f5fea28acb334fdc8f52b4c6e013
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.00000000 0.18823529 1.00000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 809.99999700
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_11/visual/model_normalized_0.obj b/objects/objaverse/tray/tray_11/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3715609391fff537a041cc6b44931e2b68c82c4
--- /dev/null
+++ b/objects/objaverse/tray/tray_11/visual/model_normalized_0.obj
@@ -0,0 +1,2679 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.40000021 -0.34000033 -0.04699970
+v -0.40000021 -0.34000033 0.05300010
+v -0.42588196 -0.33659275 0.05300010
+v -0.42588196 -0.33659275 -0.04699970
+v -0.45000010 -0.32660308 0.05300010
+v -0.45000010 -0.32660308 -0.04699970
+v -0.47071066 -0.31071099 0.05300010
+v -0.47071066 -0.31071099 -0.04699970
+v -0.47071066 -0.31071099 -0.04699970
+v -0.47071066 -0.31071099 0.05300010
+v -0.48660275 -0.29000043 0.05300010
+v -0.48660275 -0.29000043 -0.04699970
+v -0.49659242 -0.26588229 0.05300010
+v -0.49659242 -0.26588229 -0.04699970
+v -0.50000000 -0.24000054 0.05300010
+v -0.50000000 -0.24000054 -0.04699970
+v -0.40000021 0.34000033 0.05300010
+v -0.40000021 0.34000033 -0.04699970
+v -0.42588196 0.33659275 -0.04699970
+v -0.42588196 0.33659275 0.05300010
+v -0.45000010 0.32660308 -0.04699970
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diff --git a/objects/objaverse/tray/tray_12/model.xml b/objects/objaverse/tray/tray_12/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4d47a0e4d59c14bbb8b9d73dc2447fd58e8409da
--- /dev/null
+++ b/objects/objaverse/tray/tray_12/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="tray_14">
+  <asset>
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+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.014" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material.014"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.275999999965974e-07 6.566595000000038e-05 -0.010344123300000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.275999999965974e-07 6.566595000000038e-05 0.010709626200000003" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.07458548580000005 0.10402625100000003 0.0001827514499999998" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_0.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67826bafe11aab45bb376253b13e86a24b433940
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09491853 0.46212126 0.06536450
+v -0.06255725 0.46212126 0.00467453
+v -0.06255725 0.48312404 0.06669300
+v -0.09595554 0.49966941 0.06469531
+v -0.09286028 0.45361057 0.00608693
+v -0.06255725 0.49966941 0.00344079
+v -0.06255725 0.47565732 0.06669300
+v -0.09286028 0.50000005 0.00608693
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_1.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7a8e12a51636d49d558128988d1edb4ea45d244
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27774866 -0.40151516 -0.00906458
+v 0.27077610 -0.40151516 -0.09189236
+v 0.27774866 0.41666671 -0.00906458
+v -0.27629495 0.41666671 -0.00906458
+v -0.27629495 -0.40151516 -0.00906458
+v -0.27629495 0.41666671 -0.09208187
+v 0.27077610 0.41666671 -0.09189236
+v -0.27629495 -0.40151516 -0.09208187
+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/objects/objaverse/tray/tray_2/collision/model_normalized_collision_10.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a2113b29f2b54870eb151c8d9bb5c54015706aa
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.10410943 -0.50000001 0.05154148
+v 0.10410943 -0.50000001 0.00608693
+v 0.10410943 -0.45360990 0.05154148
+v 0.09552232 -0.45394116 0.05154148
+v 0.07423324 -0.49966874 0.00399540
+v 0.09552232 -0.49966874 0.05154148
+v 0.10410943 -0.45360990 0.00608693
+v 0.07423324 -0.45394116 0.00399540
+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 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/objects/objaverse/tray/tray_2/collision/model_normalized_collision_11.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a3fbc7e01905eb401cdd10774d7fb41072877b
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01710270 -0.47768486 0.09239791
+v -0.01710270 -0.47768486 0.08643333
+v -0.01710270 -0.47021822 0.08643333
+v -0.06871706 -0.47021822 0.09098699
+v -0.09149250 -0.49242425 0.06005656
+v -0.01710270 -0.47021822 0.09239791
+v -0.06871706 -0.47768486 0.09098699
+v -0.06174449 -0.47021822 0.06669300
+v -0.06174449 -0.47768486 0.06669300
+v -0.06921181 -0.47021822 0.06669300
+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 4 3
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 8 5
+f 10 5 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_12.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbef1f0e683319ba1de250672714f13ad2a18a0f
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01710270 0.47565732 0.09239791
+v -0.01710270 0.47565732 0.08643333
+v -0.01710270 0.48312404 0.08643333
+v -0.06871706 0.48312404 0.09098699
+v -0.09149250 0.46212126 0.06005656
+v -0.01710270 0.48312404 0.09239791
+v -0.06871706 0.47565732 0.09098699
+v -0.06174449 0.48312404 0.06669300
+v -0.06174449 0.47565732 0.06669300
+v -0.06921181 0.48312404 0.06669300
+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 4 3
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 8 5
+f 10 5 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_13.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d79ba7e02ade21383914c5ade9f4d0efe3c62174
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05865488 -0.47768486 0.09239791
+v 0.05865488 -0.47768486 0.08643333
+v 0.05865488 -0.47021822 0.09239791
+v -0.01710270 -0.47021822 0.09239791
+v -0.01710270 -0.47768486 0.08643333
+v -0.01710270 -0.47021822 0.08643333
+v -0.01710270 -0.47768486 0.09239791
+v 0.05865488 -0.47021822 0.08643333
+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/objects/objaverse/tray/tray_2/collision/model_normalized_collision_14.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f27a808e080e992938029a18acd6253b1b4a5aa5
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07103987 0.47565732 0.09217398
+v 0.07398654 0.46212126 0.00520456
+v 0.07398654 0.49242429 0.00520456
+v 0.05865488 0.48312404 0.09239791
+v 0.05865488 0.46212126 0.00467453
+v 0.07103987 0.48312404 0.09217398
+v 0.05865488 0.47565732 0.09239791
+v 0.05865488 0.49242429 0.00467453
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 4 3
+f 8 3 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_15.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14cb4138a320fd6f7dafc76680ece755327c2dd
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09610142 -0.49974461 0.06457501
+v -0.09040382 -0.49876561 0.05162202
+v -0.09180590 -0.49876561 0.05993133
+v -0.09484615 -0.49242425 0.06521458
+v -0.09286028 -0.50000001 0.05154148
+v -0.09149250 -0.49242425 0.06005656
+v -0.09007333 -0.49242425 0.05152380
+v -0.09007272 -0.49242425 0.05161993
+f 1 3 4
+f 5 1 4
+f 5 2 3
+f 5 3 1
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 4 6
+f 7 2 5
+f 8 7 6
+f 8 6 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_16.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6aa6feb079789d747d89fed02ea9b845c208372
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.09484615 -0.49242425 0.06521458
+v -0.06255725 -0.47768486 0.05154148
+v -0.06255725 -0.47021822 0.06669300
+v -0.09609481 -0.45386537 0.06456544
+v -0.09007333 -0.49242425 0.05152380
+v -0.09040382 -0.45484429 0.05162202
+v -0.06255725 -0.47768486 0.06669300
+v -0.09286028 -0.45360990 0.05154148
+v -0.06255725 -0.47021822 0.05154148
+v -0.09180590 -0.45484429 0.05993133
+v -0.09007333 -0.47727274 0.05152380
+f 1 3 4
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 3 2
+f 9 8 6
+f 9 2 5
+f 10 8 4
+f 10 4 3
+f 10 3 6
+f 10 6 8
+f 11 9 5
+f 11 5 8
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_17.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ab635a79e79b51fcc89cd3e02745ada577e729f
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09286028 -0.50000001 0.05154148
+v -0.06255725 -0.49966874 0.00344079
+v -0.09040382 -0.49876561 0.05162202
+v -0.06255725 -0.47768486 0.02123845
+v -0.09286028 -0.50000001 0.00608693
+v -0.06255725 -0.49876561 0.00434389
+v -0.09007272 -0.49242425 0.05161993
+v -0.06255725 -0.49242425 0.00467453
+v -0.09007333 -0.49242425 0.05152380
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 5 4
+f 8 4 2
+f 8 2 5
+f 9 7 4
+f 9 4 5
+f 9 5 1
+f 9 1 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_18.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a3e67bddf49c7125afbe62ed898ed334ad05581
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09007333 -0.49242425 0.05152380
+v -0.06255725 -0.49242425 0.00467453
+v -0.06255725 -0.47021822 0.05154148
+v -0.09286028 -0.45360990 0.05154148
+v -0.09286028 -0.50000001 0.00608693
+v -0.06255725 -0.45394116 0.00344079
+v -0.09040382 -0.45484429 0.05162202
+v -0.06255725 -0.47768486 0.05154148
+v -0.09286028 -0.45360990 0.00608693
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 6 5
+f 9 5 4
+f 9 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_19.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e79fea1e9c786e8031b05e822ed1ee9e01b726cd
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09595554 0.45394120 0.06469531
+v -0.09040382 0.45484496 0.05162202
+v -0.09180590 0.45484496 0.05993133
+v -0.09491853 0.46212126 0.06536450
+v -0.09286028 0.45361057 0.05154148
+v -0.09149250 0.46212126 0.06005656
+v -0.09007333 0.46212126 0.05152380
+v -0.09007272 0.46212126 0.05161993
+f 1 3 4
+f 5 1 4
+f 5 2 3
+f 5 3 1
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 4 6
+f 7 2 5
+f 8 7 6
+f 8 6 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_2.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc1dd2c509a6f2f9b93abc3d70956f1a12abd46
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27077610 -0.50000001 -0.03936761
+v 0.27077610 -0.50000001 -0.09239792
+v 0.27774866 -0.40151516 -0.03936761
+v -0.27588813 -0.40151516 -0.03936761
+v -0.27467847 -0.50000001 -0.09239792
+v -0.27629495 -0.40151516 -0.09208187
+v -0.27467847 -0.50000001 -0.03936761
+v 0.27077610 -0.40151516 -0.09189236
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 6 5
+f 7 4 6
+f 7 1 3
+f 7 3 4
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_20.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba28c25b2676031244e65585b4a0205e96aad817
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.32630740 -0.49859801 0.07178959
+v 0.32647505 -0.49966874 -0.09239792
+v 0.32647505 0.49966941 -0.09239792
+v 0.27077610 0.49876628 0.07197510
+v 0.27077610 -0.50000001 -0.09239792
+v 0.32630740 0.49859868 0.07178959
+v 0.27077610 -0.49876561 0.07197510
+v 0.27077610 0.50000005 -0.09239792
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_21.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10a7a3a5a4c0454e8a585f281b1d3fa8ccd42731
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09286028 0.45361057 0.05154148
+v -0.06255725 0.45394120 0.00344079
+v -0.09040382 0.45484496 0.05162202
+v -0.06255725 0.47565732 0.02123845
+v -0.09286028 0.45361057 0.00608693
+v -0.06255725 0.45484496 0.00434389
+v -0.09007272 0.46212126 0.05161993
+v -0.06255725 0.46212126 0.00467453
+v -0.09007333 0.46212126 0.05152380
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 5 4
+f 8 4 2
+f 8 2 5
+f 9 7 4
+f 9 4 5
+f 9 5 1
+f 9 1 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_22.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79cac8f4b3d4c16b28fd9329da39d313f04a79d9
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.27467847 -0.49876561 0.07197510
+v -0.27467847 -0.50000001 -0.09239792
+v -0.27467847 0.50000005 -0.09239792
+v -0.32630676 0.49859868 0.07178959
+v -0.32692903 -0.49921441 -0.09239792
+v -0.27467847 0.49876628 0.07197510
+v -0.32630676 -0.49859801 0.07178959
+v -0.32692935 0.49921477 -0.09239792
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_23.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..795c5bd4b6b7b5f27c98055832bcada0acdc3239
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.10642198 -0.49876561 0.07051407
+v 0.10410943 -0.50000001 0.05154148
+v 0.10410943 -0.45360990 0.05154148
+v 0.10017035 -0.45484429 0.06628153
+v 0.09552232 -0.49966874 0.05154148
+v 0.10642198 -0.45484429 0.07051407
+v 0.09702005 -0.49876561 0.06144341
+v 0.09552232 -0.45394116 0.05154148
+v 0.10017035 -0.49876561 0.06628153
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 7 5
+f 9 5 1
+f 9 1 4
+f 9 4 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_24.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..137b3dee2a3b2698d489dc2fd7e17eea53b03518
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27077610 -0.49876561 0.07197510
+v 0.27077610 -0.50000001 0.00608693
+v 0.27077610 -0.45360990 0.00608693
+v 0.10642198 -0.45484429 0.07051407
+v 0.10410943 -0.50000001 0.00608693
+v 0.27077610 -0.45484429 0.07197510
+v 0.10642198 -0.49876561 0.07051407
+v 0.10410943 -0.45360990 0.00608693
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_25.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677167551f398235b6bcafc6efa3e9e4d39eda2d
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.10642198 0.45484496 0.07051407
+v 0.10410943 0.45361057 0.05154148
+v 0.10410943 0.50000005 0.05154148
+v 0.10425054 0.50000005 0.06648720
+v 0.09552232 0.45394120 0.05154148
+v 0.10642198 0.49876628 0.07051407
+v 0.09552232 0.49966941 0.05154148
+v 0.09702005 0.45484496 0.06144341
+v 0.10017035 0.49876628 0.06628153
+v 0.10017035 0.45484496 0.06628153
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 4 3
+f 7 3 5
+f 8 7 5
+f 9 6 4
+f 9 4 7
+f 9 7 8
+f 9 1 6
+f 10 8 5
+f 10 5 1
+f 10 9 8
+f 10 1 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_26.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5573bd1a6d9598c38ba1660076c0515fdbfbb7e
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.10410943 0.45361057 0.05154148
+v 0.10410943 0.45361057 -0.03936761
+v 0.10410943 0.50000005 0.05154148
+v 0.09552232 0.49966941 0.05154148
+v 0.07380640 0.45361057 -0.03936761
+v 0.07702202 0.45484496 0.00548666
+v 0.10410943 0.50000005 -0.03936761
+v 0.09552232 0.45394120 0.05154148
+v 0.07380640 0.50000005 -0.03936761
+v 0.07702202 0.49876628 0.00548666
+f 1 3 4
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 8 6 5
+f 8 5 1
+f 8 1 4
+f 8 4 6
+f 9 5 6
+f 9 4 3
+f 9 3 7
+f 9 7 2
+f 9 2 5
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_27.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e99a6c8d96e2ee7e69c6f42977938761111e06b9
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.04740573 -0.49242425 0.00467453
+v -0.04740573 -0.46212122 0.00467453
+v -0.06174449 -0.47021822 0.06669300
+v -0.06255725 -0.47021822 0.06669300
+v -0.06255725 -0.46212122 0.00467453
+v -0.06255725 -0.47768486 0.06669300
+v -0.06174449 -0.47768486 0.06669300
+v -0.06255725 -0.49242425 0.00467453
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 3 4
+f 6 4 5
+f 7 6 1
+f 7 1 3
+f 7 3 6
+f 8 6 5
+f 8 5 1
+f 8 1 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_28.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8231f96c2d937c5929c7a79bbdf67dc77e4c537f
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05865488 0.47565732 0.09239791
+v 0.05865488 0.47565732 0.08643333
+v 0.05865488 0.48312404 0.09239791
+v -0.01710270 0.48312404 0.09239791
+v -0.01710270 0.47565732 0.08643333
+v -0.01710270 0.48312404 0.08643333
+v -0.01710270 0.47565732 0.09239791
+v 0.05865488 0.48312404 0.08643333
+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/objects/objaverse/tray/tray_2/collision/model_normalized_collision_29.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61fb84405ca59e26c0c947613e38d942eb56b739
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07103987 -0.47768486 0.09217398
+v 0.07398654 -0.49242425 0.00520456
+v 0.07398654 -0.46212122 0.00520456
+v 0.05865488 -0.47021822 0.09239791
+v 0.05865488 -0.49242425 0.00467453
+v 0.07103987 -0.47021822 0.09217398
+v 0.05865488 -0.47768486 0.09239791
+v 0.05865488 -0.46212122 0.00467453
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_3.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157a8f67323eaa01390ee03f8a585053077774fe
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27774866 0.41666671 -0.03936761
+v 0.27077610 0.41666671 -0.09189236
+v 0.27077610 0.50000005 -0.09239792
+v -0.27467847 0.50000005 -0.03936761
+v -0.27588813 0.41666671 -0.03936761
+v 0.27077610 0.50000005 -0.03936761
+v -0.27629495 0.41666671 -0.09208187
+v -0.27467847 0.50000005 -0.09239792
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_30.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0efeaf2dedde726537dcd36227d5633e4eef1322
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27077610 0.45484496 0.07197510
+v 0.27077610 0.45361057 -0.03936761
+v 0.27077610 0.50000005 -0.03936761
+v 0.10642198 0.49876628 0.07051407
+v 0.10410943 0.45361057 -0.03936761
+v 0.27077610 0.49876628 0.07197510
+v 0.10642198 0.45484496 0.07051407
+v 0.10410943 0.50000005 -0.03936761
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_31.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160873945720412c31f3299a46edf9d28019f025
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.04740573 0.46212126 0.00467453
+v -0.04740573 0.49242429 0.00467453
+v -0.06174449 0.47565732 0.06669300
+v -0.06255725 0.48312404 0.06669300
+v -0.06255725 0.49242429 0.00467453
+v -0.06174449 0.48312404 0.06669300
+v -0.06255725 0.46212126 0.00467453
+v -0.06255725 0.47565732 0.06669300
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 5 1
+f 7 1 3
+f 7 4 5
+f 8 7 3
+f 8 3 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_4.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5291f2ffca9fbafdd243e0fb8be424fe9f2d0e89
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27077610 -0.45360990 -0.00906458
+v 0.27077610 -0.45360990 -0.03936761
+v 0.27774866 -0.40151516 -0.00906458
+v -0.27629495 -0.40151516 -0.00906458
+v -0.27629495 -0.44696970 -0.00906458
+v -0.27588813 -0.40151516 -0.03936761
+v 0.27774866 -0.40151516 -0.03936761
+v -0.27588813 -0.44696970 -0.03936761
+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/objects/objaverse/tray/tray_2/collision/model_normalized_collision_5.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d38405fc524b317a2bafc0c5cc0bd71dabcc20
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.10112017 0.45484496 0.06986310
+v -0.09083388 0.44696974 -0.03936761
+v -0.09286028 0.50000005 -0.03936761
+v -0.27467847 0.49876628 0.07197510
+v -0.27588813 0.44696974 -0.03936761
+v -0.10112017 0.49876628 0.06986310
+v -0.27467847 0.45484496 0.07197510
+v -0.27467847 0.50000005 -0.03936761
+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/objects/objaverse/tray/tray_2/collision/model_normalized_collision_6.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9efa155ce6c5fa8f0cbf039c9ed313c1b6c04868
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27077610 -0.50000001 0.00608693
+v 0.27077610 -0.50000001 -0.03936761
+v 0.27077610 -0.45360990 0.00608693
+v -0.27629495 -0.44696970 0.00608693
+v -0.27467847 -0.50000001 -0.03936761
+v -0.27588813 -0.44696970 -0.03936761
+v -0.27467847 -0.50000001 0.00608693
+v 0.27077610 -0.45360990 -0.03936761
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_7.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee47814284b6785a484b56693781b679be33abc0
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.10157278 -0.49876830 0.07014827
+v -0.09286028 -0.50000001 0.00608693
+v -0.09286028 -0.45360990 0.00608693
+v -0.27467847 -0.45484429 0.07197510
+v -0.27467847 -0.50000001 0.00608693
+v -0.10154992 -0.45483908 0.07013118
+v -0.27467847 -0.49876561 0.07197510
+v -0.27629495 -0.44696970 0.00608693
+v -0.09609481 -0.45386537 0.06456544
+f 5 3 2
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 3 5
+f 8 7 4
+f 8 5 7
+f 9 6 1
+f 9 1 2
+f 9 2 3
+f 9 3 8
+f 9 8 4
+f 9 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_8.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e332acfea47b81c80ad20525fcc3984af3d0fab1
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27774866 0.41666671 -0.00906458
+v 0.27774866 0.41666671 -0.03936761
+v 0.27077610 0.45361057 -0.00906458
+v -0.27629495 0.44696974 -0.00906458
+v -0.27629495 0.41666671 -0.00906458
+v 0.27077610 0.45361057 -0.03936761
+v -0.27588813 0.41666671 -0.03936761
+v -0.27588813 0.44696974 -0.03936761
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 2 1
+f 7 1 5
+f 8 7 4
+f 8 4 6
+f 8 6 2
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/collision/model_normalized_collision_9.obj b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..577bb6500a874f61bbcec186a6c24b85a942821b
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.07423324 0.45394120 0.00399540
+v 0.07380640 0.45361057 -0.03936761
+v 0.07380640 0.50000005 -0.03936761
+v -0.09286028 0.50000005 0.00608693
+v -0.09083388 0.44696974 -0.03936761
+v 0.07423324 0.49966941 0.00399540
+v -0.09286028 0.45361057 0.00608693
+v -0.09286028 0.50000005 -0.03936761
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 4 3
+f 8 3 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/model.xml b/objects/objaverse/tray/tray_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..405a2a77918396d47e4660a96a3bbc1d156db3f0
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="tray_16">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.21000000000000008 0.21000000000000008 0.21000000000000008" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image3" file="visual/image3.png"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="iron" texture="image3" specular="0.5" shininess="0.25"/>
+    <material name="lambert1.008" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="iron"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="lambert1.008"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.770150000000197e-05 4.199999997789307e-09 -0.019403563200000005" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.770150000000197e-05 4.199999997789307e-09 0.019403561100000008" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.06855976050000002 0.10500001050000005 -1.0499999994473268e-09" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/tray/tray_2/visual/material.mtl b/objects/objaverse/tray/tray_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/tray/tray_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.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_2/visual/model_normalized_0.obj b/objects/objaverse/tray/tray_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ee5d05c6deee1a113fcad4071224eb8195f65b
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/visual/model_normalized_0.obj
@@ -0,0 +1,1398 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/tray/tray_2/visual/model_normalized_1.obj b/objects/objaverse/tray/tray_2/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37db8a9f9b8f0aaad0d5a0d0f935dbc0ff169d3a
--- /dev/null
+++ b/objects/objaverse/tray/tray_2/visual/model_normalized_1.obj
@@ -0,0 +1,4794 @@
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+f 52/52/52 479/479/479 478/478/478
+f 52/52/52 478/478/478 53/53/53
+f 475/475/475 474/474/474 488/488/488
+f 475/475/475 488/488/488 919/919/919
+f 53/53/53 486/486/486 483/483/483
+f 53/53/53 483/483/483 54/54/54
+f 483/483/483 466/466/466 465/465/465
+f 483/483/483 465/465/465 920/920/920
+f 54/54/54 470/470/470 469/469/469
+f 54/54/54 469/469/469 52/52/52
+f 81/81/81 921/921/921 922/922/922
+f 81/81/81 922/922/922 82/82/82
+f 921/921/921 923/923/923 924/924/924
+f 921/921/921 924/924/924 922/922/922
+f 923/923/923 68/68/68 67/67/67
+f 923/923/923 67/67/67 924/924/924
+f 69/69/69 925/925/925 926/926/926
+f 69/69/69 926/926/926 70/70/70
+f 925/925/925 927/927/927 928/928/928
+f 925/925/925 928/928/928 926/926/926
+f 927/927/927 78/78/78 77/77/77
+f 927/927/927 77/77/77 928/928/928
+f 97/97/97 929/929/929 930/930/930
+f 97/97/97 930/930/930 98/98/98
+f 929/929/929 931/931/931 932/932/932
+f 929/929/929 932/932/932 930/930/930
+f 931/931/931 84/84/84 83/83/83
+f 931/931/931 83/83/83 932/932/932
+f 85/85/85 933/933/933 934/934/934
+f 85/85/85 934/934/934 86/86/86
+f 933/933/933 935/935/935 936/936/936
+f 933/933/933 936/936/936 934/934/934
+f 935/935/935 94/94/94 93/93/93
+f 935/935/935 93/93/93 936/936/936
+f 1048/1048/1048 64/64/64 308/308/308
+f 308/308/308 64/64/64 309/309/309
+f 59/59/59 667/667/667 299/299/299
+f 667/667/667 59/59/59 1049/1049/1049
+f 1050/1050/1050 311/311/311 314/314/314
+f 311/311/311 1050/1050/1050 62/62/62
+f 655/655/655 66/66/66 1051/1051/1051
+f 66/66/66 655/655/655 65/65/65
+f 65/65/65 655/655/655 229/229/229
+f 62/62/62 270/270/270 311/311/311
+f 270/270/270 62/62/62 271/271/271
+f 271/271/271 62/62/62 598/598/598
+f 271/271/271 598/598/598 675/675/675
+f 287/287/287 299/299/299 284/284/284
+f 299/299/299 287/287/287 59/59/59
+f 59/59/59 287/287/287 328/328/328
+f 328/328/328 287/287/287 681/681/681
+f 724/724/724 65/65/65 244/244/244
+f 244/244/244 65/65/65 228/228/228
+f 228/228/228 65/65/65 229/229/229
+f 64/64/64 732/732/732 259/259/259
+f 64/64/64 259/259/259 258/258/258
+f 64/64/64 258/258/258 309/309/309
+f 405/405/405 1049/1049/1049 60/60/60
+f 1049/1049/1049 405/405/405 1048/1048/1048
+f 1048/1048/1048 405/405/405 408/408/408
+f 1048/1048/1048 408/408/408 63/63/63
+f 61/61/61 1051/1051/1051 402/402/402
+f 402/402/402 1051/1051/1051 403/403/403
+f 403/403/403 1051/1051/1051 66/66/66
+f 1052/1052/1052 216/216/216 498/498/498
+f 498/498/498 216/216/216 499/499/499
+f 211/211/211 783/783/783 489/489/489
+f 783/783/783 211/211/211 1053/1053/1053
+f 1054/1054/1054 501/501/501 504/504/504
+f 501/501/501 1054/1054/1054 214/214/214
+f 773/773/773 218/218/218 1055/1055/1055
+f 218/218/218 773/773/773 217/217/217
+f 217/217/217 773/773/773 423/423/423
+f 214/214/214 460/460/460 501/501/501
+f 460/460/460 214/214/214 461/461/461
+f 461/461/461 214/214/214 642/642/642
+f 461/461/461 642/642/642 790/790/790
+f 477/477/477 489/489/489 474/474/474
+f 489/489/489 477/477/477 211/211/211
+f 211/211/211 477/477/477 518/518/518
+f 518/518/518 477/477/477 796/796/796
+f 852/852/852 217/217/217 438/438/438
+f 438/438/438 217/217/217 422/422/422
+f 422/422/422 217/217/217 423/423/423
+f 216/216/216 860/860/860 451/451/451
+f 216/216/216 451/451/451 450/450/450
+f 216/216/216 450/450/450 499/499/499
+f 559/559/559 1053/1053/1053 212/212/212
+f 1053/1053/1053 559/559/559 1052/1052/1052
+f 1052/1052/1052 559/559/559 562/562/562
+f 1052/1052/1052 562/562/562 215/215/215
+f 213/213/213 1055/1055/1055 556/556/556
+f 556/556/556 1055/1055/1055 557/557/557
+f 557/557/557 1055/1055/1055 218/218/218
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_0.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4280fa6a333e2d2b9c83c1ca19ea083169a261b1
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.46212121 -0.33333334 0.02054999
+v -0.44696970 -0.33333337 -0.05056112
+v -0.44696970 -0.28030270 -0.03944912
+v -0.50000000 -0.28030272 0.02055118
+v -0.50000000 -0.33333337 -0.05056112
+v -0.48222220 -0.28030269 0.02055089
+v -0.44696970 -0.33333336 -0.01268256
+v -0.50000000 -0.33333334 0.02054999
+v -0.50000000 -0.28030300 -0.05056114
+v -0.46212121 -0.31555556 0.02054999
+v -0.44696970 -0.28030300 -0.05056114
+v -0.44696970 -0.31555557 -0.01268255
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 2 5
+f 9 5 4
+f 9 4 3
+f 10 6 1
+f 10 3 6
+f 11 9 3
+f 11 2 9
+f 11 7 2
+f 11 3 7
+f 12 7 3
+f 12 3 10
+f 12 10 1
+f 12 1 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_1.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0002ce78ebe538b96bc3fd546d867f14fda256
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.48222220 -0.28030269 0.02055089
+v -0.48222220 -0.28030300 -0.01268256
+v -0.48222220 0.06818185 -0.01268256
+v -0.50000000 0.06759494 0.04520514
+v -0.50000000 -0.28030272 0.02055118
+v -0.48222220 0.05196990 0.04710950
+v -0.50000000 -0.28030300 -0.01268256
+v -0.48222220 0.06759494 0.04520514
+v -0.48222220 -0.05196985 0.04710952
+v -0.50000000 0.06818185 -0.01268256
+v -0.50000000 -0.05196985 0.04710952
+v -0.50000000 0.05196990 0.04710950
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 2 5
+f 7 5 4
+f 8 6 3
+f 8 4 6
+f 9 5 1
+f 9 1 6
+f 10 7 4
+f 10 3 2
+f 10 2 7
+f 10 8 3
+f 10 4 8
+f 11 9 6
+f 11 4 5
+f 11 5 9
+f 12 11 6
+f 12 6 4
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_10.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca94d877d8ffdf675947bac0ba575f85941ebc05
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.31060606 -0.33333336 -0.01268256
+v 0.31060606 -0.33333337 -0.05056112
+v 0.31060606 -0.28030270 -0.03944912
+v -0.44696970 -0.28030270 -0.03944912
+v -0.44696970 -0.33333337 -0.05056112
+v 0.31060606 -0.31555557 -0.01268255
+v -0.44696970 -0.33333336 -0.01268256
+v 0.31060606 -0.28030300 -0.05056114
+v -0.44696970 -0.31555557 -0.01268255
+v -0.44696970 -0.28030300 -0.05056114
+f 1 2 3
+f 6 1 3
+f 7 1 6
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 7 6
+f 9 5 7
+f 9 6 3
+f 9 3 4
+f 10 8 5
+f 10 4 3
+f 10 3 8
+f 10 9 4
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_11.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1377d3a0e9380af20677440b888a6c8697dfe78d
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.46212121 0.29545427 -0.03944968
+v 0.46212121 0.29545458 -0.05056133
+v 0.46212121 0.33333335 -0.01268255
+v -0.46212121 0.33333335 -0.01268255
+v -0.46212121 0.29545427 -0.03944968
+v 0.46212121 0.33333334 -0.05056134
+v 0.44696970 0.31555557 -0.01268256
+v -0.46212121 0.33333334 -0.05056134
+v 0.46212121 0.31555557 -0.01268256
+v -0.46212121 0.31555557 -0.01268256
+v -0.46212121 0.29545458 -0.05056133
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 9 7 1
+f 9 1 3
+f 9 3 7
+f 10 7 4
+f 10 5 7
+f 11 8 2
+f 11 2 5
+f 11 5 10
+f 11 10 4
+f 11 4 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_12.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73f9855d719405c4a35b96a3a8251840aa051fff
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46212121 -0.33333334 0.02054999
+v 0.46212121 -0.33333336 -0.01268256
+v 0.46212121 -0.31555557 -0.01268255
+v -0.46212121 -0.31555556 0.02054999
+v -0.46212121 -0.33333336 -0.01268256
+v 0.46212121 -0.31555556 0.02054999
+v -0.46212121 -0.33333334 0.02054999
+v -0.46212121 -0.31555557 -0.01268255
+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/objects/objaverse/tray/tray_5/collision/model_normalized_collision_13.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7135781815e27325aa73fa49b621b371c19b1dad
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.28030270 -0.03944912
+v 0.40151515 -0.28030300 -0.05056114
+v 0.40151515 -0.18939391 -0.05056117
+v -0.23484848 -0.18939361 -0.03944678
+v -0.23484848 -0.28030300 -0.05056114
+v 0.40151515 -0.18939361 -0.03944678
+v -0.23484848 -0.28030270 -0.03944912
+v -0.23484848 -0.18939391 -0.05056117
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_14.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76b90dc9c410344e270c85f3ab4250e39dbcc777
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46212121 0.31555558 0.02054979
+v 0.46212121 0.31555557 -0.01268256
+v 0.46212121 0.33333335 -0.01268255
+v -0.46212121 0.33333336 0.02054979
+v -0.46212121 0.31555557 -0.01268256
+v 0.46212121 0.33333336 0.02054979
+v -0.46212121 0.31555558 0.02054979
+v -0.46212121 0.33333335 -0.01268255
+f 1 2 3
+f 5 3 2
+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 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_15.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f23174630fc94d73439f7999ced77e4664a31e4d
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.15909158 -0.03944823
+v 0.26515152 0.15909094 -0.05056129
+v 0.26515152 0.23484852 -0.05056131
+v -0.23484848 0.23484821 -0.03944809
+v -0.23484848 0.15909158 -0.03944823
+v 0.26515152 0.23484821 -0.03944809
+v -0.23484848 0.23484852 -0.05056131
+v -0.23484848 0.15909094 -0.05056129
+f 1 2 3
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 5 4
+f 7 6 3
+f 7 4 6
+f 8 5 7
+f 8 2 1
+f 8 1 5
+f 8 7 3
+f 8 3 2
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_16.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d835ec32ed96a27c24e966e772d956adebc8ea
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46212121 -0.28030270 -0.03944912
+v 0.46212121 -0.28030300 -0.05056114
+v 0.46212121 0.23484852 -0.05056131
+v 0.40151515 0.23484821 -0.03944809
+v 0.40151515 -0.28030270 -0.03944912
+v 0.46212121 0.23484821 -0.03944809
+v 0.40151515 0.23484852 -0.05056131
+v 0.40151515 -0.28030300 -0.05056114
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 5 4
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_17.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fd8c4289514bc32b7594fb8db1bc36472c63052
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.48222220 -0.28030300 -0.01268256
+v -0.46212121 -0.28030300 -0.05056114
+v -0.46212121 -0.00757573 -0.03945012
+v -0.50000000 -0.00757573 -0.03945012
+v -0.50000000 -0.28030300 -0.05056114
+v -0.50000000 -0.03799207 -0.01141506
+v -0.46212121 -0.28030270 -0.03944912
+v -0.50000000 -0.00757572 -0.05056123
+v -0.48222220 -0.03799207 -0.01141506
+v -0.50000000 -0.28030300 -0.01268256
+v -0.46212121 -0.00757572 -0.05056123
+f 5 2 1
+f 6 3 4
+f 6 4 5
+f 7 1 2
+f 7 2 3
+f 8 5 4
+f 8 4 3
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 10 6 5
+f 10 5 1
+f 10 9 6
+f 10 1 9
+f 11 8 3
+f 11 3 2
+f 11 2 5
+f 11 5 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_18.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25a3a4d86992b72f3ea394fef2f55fabbe8db5ac
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.46212121 0.02272730 -0.03945013
+v -0.46212121 0.02272731 -0.05056124
+v -0.46212121 0.29545458 -0.05056133
+v -0.50000000 0.29545458 -0.01268256
+v -0.50000000 0.02272731 -0.05056124
+v -0.48222220 0.29545458 -0.01268256
+v -0.50000000 0.03799213 -0.01141509
+v -0.50000000 0.29545458 -0.05056133
+v -0.46212121 0.29545427 -0.03944968
+v -0.50000000 0.02272730 -0.03945013
+v -0.48222220 0.03799213 -0.01141509
+f 6 3 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 2
+f 8 2 5
+f 9 3 6
+f 9 1 2
+f 9 2 3
+f 10 7 5
+f 10 5 2
+f 10 2 1
+f 11 6 4
+f 11 4 7
+f 11 9 6
+f 11 1 9
+f 11 10 1
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_19.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c844f813f8c9ffb2b677a414a7a09a2ed02f86c
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46212121 0.23484821 -0.03944809
+v 0.46212121 0.23484852 -0.05056131
+v 0.46212121 0.29545458 -0.05056133
+v -0.23484848 0.29545427 -0.03944968
+v -0.23484848 0.23484852 -0.05056131
+v 0.46212121 0.29545427 -0.03944968
+v -0.23484848 0.23484821 -0.03944809
+v -0.23484848 0.29545458 -0.05056133
+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 5 4
+f 8 4 3
+f 8 3 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_2.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b60c75c3ae351768d0cc6cca0451d0977f79351e
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.28030272 0.02055118
+v 0.50000000 -0.28030300 -0.01268256
+v 0.50000000 -0.05297179 0.04704297
+v 0.48222220 -0.05297179 0.04704297
+v 0.48222220 -0.28030300 -0.01268256
+v 0.48222220 -0.11363633 -0.01268256
+v 0.48222220 -0.28030269 0.02055089
+v 0.50000000 -0.11363633 -0.01268256
+v 0.50000000 -0.05303027 0.01762047
+v 0.48222220 -0.05303027 0.01762047
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 6
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_20.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18b03d5d9934b27baf6cd2444034ae1d4dbc8952
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.33333336 -0.01268256
+v 0.50000000 -0.33333337 -0.05056112
+v 0.50000000 -0.32575754 -0.05056112
+v 0.31060606 -0.32575754 -0.05056112
+v 0.31060606 -0.33333337 -0.05056112
+v 0.50000000 -0.32575754 -0.01268256
+v 0.31060606 -0.33333336 -0.01268255
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 1 6
+f 7 6 4
+f 7 4 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_21.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60a21256e23af2f51280c280cd6d30442fc6905
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.11363633 0.01762047
+v 0.50000000 -0.11363633 -0.01268256
+v 0.50000000 0.06818185 0.01762047
+v 0.48222220 0.06818185 0.01762047
+v 0.48222220 -0.11363633 -0.01268256
+v 0.48222220 -0.11363633 0.01762047
+v 0.50000000 0.06818185 -0.01268256
+v 0.48222220 0.06818185 -0.01268256
+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 8 7 5
+f 8 5 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_22.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23c5e06a59baa689752f56bab8d620661a186eee
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 0.15774950 0.02617223
+v 0.50000000 0.15909094 0.00246896
+v 0.50000000 0.29545429 0.02055067
+v 0.48222220 0.29545426 0.02055032
+v 0.48222220 0.15774950 0.02617223
+v 0.50000000 0.29545458 0.00246896
+v 0.48222220 0.15909094 0.00246896
+v 0.48222220 0.29545458 0.00246896
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 5 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 8 7 4
+f 8 6 7
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_23.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..840e3ff166d65a36f1a9fb3b6ec9842a41299d16
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.05196985 0.04710952
+v 0.50000000 -0.05303027 0.01762047
+v 0.50000000 0.06818185 0.01762047
+v 0.48222220 0.06759494 0.04520514
+v 0.48222220 -0.05303027 0.01762047
+v 0.50000000 0.06759494 0.04520514
+v 0.48222220 -0.05196985 0.04710952
+v 0.48222220 0.06818185 0.01762047
+v 0.50000000 0.05196990 0.04710950
+v 0.48222220 0.05196990 0.04710950
+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 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 9 6 4
+f 9 1 6
+f 9 7 1
+f 10 9 4
+f 10 4 7
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_24.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e1c11fa07034489156916df6a8e4ad4e7e19be
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 0.09848488 0.00246896
+v 0.50000000 0.09848488 -0.01268256
+v 0.50000000 0.29545458 0.00246896
+v 0.48222220 0.29545458 0.00246896
+v 0.48222220 0.09848488 -0.01268256
+v 0.48222220 0.09848488 0.00246896
+v 0.50000000 0.29545458 -0.01268256
+v 0.48222220 0.29545458 -0.01268256
+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/objects/objaverse/tray/tray_5/collision/model_normalized_collision_25.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff4f53f8a8dbc5c30edde79c7004f980f959d074
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.33333334 0.02054999
+v 0.50000000 -0.33333336 -0.01268256
+v 0.50000000 -0.28030272 0.02055118
+v 0.48222220 -0.28030269 0.02055089
+v 0.46212121 -0.33333334 0.02054999
+v 0.50000000 -0.28030300 -0.01268256
+v 0.46212121 -0.31555557 -0.01268255
+v 0.46212121 -0.31555556 0.02054999
+v 0.48222220 -0.28030300 -0.01268256
+v 0.46212121 -0.33333336 -0.01268256
+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 8 5 4
+f 8 4 7
+f 9 7 4
+f 9 4 6
+f 10 2 5
+f 10 8 7
+f 10 5 8
+f 10 7 9
+f 10 9 6
+f 10 6 2
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_26.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a336d7a77fd1d4a2cc889de864246b28fd72f0ae
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.46212121 -0.33333336 -0.01268255
+v 0.46212121 -0.32575754 -0.05056112
+v 0.46212121 -0.28030270 -0.03944912
+v 0.31060606 -0.28030270 -0.03944912
+v 0.31060606 -0.33333336 -0.01268255
+v 0.46212121 -0.28030300 -0.05056114
+v 0.31060606 -0.32575754 -0.05056112
+v 0.46212121 -0.31555557 -0.01268255
+v 0.31060606 -0.31555557 -0.01268255
+v 0.31060606 -0.28030300 -0.05056114
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 2 5
+f 7 6 2
+f 8 1 3
+f 8 3 4
+f 8 5 1
+f 9 5 8
+f 9 8 4
+f 9 7 5
+f 10 4 6
+f 10 6 7
+f 10 9 4
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_27.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bf6950b1a1c380ce1f5470a21a2498729ff90b1
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.18939361 -0.03944678
+v 0.00757576 -0.18939391 -0.05056117
+v 0.00757576 0.15909158 -0.03944823
+v -0.23484848 0.15909158 -0.03944823
+v -0.23484848 -0.18939361 -0.03944678
+v -0.23484848 0.15909094 -0.05056129
+v 0.00757576 0.15909094 -0.05056129
+v -0.23484848 -0.18939391 -0.05056117
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_28.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60a5d0e825bd1dad7cc0b867480e234d9609e55
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.44696970 -0.00757573 -0.03945012
+v -0.44696970 -0.00757572 -0.05056123
+v -0.44696970 0.02272731 -0.05056124
+v -0.50000000 0.02272730 -0.03945013
+v -0.50000000 -0.00757573 -0.03945012
+v -0.50000000 0.02272731 -0.05056124
+v -0.44696970 0.02272730 -0.03945013
+v -0.50000000 -0.00757572 -0.05056123
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_29.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f18b49aefffd826a6203da63a50f866894fbda
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.00757573 -0.03945012
+v 0.40151515 -0.00757572 -0.05056123
+v 0.40151515 0.23484852 -0.05056131
+v 0.26515152 0.23484821 -0.03944809
+v 0.26515152 -0.00757572 -0.05056123
+v 0.40151515 0.23484821 -0.03944809
+v 0.26515152 -0.00757573 -0.03945012
+v 0.26515152 0.23484852 -0.05056131
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_3.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ae69a264a85c5b7df281ab132de4311a5d6e69
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.46212121 -0.33333336 -0.01268255
+v 0.50000000 -0.32575754 -0.05056112
+v 0.50000000 -0.03799207 -0.01141506
+v 0.46212121 -0.00757573 -0.03945012
+v 0.46212121 -0.32575754 -0.05056112
+v 0.50000000 -0.00757572 -0.05056123
+v 0.48222220 -0.03799207 -0.01141506
+v 0.50000000 -0.32575754 -0.01268256
+v 0.50000000 -0.00757573 -0.03945012
+v 0.46212121 -0.00757572 -0.05056123
+v 0.46212121 -0.31555557 -0.01268255
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 6 5
+f 10 5 4
+f 10 4 6
+f 11 7 4
+f 11 4 1
+f 11 1 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_30.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345b3ba72d34e12d18ca306e0f701f8048c09107
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.18939361 -0.03944678
+v 0.40151515 -0.18939391 -0.05056117
+v 0.40151515 -0.00757572 -0.05056123
+v 0.00757576 -0.00757573 -0.03945012
+v 0.00757576 -0.18939391 -0.05056117
+v 0.40151515 -0.00757573 -0.03945012
+v 0.00757576 -0.18939361 -0.03944678
+v 0.00757576 -0.00757572 -0.05056123
+f 5 2 1
+f 5 3 2
+f 6 1 2
+f 6 2 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/objects/objaverse/tray/tray_5/collision/model_normalized_collision_31.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..969aedf9bee178cfce202c15135355b4845ddf3f
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.00757573 -0.03945012
+v 0.26515152 -0.00757572 -0.05056123
+v 0.26515152 0.15909158 -0.03944823
+v 0.00757576 0.15909158 -0.03944823
+v 0.00757576 -0.00757573 -0.03945012
+v 0.25000000 0.15909094 -0.05056129
+v 0.26515152 0.15909094 -0.05056129
+v 0.00757576 0.15909094 -0.05056129
+v 0.00757576 -0.00757572 -0.05056123
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 7 2
+f 8 6 7
+f 9 8 2
+f 9 2 5
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_4.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94e28ccddd7c7db35a29202b6a4f0bfbe765b50e
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.48222220 0.06759494 0.04520514
+v -0.48222220 0.06818185 -0.01268256
+v -0.48222220 0.29545426 0.02055032
+v -0.50000000 0.29545429 0.02055067
+v -0.50000000 0.06759494 0.04520514
+v -0.50000000 0.29545458 -0.01268256
+v -0.48222220 0.29545458 -0.01268256
+v -0.50000000 0.06818185 -0.01268256
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 3 2
+f 7 6 4
+f 7 4 3
+f 8 2 5
+f 8 5 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_5.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8636b8244c2a8085feee06ebf6dc8947be41a429
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 0.06759494 0.04520514
+v 0.50000000 0.06818185 -0.01268256
+v 0.50000000 0.15909094 0.00246896
+v 0.48222220 0.15774950 0.02617223
+v 0.48222220 0.06818185 -0.01268256
+v 0.50000000 0.15774950 0.02617223
+v 0.48222220 0.06759494 0.04520514
+v 0.48222220 0.09848488 -0.01268256
+v 0.50000000 0.09848488 -0.01268256
+v 0.48222220 0.15909094 0.00246896
+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 2 5
+f 8 5 4
+f 9 8 3
+f 9 3 2
+f 9 2 8
+f 10 8 4
+f 10 4 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_6.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ecd8f6691507e7bbd09daa4488c13b2108dc696
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 -0.00757573 -0.03945012
+v 0.50000000 -0.00757572 -0.05056123
+v 0.50000000 0.29545458 -0.01268256
+v 0.48222220 0.29545458 -0.01268256
+v 0.46212121 -0.00757573 -0.03945012
+v 0.46212121 0.29545458 -0.05056133
+v 0.48222220 0.03799213 -0.01141509
+v 0.50000000 0.29545458 -0.05056133
+v 0.46212121 0.29545427 -0.03944968
+v 0.46212121 -0.00757572 -0.05056123
+v 0.50000000 0.03799213 -0.01141509
+f 1 2 3
+f 5 2 1
+f 6 4 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 4 6
+f 9 7 4
+f 9 5 7
+f 10 6 2
+f 10 2 5
+f 10 5 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_7.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fa0930461e3d3ea34a9d5df584d8e6a72cc3028
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.28030270 -0.03944912
+v -0.23484848 -0.28030300 -0.05056114
+v -0.23484848 0.29545458 -0.05056133
+v -0.46212121 0.29545427 -0.03944968
+v -0.46212121 -0.28030270 -0.03944912
+v -0.46212121 0.29545458 -0.05056133
+v -0.23484848 0.29545427 -0.03944968
+v -0.46212121 -0.28030300 -0.05056114
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_8.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c351bffad43d0d4564aea649e86a0d541340a09d
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.50000000 0.29545429 0.02055067
+v 0.50000000 0.29545458 -0.05056133
+v 0.50000000 0.33333336 0.02054979
+v 0.46212121 0.33333336 0.02054979
+v 0.46212121 0.29545427 -0.03944968
+v 0.46212121 0.33333334 -0.05056134
+v 0.48222220 0.29545426 0.02055032
+v 0.50000000 0.33333334 -0.05056134
+v 0.46212121 0.29545458 -0.05056133
+v 0.46212121 0.31555558 0.02054979
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 5 1
+f 7 1 4
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 2 5
+f 9 5 6
+f 10 7 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/collision/model_normalized_collision_9.obj b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b788f7d01f108b54b73230df53f0a273e4e1d473
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.48222220 0.29545426 0.02055032
+v -0.46212121 0.29545458 -0.05056133
+v -0.46212121 0.33333336 0.02054979
+v -0.50000000 0.33333336 0.02054979
+v -0.50000000 0.29545458 -0.05056133
+v -0.50000000 0.33333334 -0.05056134
+v -0.46212121 0.31555558 0.02054979
+v -0.50000000 0.29545429 0.02055067
+v -0.46212121 0.33333334 -0.05056134
+v -0.46212121 0.29545427 -0.03944968
+f 6 4 3
+f 6 5 4
+f 7 3 1
+f 8 4 5
+f 8 1 3
+f 8 3 4
+f 9 6 3
+f 9 2 5
+f 9 5 6
+f 10 7 1
+f 10 2 9
+f 10 9 3
+f 10 3 7
+f 10 5 2
+f 10 8 5
+f 10 1 8
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/model.xml b/objects/objaverse/tray/tray_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e145175fb5dbac27acfe6a07a0408f56c3ad3a85
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="tray_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.20000000000000007 0.20000000000000007 0.20000000000000007" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="WoodenTray" texture="image0" specular="0.5" shininess="0.506516455"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="WoodenTray"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-9.999999994736446e-10 0.0 -0.010112268000000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-9.999999994736446e-10 0.0 0.009421904000000004" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.06666667200000002 0.10000000000000003 -0.00034518200000000025" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/tray/tray_5/visual/material.mtl b/objects/objaverse/tray/tray_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97e0516b7fea516b0ce98d84ee7940abe83c7dc4
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 506.51645500
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_5/visual/model_normalized_0.obj b/objects/objaverse/tray/tray_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec9babb63b8010e1f4adccaf3f69876284b484a
--- /dev/null
+++ b/objects/objaverse/tray/tray_5/visual/model_normalized_0.obj
@@ -0,0 +1,860 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.50000000 0.18539443 -0.05056130
+v -0.50000000 0.33333334 -0.05056134
+v 0.50000000 0.33333334 -0.05056134
+v 0.50000000 0.18539443 -0.05056130
+v -0.50000000 -0.33333337 -0.05056112
+v -0.50000000 -0.18539446 -0.05056117
+v 0.50000000 -0.18539446 -0.05056117
+v 0.50000000 -0.33333337 -0.05056112
+v -0.50000000 0.12359628 -0.05056128
+v 0.50000000 0.12359628 -0.05056128
+v -0.50000000 -0.18539446 -0.05056117
+v -0.50000000 -0.33333337 -0.05056112
+v -0.50000000 -0.33333337 -0.03945001
+v -0.50000000 -0.18539446 -0.03944668
+v -0.50000000 -0.33333337 -0.05056112
+v 0.50000000 -0.33333337 -0.05056112
+v 0.50000000 -0.33333337 -0.03945001
+v -0.50000000 -0.33333337 -0.03945001
+v 0.50000000 0.18539443 -0.05056130
+v 0.50000000 0.33333334 -0.05056134
+v 0.50000000 0.33333334 -0.03945021
+v 0.50000000 0.18539443 -0.03944679
+v 0.50000000 0.33333334 -0.05056134
+v -0.50000000 0.33333334 -0.05056134
+v -0.50000000 0.33333334 -0.03945021
+v 0.50000000 0.33333334 -0.03945021
+v -0.50000000 0.33333334 -0.05056134
+v -0.50000000 0.18539443 -0.05056130
+v -0.50000000 0.18539443 -0.03945017
+v -0.50000000 0.33333334 -0.03945021
+v -0.50000000 -0.12359630 -0.05056119
+v -0.50000000 -0.18539446 -0.05056117
+v -0.50000000 -0.18539446 -0.03944668
+v -0.50000000 -0.12359630 -0.03945008
+v 0.50000000 -0.33333337 -0.05056112
+v 0.50000000 -0.18539446 -0.05056117
+v 0.50000000 -0.18539446 -0.03945006
+v 0.50000000 -0.33333337 -0.03945001
+v 0.50000000 0.12359628 -0.05056128
+v 0.50000000 0.18539443 -0.05056130
+v 0.50000000 0.18539443 -0.03944679
+v 0.50000000 0.12359628 -0.03945017
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diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_0.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a07fbd7f1aba33382164d7bfbf92c6c05754163
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23578058 -0.46212120 -0.01512321
+v -0.23578058 -0.46212120 -0.02851797
+v -0.23578058 0.46212120 -0.02851797
+v -0.29638664 0.46212120 -0.01512321
+v -0.29638664 -0.46212120 -0.01512321
+v -0.23578058 0.46212120 -0.01512321
+v -0.29638664 0.46212120 -0.02851797
+v -0.29638664 -0.46212120 -0.02851797
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\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_17.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c4081711399316547c369229658cc5c29e52c93
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18846184 -0.46212120 -0.01512321
+v 0.18846184 -0.46212120 -0.02851797
+v 0.18846184 0.35606059 -0.01512321
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+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_18.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c8850d74e7eaf84dd454b8980e031339c670ed
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27937092 0.44696968 -0.01512321
+v 0.27937092 0.44696968 -0.02851797
+v 0.27937092 0.46212120 -0.01512321
+v -0.23578058 0.46212120 -0.01512321
+v -0.23578058 0.44696968 -0.02851797
+v 0.27937092 0.46212120 -0.02851797
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+v -0.23578058 0.46212120 -0.02851797
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+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_21.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5d7c455277b78084876a3adb0e3e14a7880f89
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.32482547 0.44696968 0.02851812
+v 0.32922323 0.44696968 0.00802772
+v 0.32482547 0.46212120 0.02851812
+v 0.31964973 0.46287614 0.02725574
+v 0.31471650 0.44696968 0.00825245
+v 0.32743019 0.46273118 0.00831589
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+v 0.31288385 0.46287220 0.00841653
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+f 7 1 4
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+f 8 7 4
+f 8 5 7
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_3.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec9e103cb366f34a02d061d53cc81ca205cfd69d
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_3.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.16002300 -0.46212120 -0.01512321
+v -0.16002300 -0.46212120 -0.02851797
+v -0.16002300 0.44696968 -0.01512321
+v -0.23578058 0.44696968 -0.01512321
+v -0.23578058 -0.46212120 -0.01512321
+v -0.16002300 0.44696968 -0.02851797
+v -0.23578058 -0.46212120 -0.02851797
+v -0.23578058 0.44696968 -0.02851797
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+f 8 6 7
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/collision/model_normalized_collision_30.obj b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b23238364c112c9bc6f88acf2473a028189d9a
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/collision/model_normalized_collision_30.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.31480156 0.41666665 0.00864330
+v -0.29638664 0.41666665 -0.02851797
+v -0.29638664 0.49544410 0.01486125
+v -0.30834764 0.49484568 0.01601813
+v -0.31806621 0.41666665 -0.02629640
+v -0.33065518 0.41666665 0.01275162
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\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/visual/material.mtl b/objects/objaverse/tray/tray_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/tray/tray_7/visual/model_normalized_0.obj b/objects/objaverse/tray/tray_7/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c360ccd8250ee151a5d24794bf555f265ff3713d
--- /dev/null
+++ b/objects/objaverse/tray/tray_7/visual/model_normalized_0.obj
@@ -0,0 +1,8662 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file