diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_0.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de81d38bd4212a082b1eb2f01d4ce10d08c6e204
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_0.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.12111731 -0.24199249 -0.23480510
+v -0.11458171 -0.21511768 -0.47570567
+v -0.12128337 -0.01508028 -0.23484848
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\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_1.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ef47f9797ad308664d7758ff35613f77420920
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.20036055 -0.29306728 0.34079092
+v 0.34859224 -0.07260059 0.34032382
+v 0.19335474 0.19312603 0.49840395
+v 0.17675253 0.30916273 0.34032382
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+v 0.30081152 -0.07144257 0.49463438
+v 0.27161278 0.21485210 0.39440558
+v 0.17675956 0.25057982 0.49763119
+v 0.17969442 0.26967399 0.26554256
+v 0.34857944 0.07266367 0.34032382
+v 0.31523140 -0.07189625 0.26707873
+v 0.19150187 -0.27961019 0.40367242
+v 0.24433570 -0.25905248 0.34032382
+v 0.19332533 -0.23806207 0.49763119
+v 0.28714933 0.11468804 0.49463438
+v 0.33099178 -0.10101688 0.39522430
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+v 0.27223202 0.22952350 0.34032382
+v 0.17521816 0.29220617 0.40214690
+v 0.33407305 0.07279838 0.40103008
+v 0.33177015 -0.12944833 0.34032382
+v 0.30207786 -0.11516449 0.26694115
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+v 0.25716216 -0.17165782 0.49463438
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+v 0.30081405 0.07149416 0.49463438
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+v 0.25898125 0.24440926 0.34032382
+v 0.25609666 0.19851510 0.26739801
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+v 0.30262827 0.18766027 0.34032382
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+v 0.20277123 -0.23202124 0.49589365
+v 0.24431921 0.25904280 0.34032382
+v 0.25897317 -0.24439089 0.34032382
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+f 61 34 20
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_10.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..995ae7e9a3012c41f59a9718e3e67f46b141c0e9
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_10.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.21732471 -0.16135788 -0.23959283
+v -0.18186960 -0.13627838 -0.49933341
+v -0.17677339 0.20599908 -0.23397041
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+v -0.23986698 -0.12734898 -0.23267300
+v -0.20159683 -0.12992992 -0.49553004
+v -0.22444040 0.09781647 -0.47501839
+v -0.22595143 0.08481406 -0.49413471
+v -0.21197317 0.17005741 -0.23272825
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+v -0.25492632 -0.04237432 -0.35400538
+v -0.21259883 -0.11372440 -0.49413471
+v -0.23908378 0.08406092 -0.39926852
+v -0.21752971 0.10161284 -0.49553004
+v -0.19643388 0.18291589 -0.26283835
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+v -0.24041401 0.12687690 -0.23269446
+v -0.19653847 0.16785812 -0.35367665
+v -0.22396714 -0.09834734 -0.47499962
+v -0.25765554 -0.08587986 -0.23310680
+v -0.25533313 0.02804860 -0.36921397
+v -0.23949222 -0.04232559 -0.48826297
+v -0.25399897 0.07038287 -0.30846667
+v -0.23837984 0.11241006 -0.30828744
+v -0.18299573 0.18241724 -0.35376123
+v -0.21013146 0.15348913 -0.33853485
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+v -0.23898279 0.12608310 -0.24766709
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\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_11.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7720358619b62d8016bdb95fd9d262dc68c82ebe
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08531790 -0.25579295 -0.23290900
+v 0.24033063 -0.02794492 -0.47530794
+v 0.24384143 0.11441139 -0.23317680
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+v -0.11294543 -0.21216631 -0.49413471
+v -0.12126684 0.12126615 -0.49949872
+v -0.08631719 -0.25656359 -0.23301713
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+v 0.20940308 -0.15289569 -0.32330253
+v 0.22331886 -0.08374292 -0.49413471
+v -0.08443147 -0.22477860 -0.49413471
+v 0.04228668 -0.23911053 -0.47515730
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+v 0.09818287 -0.23857956 -0.33867141
+v 0.23869699 -0.07023785 -0.41444595
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+f 63 49 1
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+f 64 22 39
+f 64 39 25
+f 64 25 51
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_12.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79700a9cbc7a076b267c71989af13a953d8131d
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_12.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.07252700 -0.34860849 0.34032382
+v 0.21125098 -0.28668756 0.34032382
+v 0.06508440 -0.30935449 0.46783862
+v -0.16142345 -0.27893669 0.44428505
+v -0.16306666 -0.28118804 0.26594324
+v 0.19453285 -0.28421425 0.39819779
+v -0.07287109 -0.33406267 0.40103978
+v 0.16201883 -0.28018721 0.26608129
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+v 0.12998644 -0.33154481 0.34032382
+v 0.07266023 -0.33408457 0.40104608
+v -0.05741438 -0.31376996 0.45699057
+v -0.07273750 -0.34856389 0.34032382
+v 0.07146724 -0.31614163 0.26699585
+v 0.20621056 -0.27962211 0.35344488
+v -0.14814603 -0.28154675 0.46026655
+v 0.17198222 -0.30054469 0.39453119
+v 0.18755422 -0.30269147 0.34032382
+v 0.10092331 -0.33099533 0.39521096
+v 0.05717524 -0.31379062 0.45699131
+v -0.14333560 -0.31515691 0.39460442
+v -0.07231933 -0.31656520 0.26693613
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+v 0.18846140 -0.29014076 0.39533006
+v 0.20408765 -0.29179777 0.34032382
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+v -0.10114933 -0.33095668 0.39521675
+v -0.15930570 -0.31844694 0.34032382
+v -0.15913276 -0.30295453 0.40080482
+v -0.11389691 -0.29805388 0.45657239
+v -0.12956840 -0.33172017 0.34032382
+v -0.12765841 -0.29905479 0.26734586
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+f 25 8 2
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+f 29 16 4
+f 29 28 21
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+f 30 27 12
+f 30 12 16
+f 30 16 21
+f 30 21 27
+f 31 27 21
+f 31 21 28
+f 31 13 27
+f 31 22 13
+f 32 31 28
+f 32 28 5
+f 32 5 22
+f 32 22 31
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_13.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cbdf6f9f74d6bfa51b20e9dadf5ff233559010e
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_13.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.07146724 -0.31614163 0.26699585
+v 0.15410484 -0.26193516 0.08276842
+v 0.10598936 -0.18174695 0.26515152
+v -0.15158640 -0.18174695 0.26515152
+v -0.18822239 -0.22934476 0.00101042
+v 0.11488441 -0.30294306 0.26686757
+v -0.01425224 -0.30127670 0.05487337
+v -0.14588145 -0.29057317 0.26657789
+v 0.10598936 -0.18174695 0.00757576
+v 0.08461056 -0.28393511 0.00976377
+v 0.15747530 -0.26754722 0.14265892
+v -0.07231933 -0.31656520 0.26693613
+v -0.08560006 -0.28439183 0.00968875
+v 0.08476603 -0.29956157 0.14607278
+v 0.10198050 -0.27808903 0.00872488
+v 0.04235049 -0.30009628 0.07017858
+v 0.12016770 -0.30059980 0.26541845
+v 0.02869480 -0.31660992 0.20629460
+v -0.14444701 -0.25978266 0.00918477
+v -0.11584616 -0.30352210 0.26677991
+v -0.05684300 -0.29986446 0.08537126
+v 0.01479026 -0.30128297 0.05486995
+v 0.11368891 -0.30004483 0.23689244
+v 0.07110698 -0.29953051 0.11572804
+v 0.14206226 -0.26915224 0.08561576
+v -0.04313392 -0.31530120 0.20644085
+v -0.12753479 -0.26848473 0.00990109
+v -0.10040817 -0.29907473 0.17641588
+v -0.04315452 -0.30030441 0.07014528
+v -0.07199687 -0.31503107 0.25194858
+v 0.11342045 -0.28424468 0.10069764
+v 0.07109213 -0.31461951 0.25200830
+v 0.14500337 -0.27500061 0.14550629
+v -0.11400066 -0.28341713 0.08561289
+v -0.14325808 -0.28487760 0.20662773
+v -0.11420429 -0.29911505 0.22181738
+v -0.14127147 -0.26920820 0.07050650
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+f 29 13 7
+f 29 26 21
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+f 30 28 13
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+f 35 8 19
+f 35 27 34
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+f 36 28 20
+f 36 35 34
+f 36 20 8
+f 36 8 35
+f 37 35 19
+f 37 19 27
+f 37 27 35
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_14.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46d2b6e455e5529e791f8e0c3355fb3ad135851a
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_14.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.16673791 -0.10598938 0.48366703
+v -0.16673791 -0.10598938 0.40151516
+v -0.16577528 0.21094428 0.48434056
+v -0.16947873 0.21574562 0.49897354
+v -0.31060865 -0.11446169 0.41165343
+v -0.30085668 -0.07132455 0.49463438
+v -0.30035187 0.14208773 0.40952085
+v -0.25047071 -0.10931613 0.49840395
+v -0.16673791 0.13643487 0.40151516
+v -0.24596008 0.20255824 0.45818914
+v -0.30956931 0.07369852 0.45979997
+v -0.29044542 -0.10178919 0.49635482
+v -0.27374615 0.14381421 0.49463438
+v -0.29890330 -0.09957071 0.47197990
+v -0.25834330 0.18683664 0.45752753
+v -0.30078633 0.07154389 0.49463438
+v -0.23202267 0.20287941 0.49578614
+v -0.30240157 -0.10072959 0.45778538
+v -0.27581968 0.15947070 0.45845013
+v -0.25713944 0.17169270 0.49463438
+v -0.26949715 0.15568293 0.48683973
+v -0.24027306 0.19787010 0.48657877
+v -0.25533267 0.18471136 0.47172230
+f 1 2 3
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+f 5 2 1
+f 7 2 5
+f 8 5 1
+f 8 1 4
+f 9 3 2
+f 9 2 7
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+f 12 5 8
+f 14 12 6
+f 14 5 12
+f 15 10 7
+f 16 13 7
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+f 16 11 6
+f 16 6 12
+f 16 12 8
+f 16 8 4
+f 17 4 10
+f 17 16 4
+f 17 13 16
+f 18 14 6
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+f 20 13 17
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+f 21 19 7
+f 21 7 13
+f 21 20 19
+f 21 13 20
+f 22 20 17
+f 22 17 10
+f 23 15 20
+f 23 20 22
+f 23 22 10
+f 23 10 15
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_15.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e37aa2b4d96df478a7f6f308dc841c1d7e8b121
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01669409 -0.31531733 0.46927515
+v 0.01836118 -0.32335382 0.26141776
+v 0.01508027 0.16673790 0.26515152
+v -0.16673791 0.16673790 0.48366703
+v -0.16306666 -0.28118804 0.26594324
+v 0.01508027 0.16673790 0.48366703
+v -0.15952956 -0.27577543 0.45847985
+v -0.16673791 0.16673790 0.26515152
+v -0.16673791 -0.19689847 0.48366703
+v 0.00564825 -0.15197760 0.48112495
+v -0.03980317 -0.18328347 0.48111439
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 9 6 4
+f 9 7 1
+f 9 5 7
+f 9 8 5
+f 9 4 8
+f 10 1 6
+f 10 6 9
+f 11 10 9
+f 11 9 1
+f 11 1 10
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_16.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658b062ac7dd557fe02897f9869c55b8c1560f2f
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_16.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.16084723 -0.30637077 0.39533006
+v -0.16306666 -0.28118804 0.26594324
+v -0.16673791 -0.10598938 0.48366703
+v -0.29044542 -0.10178919 0.49635482
+v -0.30916458 -0.17669424 0.34032382
+v -0.16032629 -0.26195615 0.49708234
+v -0.22960999 -0.27217926 0.34032382
+v -0.16673791 -0.18174695 0.26515152
+v -0.25047071 -0.10931613 0.49840395
+v -0.24041460 -0.19769802 0.48660209
+v -0.25755693 -0.19946076 0.26721925
+v -0.16537837 -0.31540051 0.34032382
+v -0.21494440 -0.27156541 0.39442492
+v -0.16673791 -0.10598938 0.40151516
+v -0.17644505 -0.20867263 0.49840395
+v -0.25724345 -0.17150810 0.49463438
+v -0.27235962 -0.22936865 0.34032382
+v -0.19989584 -0.25667934 0.26726020
+v -0.27101928 -0.18048845 0.26537947
+v -0.18774707 -0.30260160 0.34032382
+v -0.17175785 -0.25709702 0.49463438
+v -0.31164319 -0.14839221 0.39696312
+v -0.25912069 -0.24426381 0.34032382
+v -0.27173019 -0.21468966 0.39442253
+v -0.31060865 -0.11446169 0.41165343
+v -0.30272868 -0.18749226 0.34032382
+v -0.17352430 -0.27507212 0.26674523
+v -0.17219113 -0.30046019 0.39452698
+v -0.19793560 -0.24021002 0.48660557
+v -0.28722081 -0.11451681 0.49463438
+v -0.24446397 -0.25890274 0.34032382
+v -0.28777131 -0.18680838 0.39978775
+v -0.30003700 -0.10497251 0.46128298
+v -0.27667322 -0.17497478 0.28167886
+v -0.26921796 -0.15618058 0.48686020
+f 6 1 2
+f 9 3 4
+f 9 4 6
+f 12 2 1
+f 14 6 2
+f 14 2 8
+f 14 3 6
+f 14 4 3
+f 15 9 6
+f 15 6 3
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+f 16 6 4
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+f 20 2 12
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+f 24 13 10
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+f 29 21 10
+f 29 10 13
+f 29 13 21
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+f 31 7 13
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+f 31 11 18
+f 32 24 16
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+f 33 4 14
+f 33 14 25
+f 33 25 22
+f 33 22 4
+f 34 25 19
+f 34 19 5
+f 34 5 25
+f 35 30 22
+f 35 22 16
+f 35 16 30
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_17.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f94e12c6999fc14986c63ed66ce59e2543882c
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.17855936 0.26790368 0.44545320
+v 0.18657198 0.26499209 0.26423227
+v 0.12939662 0.33179141 0.34032382
+v -0.07263453 0.34858548 0.34032382
+v -0.17630395 0.27357502 0.26320820
+v 0.07216509 0.31665079 0.26694206
+v 0.07115538 0.31494217 0.44203451
+v 0.17675253 0.30916273 0.34032382
+v -0.16571536 0.27111106 0.46160902
+v 0.15615930 0.28428450 0.26740212
+v 0.07257236 0.34859804 0.34032382
+v -0.07187426 0.31735757 0.26688021
+v 0.14316689 0.31524218 0.39458407
+v 0.19111673 0.27092309 0.41072656
+v -0.11430697 0.29466680 0.46818223
+v -0.15917687 0.31851865 0.34032382
+v 0.15913396 0.31853279 0.34032382
+v -0.07278638 0.33415123 0.40096029
+v 0.15562152 0.28313067 0.44105382
+v 0.10098335 0.33101670 0.39518182
+v 0.17202229 0.30055680 0.39451814
+v -0.18001019 0.27781095 0.41165343
+v -0.12855316 0.29914771 0.26731329
+v -0.14319681 0.31523592 0.39458303
+v -0.07189114 0.31476590 0.44202421
+v 0.07271871 0.33415561 0.40098345
+v -0.15772546 0.28518261 0.26724961
+v -0.13006396 0.33151536 0.34032382
+v -0.10102212 0.33098772 0.39515164
+v -0.15898939 0.30299696 0.40080482
+v -0.10085787 0.30236188 0.45777444
+f 6 2 5
+f 9 5 2
+f 9 2 1
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+f 10 2 6
+f 10 8 2
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+f 12 6 5
+f 12 11 6
+f 12 4 11
+f 14 1 2
+f 14 2 8
+f 15 9 1
+f 15 1 7
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+f 17 8 10
+f 17 3 13
+f 18 11 4
+f 19 13 7
+f 19 7 1
+f 20 7 13
+f 20 13 3
+f 20 3 11
+f 21 17 13
+f 21 8 17
+f 21 14 8
+f 21 1 14
+f 21 19 1
+f 21 13 19
+f 22 16 5
+f 22 5 9
+f 23 12 5
+f 24 9 15
+f 25 15 7
+f 25 7 18
+f 26 18 7
+f 26 7 20
+f 26 20 11
+f 26 11 18
+f 27 23 5
+f 27 5 16
+f 27 16 23
+f 28 23 16
+f 28 4 12
+f 28 12 23
+f 28 16 24
+f 29 24 15
+f 29 18 4
+f 29 28 24
+f 29 4 28
+f 30 22 9
+f 30 9 24
+f 30 24 16
+f 30 16 22
+f 31 25 18
+f 31 15 25
+f 31 29 15
+f 31 18 29
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_18.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..938ec56cc553a37fed32d12be5db29d51f3ffc6a
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.16673791 0.13643487 0.48366703
+v -0.16673791 0.13643487 0.26515152
+v -0.16023426 0.26206367 0.49701716
+v -0.16071941 0.30640530 0.39533006
+v -0.32954864 0.13484924 0.34032382
+v -0.16307381 0.28184837 0.26589601
+v -0.29050247 0.13069435 0.45852673
+v -0.24433738 0.25904949 0.34032382
+v -0.29729015 0.13375868 0.26582071
+v -0.22423408 0.20921177 0.49763119
+v -0.16529449 0.31541131 0.34032382
+v -0.25728554 0.20025100 0.26719920
+v -0.32020668 0.13100727 0.39533006
+v -0.16947873 0.21574562 0.49897354
+v -0.21478564 0.27166774 0.39439559
+v -0.18759528 0.30266658 0.34032382
+v -0.19971190 0.25768922 0.26720151
+v -0.30263932 0.18768537 0.34032382
+v -0.30050505 0.17213753 0.39448808
+v -0.19778857 0.24034636 0.48657991
+v -0.17160489 0.25717960 0.49463438
+v -0.22945443 0.27228908 0.34032382
+v -0.17204072 0.30053606 0.39447111
+v -0.17425223 0.27523363 0.26670301
+v -0.28575965 0.15711990 0.26722569
+v -0.31847578 0.15924695 0.34032382
+v -0.27223655 0.22954182 0.34032382
+v -0.31519047 0.14328291 0.39458020
+v -0.26993765 0.17016103 0.45654130
+v -0.27162494 0.21487941 0.39440072
+v -0.21789806 0.21758704 0.49615519
+v -0.25897096 0.24439280 0.34032382
+v -0.28528017 0.14264391 0.45694504
+v -0.22718706 0.21266902 0.48691883
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 9 6 2
+f 10 7 1
+f 11 4 6
+f 12 6 9
+f 13 5 9
+f 13 9 2
+f 13 2 7
+f 14 10 1
+f 14 1 3
+f 14 3 10
+f 16 11 6
+f 17 12 8
+f 17 6 12
+f 21 3 4
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+f 22 8 15
+f 22 15 16
+f 22 17 8
+f 22 16 17
+f 23 16 15
+f 23 4 11
+f 23 11 16
+f 23 21 4
+f 23 15 21
+f 24 17 16
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+f 25 12 9
+f 26 9 5
+f 26 19 18
+f 26 25 9
+f 26 18 25
+f 27 12 18
+f 28 13 7
+f 28 19 26
+f 28 26 5
+f 28 5 13
+f 29 10 19
+f 30 19 10
+f 30 15 8
+f 30 27 18
+f 30 18 19
+f 31 20 15
+f 31 21 20
+f 31 10 3
+f 31 3 21
+f 31 15 30
+f 32 8 12
+f 32 12 27
+f 32 30 8
+f 32 27 30
+f 33 28 7
+f 33 19 28
+f 33 29 19
+f 33 7 10
+f 33 10 29
+f 34 31 30
+f 34 30 10
+f 34 10 31
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_19.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8496df8cc66e5cd9fd19f68ce5e55360c56741b
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_19.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.28832376 -0.18197342 0.40198140
+v -0.28194415 -0.16298885 0.26588429
+v -0.28151605 -0.14817622 0.46024787
+v -0.28039839 0.13299412 0.49026978
+v -0.34856881 0.07271074 0.34032382
+v -0.28068613 -0.17738469 0.32653961
+v -0.34861435 -0.07249655 0.34032382
+v -0.29729015 0.13375868 0.26582071
+v -0.30916458 -0.17669424 0.34032382
+v -0.33101580 -0.10088976 0.39518048
+v -0.33174017 0.12951988 0.34032382
+v -0.31477082 0.08558187 0.26718075
+v -0.30538865 -0.11318161 0.26317857
+v -0.31528549 -0.14307929 0.39459378
+v -0.29747839 0.07444904 0.49763119
+v -0.33414277 0.07285822 0.40096863
+v -0.30035187 0.14208773 0.40952085
+v -0.30007637 0.12806438 0.26724459
+v -0.33156255 -0.12993912 0.34032382
+v -0.31857691 -0.15906311 0.34032382
+v -0.31451748 -0.08618339 0.26718606
+v -0.30058336 -0.17192264 0.39451654
+v -0.29814701 -0.11362248 0.45654864
+v -0.28768714 0.07576427 0.49937397
+v -0.33416334 -0.07264679 0.40097643
+v -0.33098282 0.10111612 0.39516958
+v -0.31703262 0.12970215 0.40037905
+v -0.28603796 -0.15644475 0.26722856
+v -0.28259605 0.11908084 0.49763119
+v -0.30241128 0.07194253 0.48818960
+v -0.31380346 -0.05715329 0.45695723
+v -0.28711916 0.11470920 0.49463438
+v -0.29910222 0.08551370 0.48725390
+f 6 2 4
+f 6 4 3
+f 6 3 1
+f 8 4 2
+f 9 6 1
+f 9 2 6
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+f 12 5 11
+f 13 12 8
+f 13 8 2
+f 16 5 7
+f 17 4 8
+f 17 8 11
+f 18 12 11
+f 18 11 8
+f 18 8 12
+f 19 7 13
+f 19 14 10
+f 19 10 7
+f 20 2 9
+f 20 19 13
+f 20 14 19
+f 21 13 7
+f 21 7 12
+f 21 12 13
+f 22 1 3
+f 22 3 14
+f 22 9 1
+f 22 20 9
+f 22 14 20
+f 23 14 3
+f 23 10 14
+f 23 3 15
+f 24 15 3
+f 25 16 7
+f 25 7 10
+f 26 11 5
+f 26 5 16
+f 27 17 11
+f 27 4 17
+f 27 11 26
+f 28 20 13
+f 28 13 2
+f 28 2 20
+f 29 24 3
+f 29 3 4
+f 29 15 24
+f 30 26 16
+f 31 23 15
+f 31 15 30
+f 31 30 16
+f 31 16 25
+f 31 25 10
+f 31 10 23
+f 32 27 26
+f 32 4 27
+f 32 29 4
+f 32 15 29
+f 33 32 26
+f 33 26 30
+f 33 30 15
+f 33 15 32
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_2.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f4a62edc6f82156848981d301dbca761c74e0e2
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_2.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.07184440 -0.28737094 0.00933061
+v 0.18946878 -0.19041349 -0.23845802
+v 0.16659542 0.13643487 0.00757576
+v -0.13643488 0.13643487 0.00757576
+v -0.12646822 -0.23953313 -0.23260229
+v 0.20770914 0.17039693 -0.24067733
+v 0.20760627 -0.20930009 0.00110404
+v 0.02859790 -0.27010557 -0.21775383
+v -0.13322417 -0.26568532 0.00841462
+v -0.13643488 0.13643487 -0.23484848
+v 0.10255141 -0.24917005 -0.23386302
+v 0.10198050 -0.27808903 0.00872488
+v -0.11548143 -0.27395379 0.00921865
+v 0.08531790 -0.25579295 -0.23290900
+v -0.08631719 -0.25656359 -0.23301713
+v -0.07269065 -0.28803094 0.00924317
+v -0.11247846 -0.25353588 -0.17194150
+v 0.04236201 -0.26986355 -0.20255647
+v 0.07101474 -0.26885517 -0.15695729
+v 0.09823603 -0.26901147 -0.08111089
+v -0.02807796 -0.27056121 -0.21779524
+v -0.08550312 -0.26890579 -0.12663682
+v -0.12774686 -0.25379362 -0.11136644
+v -0.09904303 -0.25363590 -0.21747824
+v 0.04235641 -0.28497991 -0.06618895
+v 0.09852149 -0.25455198 -0.20240484
+v -0.05681021 -0.26941198 -0.18733924
+v 0.01427672 -0.28638156 -0.08151794
+v -0.04316939 -0.28526452 -0.06623067
+v -0.07201728 -0.28482775 -0.02070209
+v -0.05682728 -0.28463816 -0.05098402
+v -0.01426483 -0.28634356 -0.08151418
+f 1 3 4
+f 6 4 3
+f 7 6 3
+f 7 2 6
+f 10 4 6
+f 10 9 4
+f 10 5 9
+f 10 6 2
+f 10 2 5
+f 11 2 7
+f 12 7 3
+f 12 3 1
+f 12 11 7
+f 13 1 4
+f 13 4 9
+f 15 5 2
+f 15 2 11
+f 15 11 14
+f 16 1 13
+f 18 8 14
+f 19 14 12
+f 19 12 1
+f 19 18 14
+f 19 1 18
+f 20 12 14
+f 21 15 14
+f 21 14 8
+f 22 16 13
+f 22 13 15
+f 23 9 5
+f 23 5 17
+f 23 17 13
+f 23 13 9
+f 24 15 13
+f 24 13 17
+f 24 17 5
+f 24 5 15
+f 25 18 1
+f 25 8 18
+f 26 20 14
+f 26 14 11
+f 26 11 12
+f 26 12 20
+f 27 15 21
+f 28 21 8
+f 28 8 25
+f 28 25 1
+f 28 1 16
+f 29 27 21
+f 30 27 16
+f 30 15 27
+f 30 22 15
+f 30 16 22
+f 31 29 16
+f 31 16 27
+f 31 27 29
+f 32 28 16
+f 32 16 29
+f 32 29 21
+f 32 21 28
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_20.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ef75f90b02cf70b88cb9c9cafaf433982a29817
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_20.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.10687361 -0.30565959 0.26485432
+v 0.18946878 -0.19041349 -0.23845802
+v 0.18174694 -0.18174695 0.26515152
+v 0.10598936 -0.18174695 0.26515152
+v 0.10255141 -0.24917005 -0.23386302
+v 0.10598936 -0.16659544 -0.23484848
+v 0.17319704 -0.27357207 0.26688837
+v 0.10010826 -0.27355025 -0.03619301
+v 0.10598936 -0.16659544 0.00757576
+v 0.14473100 -0.28961071 0.26671434
+v 0.20809410 -0.20918229 0.00341804
+v 0.14301798 -0.22832444 -0.23305974
+v 0.10289488 -0.29350647 0.14502658
+v 0.10039372 -0.25909076 -0.15748695
+v 0.12826676 -0.28350486 0.14623966
+v 0.15940992 -0.21704230 -0.23348836
+v 0.15544083 -0.26923437 0.14630753
+v 0.12724643 -0.23951781 -0.21749630
+v 0.17057188 -0.24170471 0.00969106
+v 0.17077568 -0.26954054 0.22192570
+v 0.11438248 -0.24406551 -0.23320426
+v 0.14191378 -0.28400850 0.20676420
+v 0.15465863 -0.23880145 -0.09605803
+v 0.16918434 -0.25489231 0.10086304
+v 0.11336726 -0.25381273 -0.15686288
+v 0.15424199 -0.22488505 -0.20220686
+f 6 3 2
+f 6 2 5
+f 7 3 4
+f 9 4 3
+f 9 3 6
+f 10 7 4
+f 10 4 1
+f 11 2 3
+f 11 3 7
+f 13 1 4
+f 13 4 8
+f 14 6 5
+f 14 5 8
+f 14 9 6
+f 14 8 4
+f 14 4 9
+f 15 13 8
+f 15 10 1
+f 15 1 13
+f 16 12 2
+f 16 2 11
+f 17 7 10
+f 18 12 17
+f 19 16 11
+f 19 11 7
+f 20 7 17
+f 21 18 15
+f 21 12 18
+f 21 5 2
+f 21 2 12
+f 22 18 17
+f 22 17 10
+f 22 10 15
+f 22 15 18
+f 23 20 17
+f 23 17 12
+f 24 19 7
+f 24 7 20
+f 24 20 23
+f 24 16 19
+f 25 21 15
+f 25 5 21
+f 25 15 8
+f 25 8 5
+f 26 23 12
+f 26 12 16
+f 26 24 23
+f 26 16 24
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_21.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0d90df1ca349244e481cc2c19803d25d18ff73
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.18174694 0.16673790 0.48366703
+v 0.18174694 0.16673790 0.40151516
+v 0.18499739 0.27778948 0.40778832
+v -0.05791838 0.31741245 0.44275652
+v -0.16673791 0.16673790 0.40151516
+v 0.11458757 0.28716974 0.49463438
+v 0.18522437 0.20095102 0.49840395
+v -0.10963633 0.31366511 0.40952085
+v 0.08012493 0.32118240 0.41165343
+v -0.16947873 0.21574562 0.49897354
+v 0.17159205 0.25720363 0.49463438
+v 0.11500077 0.30158060 0.44235716
+v 0.07140747 0.30081973 0.49463438
+v -0.16673791 0.16673790 0.48366703
+v -0.17322347 0.28350099 0.40952085
+v 0.15557455 0.26955740 0.48685770
+v 0.17628976 0.20880157 0.49840395
+v 0.11372724 0.29812252 0.45655197
+v 0.12751683 0.28384680 0.48693065
+v 0.05786223 0.31743901 0.44276731
+v -0.11463743 0.28717046 0.49463438
+v -0.16023426 0.26206367 0.49701716
+v -0.05729187 0.31378087 0.45695129
+v -0.12754723 0.28384919 0.48691903
+v -0.07146057 0.30082248 0.49463438
+v 0.05725383 0.31380454 0.45696217
+v -0.14424621 0.27349923 0.49463438
+v -0.09969710 0.29886435 0.47196926
+v -0.15628906 0.26916207 0.48684304
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 8 3 2
+f 8 2 5
+f 9 8 4
+f 9 3 8
+f 11 7 3
+f 12 3 9
+f 14 10 5
+f 14 5 1
+f 14 1 7
+f 14 7 10
+f 15 8 5
+f 15 5 10
+f 16 11 3
+f 16 6 11
+f 17 11 6
+f 17 7 11
+f 17 6 13
+f 17 10 7
+f 18 12 9
+f 18 6 12
+f 18 13 6
+f 18 9 13
+f 19 12 6
+f 19 3 12
+f 19 16 3
+f 19 6 16
+f 20 9 4
+f 22 17 13
+f 22 10 17
+f 22 15 10
+f 23 20 4
+f 24 21 8
+f 24 8 15
+f 25 22 13
+f 25 21 22
+f 25 23 4
+f 25 4 8
+f 26 20 23
+f 26 13 9
+f 26 9 20
+f 26 25 13
+f 26 23 25
+f 27 22 21
+f 27 21 24
+f 27 24 15
+f 28 25 8
+f 28 8 21
+f 28 21 25
+f 29 27 15
+f 29 15 22
+f 29 22 27
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_22.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6aea8289bed3e4c2f764b5e051c67561a1c8883
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_22.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.17939883 -0.26933603 0.26557685
+v 0.24602119 -0.14507427 -0.08189799
+v 0.28607049 -0.15048043 0.26535929
+v 0.18174694 -0.15144392 0.26515152
+v 0.17763065 -0.23653322 0.00835492
+v 0.27632295 -0.14507357 0.16052641
+v 0.24617021 -0.21704309 0.31219807
+v 0.17390851 -0.26157372 0.17572615
+v 0.22161958 -0.17745025 -0.09771489
+v 0.26968194 -0.16984217 0.22196530
+v 0.25324474 -0.20877089 0.31116835
+v 0.23933001 -0.22449213 0.31103068
+v 0.18406742 -0.25451494 0.17667118
+v 0.17435203 -0.24704926 0.06958159
+v 0.24072094 -0.15037200 -0.09827142
+v 0.26997190 -0.15670224 0.16132025
+v 0.27361299 -0.17242407 0.26692789
+v 0.22792359 -0.18698688 0.00120639
+v 0.21469454 -0.24236466 0.26720566
+v 0.23602928 -0.15724196 -0.09963929
+v 0.25497511 -0.18328848 0.17668129
+v 0.24150058 -0.21285796 0.25224791
+v 0.18955280 -0.26227041 0.26648208
+v 0.18319603 -0.24091751 0.07053347
+v 0.21182478 -0.21118971 0.04030532
+v 0.22736891 -0.17021344 -0.09641800
+v 0.25414567 -0.16958946 0.10090548
+v 0.22691822 -0.22628171 0.23717919
+v 0.18637855 -0.22961849 0.00938122
+v 0.21369608 -0.24115601 0.25221814
+f 6 2 4
+f 6 4 3
+f 8 1 4
+f 9 5 4
+f 11 3 4
+f 11 4 7
+f 12 7 4
+f 12 4 1
+f 13 8 5
+f 13 1 8
+f 14 8 4
+f 14 4 5
+f 14 5 8
+f 15 4 2
+f 16 6 3
+f 16 2 6
+f 16 15 2
+f 16 10 15
+f 17 3 11
+f 17 16 3
+f 17 10 16
+f 20 9 4
+f 20 4 15
+f 21 17 11
+f 21 10 17
+f 21 11 18
+f 21 18 9
+f 22 18 11
+f 22 11 7
+f 22 7 12
+f 23 19 12
+f 23 12 1
+f 23 1 13
+f 24 13 5
+f 24 23 13
+f 25 18 22
+f 25 9 18
+f 26 21 9
+f 26 9 20
+f 26 20 21
+f 27 21 20
+f 27 20 15
+f 27 15 10
+f 27 10 21
+f 28 12 19
+f 28 25 22
+f 28 22 12
+f 29 5 9
+f 29 9 25
+f 29 24 5
+f 30 28 19
+f 30 25 28
+f 30 29 25
+f 30 24 29
+f 30 19 23
+f 30 23 24
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_23.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3879a556d20893326dbfce9f8d6d6c7a67915377
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_23.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.07355558 -0.30960825 0.45984575
+v 0.07724059 -0.24703737 0.46211334
+v 0.07704165 -0.26216579 0.49840395
+v -0.16673791 -0.19689847 0.48366703
+v -0.15952956 -0.27577543 0.45847985
+v -0.05004139 -0.19037596 0.48111181
+v -0.04552579 -0.19689847 0.45691690
+v -0.07157476 -0.30077833 0.49463438
+v 0.07754149 -0.24794414 0.48217204
+v -0.16947764 -0.21563882 0.49892053
+v -0.10097869 -0.30231970 0.45780894
+v 0.07136018 -0.30084798 0.49463438
+v -0.16032629 -0.26195615 0.49708234
+v -0.11475936 -0.28709852 0.49463438
+v -0.09983542 -0.29881638 0.47200374
+v -0.14384903 -0.27372703 0.49463438
+v -0.12768874 -0.28376345 0.48694777
+v -0.15574179 -0.26945291 0.48686946
+f 1 2 3
+f 7 2 1
+f 7 6 2
+f 7 5 4
+f 7 4 6
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 6 4
+f 10 3 6
+f 10 4 5
+f 11 7 1
+f 11 5 7
+f 11 1 8
+f 12 8 1
+f 12 1 3
+f 12 3 8
+f 13 8 3
+f 13 3 10
+f 13 10 5
+f 14 8 13
+f 15 14 11
+f 15 11 8
+f 15 8 14
+f 16 14 13
+f 17 5 11
+f 17 11 14
+f 17 16 5
+f 17 14 16
+f 18 16 13
+f 18 13 5
+f 18 5 16
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_24.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a54f4d3bb1a94174b9842b7144ab8fd8f105a93
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_24.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.21043021 -0.21035728 0.00784286
+v -0.20492647 -0.18992009 -0.15798973
+v -0.19704094 -0.09083786 -0.09848484
+v -0.28416972 -0.08960007 0.00801056
+v -0.24338623 -0.17165946 0.00948510
+v -0.26232160 -0.08740759 -0.18818893
+v -0.21219246 -0.09083786 0.00757576
+v -0.20452863 -0.20468859 -0.06702025
+v -0.21779325 -0.20287730 0.00902319
+v -0.22578209 -0.15033911 -0.23463937
+v -0.27465791 -0.11565818 0.00914740
+v -0.27328226 -0.08603545 -0.09679782
+v -0.19704094 -0.09083786 -0.15909091
+v -0.22567625 -0.17509595 -0.10254449
+v -0.25521058 -0.14088219 -0.05078783
+v -0.26922582 -0.09860485 -0.09628376
+v -0.23668771 -0.13280478 -0.23410799
+v -0.21107672 -0.18346141 -0.15678466
+v -0.22485295 -0.16926733 -0.14157727
+v -0.23912862 -0.15482845 -0.11123661
+v -0.23254063 -0.13941296 -0.23551105
+v -0.25414688 -0.11344751 -0.17203709
+v -0.22062896 -0.17092702 -0.16243500
+v -0.23007953 -0.14398822 -0.23326546
+v -0.25791156 -0.09984921 -0.18763373
+v -0.25612220 -0.10270751 -0.19279661
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 11 7 4
+f 11 5 7
+f 12 6 4
+f 12 4 7
+f 12 7 3
+f 13 8 2
+f 13 3 8
+f 13 2 10
+f 13 12 3
+f 13 6 12
+f 14 9 5
+f 15 5 11
+f 16 11 4
+f 16 4 6
+f 17 6 13
+f 18 2 9
+f 18 9 14
+f 18 10 2
+f 19 14 5
+f 19 5 10
+f 20 10 5
+f 20 5 15
+f 21 17 13
+f 21 13 10
+f 22 17 15
+f 22 15 11
+f 23 18 14
+f 23 14 19
+f 23 19 10
+f 23 10 18
+f 24 21 10
+f 24 10 20
+f 24 20 15
+f 24 15 17
+f 24 17 21
+f 25 16 6
+f 26 25 6
+f 26 6 17
+f 26 17 22
+f 26 22 11
+f 26 11 16
+f 26 16 25
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_25.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..174d73d868b266b386a4a9556ee014227b29b267
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.07582882 0.21219245 0.00757576
+v -0.07298833 0.27642630 -0.09718753
+v -0.07573012 0.28754956 0.00762085
+v -0.10582670 0.28701802 0.08344054
+v -0.16561956 0.24718414 0.00491946
+v -0.08559464 0.27232265 -0.10191544
+v -0.10097873 0.28818868 0.07982056
+v -0.17034491 0.25386489 0.07978259
+v -0.12798715 0.25600237 -0.09642984
+v -0.07582882 0.21219245 -0.03787878
+v -0.14292976 0.27073855 0.08543916
+v -0.10022493 0.26990888 -0.08125828
+v -0.14047291 0.24921942 -0.09934215
+v -0.12712438 0.26943850 0.00984065
+v -0.15705923 0.24653719 -0.04225774
+v -0.14469608 0.26051181 0.00911656
+v -0.11393754 0.28299240 0.07675326
+v -0.15958688 0.25074635 0.00266013
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 10 6 2
+f 10 2 1
+f 10 1 5
+f 11 8 1
+f 11 1 4
+f 12 4 6
+f 12 6 9
+f 13 9 6
+f 13 6 10
+f 14 9 11
+f 14 12 9
+f 15 13 10
+f 15 10 5
+f 16 11 9
+f 16 9 13
+f 16 8 11
+f 17 14 11
+f 17 11 4
+f 17 4 12
+f 17 12 14
+f 18 8 16
+f 18 15 5
+f 18 5 8
+f 18 16 13
+f 18 13 15
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_26.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3cff98f036fc824e94f1d76ecbb4b2f72130322
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.16673791 -0.18174695 0.40151516
+v -0.16673791 -0.18174695 0.26515152
+v -0.16673791 0.13643487 0.40151516
+v -0.30623005 0.13786052 0.40597479
+v -0.28832376 -0.18197342 0.40198140
+v -0.29729015 0.13375868 0.26582071
+v -0.31370811 -0.10950812 0.40952085
+v -0.16673791 0.13643487 0.26515152
+v -0.30752311 -0.10743714 0.26466491
+v -0.27532934 -0.17416772 0.26669130
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 3 2
+f 8 6 4
+f 8 4 3
+f 9 5 7
+f 9 7 4
+f 9 4 6
+f 9 8 2
+f 9 6 8
+f 10 9 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_27.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4542f95997b419737e5f9d40148004da05e5c1c
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.12128337 -0.01508028 -0.35606061
+v -0.12126030 -0.01507640 -0.49964449
+v -0.12128337 0.10613184 -0.35606061
+v -0.23114756 0.11486171 -0.35842732
+v -0.25697095 -0.01921199 -0.36116004
+v -0.12126567 0.10611598 -0.49952940
+v -0.20970170 0.10498471 -0.49890098
+v -0.25021408 -0.01858525 -0.42099701
+v -0.21216846 0.03037107 -0.49937277
+v -0.18186561 -0.01507809 -0.49946647
+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 4 6
+f 8 5 4
+f 8 4 7
+f 8 2 5
+f 9 7 6
+f 9 6 2
+f 9 8 7
+f 10 9 2
+f 10 2 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_28.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b46ab44dcfc3b0459bad523f20e42d4fb9e467
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_28.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.12128337 -0.01508028 -0.23484848
+v -0.12128337 -0.01508028 -0.35606061
+v -0.11535909 0.23071770 -0.35456544
+v -0.12126073 0.24245047 -0.23484298
+v -0.18188943 -0.01508028 -0.23484848
+v -0.16942201 0.21225058 -0.23270864
+v -0.18188943 -0.01508028 -0.35606061
+v -0.14407268 0.22998396 -0.23325324
+v -0.16841368 0.19587900 -0.35366105
+v -0.12613220 0.22533793 -0.35379093
+v -0.15404195 0.20939386 -0.33850586
+v -0.16837942 0.21098904 -0.24768125
+v -0.14070234 0.22437182 -0.29314374
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 7 3 2
+f 7 2 5
+f 7 5 6
+f 8 6 1
+f 8 1 4
+f 9 7 6
+f 9 3 7
+f 10 8 4
+f 10 4 3
+f 10 3 9
+f 11 6 8
+f 11 10 9
+f 12 11 9
+f 12 9 6
+f 12 6 11
+f 13 11 8
+f 13 8 10
+f 13 10 11
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_29.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2916287f036e6431327e4a85af4b89623fc6f236
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01751868 -0.32938915 0.41497657
+v 0.18955280 -0.26227041 0.26648208
+v 0.20486863 -0.03196471 0.45691690
+v 0.01508027 -0.01508028 0.40151516
+v 0.01836118 -0.32335382 0.26141776
+v 0.19689846 -0.01508028 0.26515152
+v 0.19453285 -0.28421425 0.39819779
+v 0.01508027 -0.01508028 0.26515152
+v 0.17319704 -0.27357207 0.26688837
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 2 3
+f 7 3 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 6 5
+f 8 4 6
+f 9 7 5
+f 9 5 2
+f 9 2 7
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_3.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7589f455ee6f609bd3625d0536c7e36b03acb509
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.15144391 0.13643487 0.00757576
+v 0.13627395 0.12126812 -0.49946031
+v 0.14389690 0.25919011 0.00927666
+v -0.07225121 0.28858588 0.00920988
+v -0.23676766 0.10349395 -0.35534545
+v 0.02793105 0.24036917 -0.48848859
+v -0.13643488 0.13643487 0.00757576
+v 0.15144391 0.13643487 -0.23484848
+v 0.13629239 0.12128335 -0.23484848
+v 0.12870971 0.20064898 -0.49532624
+v 0.07139466 0.28829031 0.00926131
+v -0.12574748 0.20954572 -0.47491830
+v -0.15958688 0.25074635 0.00266013
+v -0.22906308 0.09994568 -0.43014106
+v -0.12128337 0.10613184 -0.35606061
+v -0.21752971 0.10161284 -0.49553004
+v 0.14267841 0.22915163 -0.23310340
+v 0.02793897 0.28588442 -0.08143482
+v 0.07009791 0.23836049 -0.42954105
+v -0.05614118 0.23924380 -0.45997169
+v -0.11344005 0.25378626 -0.17199442
+v -0.19653847 0.16785812 -0.35367665
+v -0.12126567 0.10611598 -0.49952940
+v -0.08458383 0.22554049 -0.49413471
+v 0.05664126 0.25427070 -0.32368814
+v 0.08412712 0.22449061 -0.49413471
+v 0.11459009 0.27372576 0.00928748
+v -0.02880340 0.24062153 -0.48856464
+v -0.14384321 0.25483151 -0.03945164
+v -0.08483966 0.25404340 -0.26299435
+v -0.15284727 0.19537659 -0.44449624
+v -0.20852897 0.12554800 -0.48824076
+v -0.22523263 0.12686034 -0.35382194
+v -0.14016425 0.19604231 -0.49413471
+v -0.09834032 0.22360685 -0.47495539
+v 0.05667290 0.28472399 -0.05097765
+v 0.04166144 0.23993982 -0.47522065
+v 0.12462203 0.20875890 -0.47478243
+v 0.08528924 0.26880184 -0.12660877
+v 0.11179611 0.22371734 -0.41428633
+v -0.05766205 0.28519216 -0.05104516
+v -0.12798715 0.25600237 -0.09642984
+v -0.12525885 0.22388350 -0.36875005
+v -0.08499602 0.26966998 -0.12668541
+v -0.18182063 0.18119374 -0.36872037
+v -0.13899712 0.20954469 -0.41419434
+v -0.21305743 0.11335868 -0.49413471
+v -0.20926857 0.13971391 -0.41421413
+v -0.22337931 0.11247930 -0.42943136
+v -0.18083935 0.16736675 -0.45965377
+v -0.09824367 0.23852043 -0.35371432
+v -0.08461610 0.23820909 -0.39919564
+v 0.11239023 0.21156592 -0.49413471
+v 0.09874158 0.25335346 -0.21742872
+v 0.12690775 0.25354180 -0.11129348
+v 0.14151628 0.23974598 -0.15685348
+v -0.02879100 0.28594777 -0.08145037
+v -0.11154810 0.22313937 -0.42936090
+v -0.19683286 0.13976268 -0.49413471
+v -0.16679635 0.18132622 -0.45965029
+v -0.19498550 0.15349445 -0.44450724
+v 0.11227454 0.23839818 -0.29313806
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 3 1
+f 9 8 1
+f 9 2 8
+f 13 7 4
+f 13 5 7
+f 15 9 1
+f 15 1 5
+f 15 5 14
+f 17 8 2
+f 17 2 10
+f 17 3 8
+f 18 4 11
+f 23 15 14
+f 23 2 9
+f 23 9 15
+f 23 14 16
+f 24 2 23
+f 25 11 19
+f 26 10 2
+f 26 2 24
+f 27 11 4
+f 27 4 3
+f 28 18 6
+f 28 24 20
+f 28 26 24
+f 28 6 26
+f 29 13 4
+f 33 5 13
+f 33 13 22
+f 34 24 23
+f 34 23 16
+f 34 12 24
+f 34 31 12
+f 35 24 12
+f 36 18 11
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+f 37 6 18
+f 37 36 25
+f 37 18 36
+f 37 25 19
+f 37 26 6
+f 37 19 26
+f 38 17 10
+f 39 19 11
+f 39 11 27
+f 40 26 19
+f 41 28 20
+f 41 20 4
+f 42 29 4
+f 43 13 29
+f 43 29 42
+f 44 30 21
+f 44 4 20
+f 44 20 30
+f 44 42 4
+f 44 21 42
+f 45 22 13
+f 45 13 31
+f 46 31 13
+f 46 12 31
+f 46 43 12
+f 46 13 43
+f 47 16 14
+f 47 14 32
+f 48 33 22
+f 48 32 33
+f 49 33 32
+f 49 32 14
+f 49 14 5
+f 49 5 33
+f 50 22 45
+f 51 21 30
+f 52 30 20
+f 52 20 24
+f 52 24 35
+f 52 51 30
+f 52 35 51
+f 53 38 10
+f 53 10 26
+f 53 40 38
+f 53 26 40
+f 54 39 27
+f 54 19 39
+f 54 40 19
+f 55 27 3
+f 56 3 17
+f 56 17 38
+f 56 38 40
+f 56 55 3
+f 56 40 55
+f 57 41 4
+f 57 4 18
+f 57 18 28
+f 57 28 41
+f 58 35 12
+f 58 12 43
+f 58 51 35
+f 58 21 51
+f 58 43 42
+f 58 42 21
+f 59 34 16
+f 59 16 47
+f 59 47 32
+f 60 31 34
+f 60 59 50
+f 60 34 59
+f 60 50 45
+f 60 45 31
+f 61 48 22
+f 61 22 50
+f 61 50 59
+f 61 59 32
+f 61 32 48
+f 62 54 27
+f 62 40 54
+f 62 55 40
+f 62 27 55
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_30.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a2256ca8d58a6e7412be67f12aa473fd18fa0a
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18174694 0.16673790 0.40151516
+v 0.18174694 0.16673790 0.26515152
+v 0.19111673 0.27092309 0.41072656
+v -0.18001019 0.27781095 0.41165343
+v -0.16673791 0.16673790 0.26515152
+v -0.17630395 0.27357502 0.26320820
+v -0.16673791 0.16673790 0.40151516
+v 0.18657198 0.26499209 0.26423227
+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/coffee_cup/coffee_cup_10/collision/model_normalized_collision_31.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0692007150b0213bade8e2ff8359b4a6df9b337e
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19689846 -0.01508028 0.48366703
+v 0.19689846 -0.01508028 0.26515152
+v 0.19689846 0.16673790 0.48366703
+v 0.01508027 0.16673790 0.48366703
+v 0.01508027 -0.01508028 0.48366703
+v 0.19689846 0.16673790 0.26515152
+v 0.01508027 -0.01508028 0.26515152
+v 0.01508027 0.16673790 0.26515152
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 8 7 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_5.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64424787c6ccaf5b28b63cda8978af5870f75782
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.28619609 0.15077588 0.26534020
+v 0.21508608 0.11518985 -0.46058315
+v 0.24007853 0.21295048 0.23721251
+v 0.16251621 0.28059493 0.26603122
+v 0.16659542 0.15158639 0.26515152
+v 0.15329500 0.19491083 -0.42934502
+v 0.24249581 0.21494710 0.26718761
+v 0.25453951 0.18422601 0.17666798
+v 0.26003966 0.13008936 -0.03633517
+v 0.19509529 0.15273394 -0.42932426
+v 0.19805229 0.24031970 0.14637562
+v 0.12988745 0.23094567 -0.27885944
+v 0.13627395 0.12126812 -0.49946031
+v 0.27347647 0.17328348 0.26690004
+v 0.17281721 0.27435541 0.26685276
+v 0.13629239 0.12128335 -0.23484848
+v 0.26442582 0.13229541 0.00858273
+v 0.18093524 0.18170918 -0.35355061
+v 0.19448009 0.13915852 -0.49387161
+v 0.24000473 0.19773837 0.14642030
+v 0.21420285 0.24314594 0.26718846
+v 0.13226855 0.23523942 -0.23394156
+v 0.12870971 0.20064898 -0.49532624
+v 0.20925106 0.13888910 -0.39902164
+v 0.25451170 0.14125952 -0.03559542
+v 0.16898657 0.23969759 -0.02031838
+v 0.22890830 0.11452061 -0.35435383
+v 0.18106771 0.16668490 -0.44448053
+v 0.18175622 0.21045165 -0.15661126
+v 0.20514113 0.11713445 -0.49677382
+v 0.20904982 0.15389827 -0.32332733
+v 0.21203126 0.22557193 0.13127211
+v 0.18364562 0.25557869 0.17661754
+v 0.13998280 0.22504808 -0.27802129
+v 0.12901358 0.21602327 -0.39998825
+v 0.26944457 0.17086229 0.22193742
+v 0.20924634 0.12565325 -0.45974603
+v 0.27477584 0.14503198 0.14553383
+v 0.15325291 0.21000765 -0.32336640
+v 0.22358411 0.12516462 -0.35357778
+v 0.16713534 0.18074124 -0.44448724
+v 0.22492181 0.19779337 0.04035014
+v 0.18314678 0.22462753 -0.05056580
+v 0.17023465 0.27042503 0.22189025
+v 0.13852896 0.19541315 -0.49409880
+v 0.26913814 0.15552676 0.14631972
+v 0.13954573 0.20923108 -0.39905734
+v 0.25376666 0.15539467 0.02513565
+v 0.16023550 0.27648211 0.22106862
+f 14 7 5
+f 14 5 1
+f 14 8 7
+f 15 4 5
+f 16 13 2
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+f 17 5 16
+f 20 3 7
+f 20 7 8
+f 21 15 5
+f 21 5 7
+f 22 5 4
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+f 23 13 16
+f 27 16 2
+f 27 9 16
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+f 28 10 19
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+f 31 20 8
+f 31 10 20
+f 31 24 10
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+f 32 21 7
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+f 32 29 11
+f 32 11 21
+f 33 21 11
+f 33 15 21
+f 33 11 26
+f 35 23 16
+f 35 16 12
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+f 36 24 8
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+f 37 19 10
+f 37 10 24
+f 37 2 19
+f 38 1 17
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+f 38 9 25
+f 39 26 11
+f 40 27 2
+f 40 25 27
+f 40 2 37
+f 40 37 24
+f 41 18 28
+f 41 29 18
+f 41 6 29
+f 41 28 19
+f 42 28 18
+f 42 3 20
+f 42 20 10
+f 42 10 28
+f 42 32 3
+f 42 18 32
+f 43 29 6
+f 43 11 29
+f 43 39 11
+f 43 6 39
+f 44 33 26
+f 44 15 33
+f 44 26 34
+f 45 23 35
+f 45 6 41
+f 45 41 19
+f 45 30 23
+f 45 19 30
+f 46 1 38
+f 46 36 14
+f 46 14 1
+f 46 38 25
+f 47 35 34
+f 47 34 26
+f 47 26 39
+f 47 39 6
+f 47 45 35
+f 47 6 45
+f 48 40 24
+f 48 24 36
+f 48 36 46
+f 48 46 25
+f 48 25 40
+f 49 44 34
+f 49 22 4
+f 49 4 15
+f 49 15 44
+f 49 34 12
+f 49 12 22
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_6.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abb263219666f81a43f14724c9d8a4a7ee47f4d1
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_6.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.16092410 -0.24840184 0.00874862
+v 0.25549611 -0.08463642 -0.23285344
+v 0.28971230 -0.05775033 0.00905535
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+v 0.27093441 -0.02798500 -0.20268483
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\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_7.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a672efb8ccc509cde37e61fe3f13b959570a023
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.15144068 -0.28754481 0.26518295
+v -0.13281832 -0.23583235 -0.23403346
+v -0.13048551 -0.25973947 -0.05147591
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+v -0.27047062 0.02804674 -0.23292101
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+v -0.13288989 0.23659218 -0.23409582
+v -0.14444637 -0.27493301 0.13039704
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+v -0.15772546 0.28518261 0.26724961
+v -0.25765554 -0.08587986 -0.23310680
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\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_8.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328f7b7c5d55573eaed9ccbb7ed33d2ac8e68d01
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_8.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.18174694 -0.18174695 0.26515152
+v 0.20809410 -0.20918229 0.00341804
+v 0.22679952 0.18879791 0.00118865
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+v -0.18822239 -0.22934476 0.00101042
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+v -0.16561956 0.24718414 0.00491946
+v 0.18174694 0.15158639 0.26515152
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+v 0.16082244 0.24885887 0.00872507
+v -0.08515154 0.28529654 0.00962359
+v 0.14544859 0.29013408 0.26664593
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+v 0.15485027 0.25491903 0.02506554
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+v -0.11558178 0.30443074 0.26671537
+v 0.09890268 0.29924024 0.17646026
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+v -0.05765624 0.30030861 0.08532236
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\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_9.obj b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64f667b097dc7b7490dd8f36ca39167cbacafb24
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/collision/model_normalized_collision_9.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.11788986 -0.32456690 0.39671714
+v 0.18846140 -0.29014076 0.39533006
+v 0.17157221 -0.25720172 0.49463438
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\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/visual/material.mtl b/objects/objaverse/coffee_cup/coffee_cup_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/coffee_cup/coffee_cup_10/visual/model_normalized_0.obj b/objects/objaverse/coffee_cup/coffee_cup_10/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93dfd7fb987edce18b93cf22622b591ec531f959
--- /dev/null
+++ b/objects/objaverse/coffee_cup/coffee_cup_10/visual/model_normalized_0.obj
@@ -0,0 +1,53195 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.15527309 0.26741257 0.49463441
+v -0.15400747 0.26523220 0.49763122
+v -0.14398214 0.27080532 0.49763122
+v -0.14516585 0.27303210 0.49463441
+v -0.13375612 0.27600025 0.49763122
+v -0.13485518 0.27826936 0.49463441
+v -0.16516462 0.26142031 0.49463441
+v -0.16381708 0.25928909 0.49763122
+v -0.16151793 0.25564923 0.49919721
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\ No newline at end of file
diff --git a/objects/objaverse/kiwi/.DS_Store b/objects/objaverse/kiwi/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..cd839ef040d950d737086bbbf7df8bea88f4c6e3
Binary files /dev/null and b/objects/objaverse/kiwi/.DS_Store differ
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_0.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f766c6fe8ed82c94a73dc264b351900128c689f9
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_1.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b679ff6b9bed25508557a6061f1fdfee7ea2b6
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+f 64 31 14
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_10.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4364deaa634b7e9c3170150c15eb8933c38248b9
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v 0.25934095 0.22483616 -0.27148571
+v 0.25866830 0.37488316 -0.13994435
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+v -0.19741424 0.20785167 -0.24249876
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+v 0.18200796 0.36930662 -0.18999971
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+v 0.21258002 0.40245068 -0.13904025
+v 0.22937255 0.22336553 -0.28577020
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\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_11.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13aad408b444b0e873aa6e866f141c8b38c3b4a7
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26186699 0.22804099 0.32762207
+v 0.26515152 0.23134832 0.20164891
+v 0.25495306 0.40015827 0.19445534
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+v -0.22795720 0.30085394 0.19744050
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+v -0.06283501 0.41683866 0.19288347
+v 0.00757576 0.21619680 0.20164891
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+v 0.17079679 0.44650036 0.19464662
+v 0.00864828 0.21236855 0.35767548
+v -0.13306859 0.33721532 0.24706705
+v -0.22900045 0.21135261 0.26759207
+v 0.18418165 0.29758393 0.31806599
+v 0.08131533 0.42637216 0.23386322
+v 0.23845810 0.39598296 0.21784011
+v -0.01969550 0.21046232 0.35368909
+v -0.20711623 0.29312984 0.23104526
+v -0.16265838 0.35010141 0.20885841
+v 0.21087179 0.31085048 0.30660718
+v 0.11202551 0.22711900 0.35407165
+v 0.08362681 0.31289628 0.31937231
+v 0.16932915 0.44093089 0.20420745
+v -0.00278374 0.41097754 0.23308227
+v 0.25119519 0.39642343 0.20550287
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+v 0.12722644 0.31174735 0.31995856
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\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_12.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..933673756a6ceb6bc66db3143db458afefe2d419
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.25350017 -0.16198746
+v -0.22934753 -0.23476941 -0.32844369
+v -0.23484849 0.14043922 -0.16198746
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+v -0.41899246 -0.22519600 -0.15583698
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+v -0.23257132 -0.25137153 -0.32206521
+v -0.40226095 0.07111293 -0.15466399
+v -0.41073153 -0.22826508 -0.17241246
+v -0.33930606 0.04131357 -0.25244728
+v -0.40010935 -0.14499858 -0.23958837
+v -0.28473328 -0.21913484 -0.31155250
+v -0.31252845 -0.24611417 -0.28281168
+v -0.44971096 -0.02997051 -0.15483716
+v -0.38331813 -0.24068788 -0.21059167
+v -0.26744047 0.11310533 -0.26805875
+v -0.33926662 0.08196806 -0.22300565
+v -0.39772369 0.01149647 -0.20887728
+v -0.34537351 -0.06162640 -0.28121622
+v -0.27219677 -0.24699152 -0.31083447
+v -0.38575335 -0.15935364 -0.25353150
+v -0.26868807 -0.10326334 -0.32648160
+v -0.31051060 -0.21546149 -0.29489175
+v -0.44362966 -0.12962459 -0.18146048
+v -0.40066233 -0.23686418 -0.18290885
+v -0.25396707 0.12687125 -0.26681947
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\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_13.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499b019ff8632017964e435a1176b33d2f018c83
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.04455191 -0.45061661 0.11808469
+v 0.00316172 -0.34782205 -0.26512402
+v 0.00737943 -0.26812523 0.29159054
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+v -0.22437624 -0.44820677 -0.09692256
+v -0.09826395 -0.26177055 -0.33156002
+v -0.15537124 -0.36244612 0.24448128
+v 0.00075493 -0.44620876 0.01792437
+v 0.00460419 -0.26119919 -0.31579332
+v -0.23178259 -0.26509406 -0.31811948
+v 0.00436195 -0.38843315 0.18815038
+v -0.13006492 -0.32042366 0.27374071
+v -0.22861118 -0.44585322 0.10440350
+v -0.05704557 -0.46411313 -0.11411407
+v -0.00986943 -0.30423541 -0.29391520
+v -0.17224932 -0.26184437 -0.33203550
+v -0.04552834 -0.41699470 0.17225163
+v -0.05697090 -0.32918987 0.26242296
+v 0.00048330 -0.42934957 0.11955649
+v -0.18387551 -0.31934677 0.27263470
+v -0.22768723 -0.46241493 0.00317558
+v -0.23110311 -0.40264735 0.18883520
+v -0.00127291 -0.44610984 -0.09549797
+v -0.07791208 -0.43491800 -0.20451414
+v -0.11478386 -0.47923280 -0.01058643
+v 0.00213552 -0.27349914 -0.30926548
+v -0.07447562 -0.36113317 -0.26689053
+v -0.03161143 -0.43173062 0.14428341
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\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_14.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa368462fe9da2c328efab6bb895cd8cd44855b6
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.23207033 -0.24952440 0.29684003
+v -0.23484849 -0.25350017 0.18649739
+v -0.22950902 0.13675768 0.30007624
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+v -0.41877358 -0.23357137 0.17938409
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+v -0.22871091 0.10768223 0.31079351
+v -0.40996287 -0.25077768 0.18291535
+v -0.24179918 0.13889891 0.29256265
+v -0.41911419 0.04601082 0.17809900
+v -0.31696680 -0.16065354 0.28937756
+v -0.37582486 0.13406852 0.17991331
+v -0.28285317 0.07278679 0.28889701
+v -0.23192670 -0.14602286 0.32300262
+v -0.35800746 -0.24730836 0.24445278
+v -0.43138887 -0.04170407 0.18682329
+v -0.36960828 0.11456632 0.20368529
+v -0.29763624 0.13193932 0.25866729
+v -0.24044638 0.10453642 0.30526724
+v -0.28613118 -0.04280118 0.30447023
+v -0.26026538 -0.20336703 0.30560391
+v -0.22975653 0.01815153 0.32465841
+v -0.30339297 -0.24753656 0.27645496
+v -0.39898837 -0.24562784 0.20269460
+v -0.43731997 -0.10088143 0.17937270
+v -0.37296539 0.04510740 0.22956467
+v -0.37043901 0.13143911 0.19023856
+v -0.26907658 0.10562521 0.28696157
+v -0.26886588 0.04503613 0.30392946
+v -0.28784888 -0.13225949 0.30450171
+v -0.23301854 -0.20505738 0.31064359
+v -0.26002871 -0.24837872 0.29052297
+v -0.30319294 -0.20324008 0.28969081
+v -0.41297310 -0.23408498 0.18924867
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+v -0.41566982 -0.02779350 0.20111016
+v -0.37303060 -0.04158906 0.24428160
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\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_15.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c01bcf8bf298c7d99c86d54945adc5f944b5f347
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00148114 -0.43837012 0.07880550
+v 0.25652500 -0.22800150 -0.20044146
+v 0.25999383 -0.23174701 0.19655323
+v 0.00741829 -0.23799447 0.30694304
+v 0.00725300 -0.23771465 -0.32750055
+v 0.09544901 -0.23081377 0.29391338
+v 0.22111391 -0.32765627 -0.02251888
+v 0.00460419 -0.26119919 -0.31579332
+v 0.18292811 -0.22896752 0.25032966
+v 0.00217420 -0.40711104 0.16417873
+v 0.06318879 -0.23271504 -0.31467467
+v 0.25201666 -0.29785742 -0.05195774
+v 0.11777542 -0.37101755 0.12010798
+v 0.00056248 -0.42170249 -0.16992180
+v 0.10834135 -0.23107763 -0.29990823
+v 0.04651847 -0.28393483 0.27605993
+v 0.10449821 -0.34168843 0.18751376
+v 0.06256956 -0.24363041 -0.31024114
+v 0.25208226 -0.29607766 0.07255522
+v 0.18036325 -0.35542026 0.01827032
+v 0.02866944 -0.41844556 0.12095976
+v 0.00513489 -0.26205830 0.29527382
+v 0.16391991 -0.35614840 -0.09689208
+v 0.07227760 -0.35680549 -0.22410386
+v 0.07407485 -0.26743865 0.27893887
+v 0.20838925 -0.26710684 0.20137709
+v 0.04881526 -0.35906171 0.19994411
+v 0.03226254 -0.26095940 -0.30934470
+v 0.22144657 -0.32733527 0.00361657
+v 0.20666661 -0.32689482 0.07476687
+v 0.00409395 -0.42203372 0.13544177
+v 0.04408299 -0.41715298 0.09295532
+v 0.06056665 -0.38593217 0.15873044
+v 0.00595245 -0.28764070 0.28054744
+v 0.04925496 -0.25898243 0.28869501
+v 0.23555652 -0.31314591 -0.05148492
+v 0.17660664 -0.35604860 -0.05153282
+v 0.16395920 -0.24217269 -0.26572598
+v 0.07452030 -0.33172843 -0.24867493
+v 0.04061618 -0.38795237 -0.20818083
+v 0.17555932 -0.31146234 -0.18475236
+v 0.09366065 -0.24352866 0.28792293
+v 0.22909902 -0.23063996 0.22213209
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\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_16.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c12ff73c9479a422353fce7906537bf8f3023832
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.25605227 -0.22653385 0.20692619
+v 0.26403990 -0.23705850 -0.17632564
+v 0.26515152 0.00407559 -0.17713898
+v 0.00556820 0.00089789 0.36844131
+v 0.00507666 -0.23232737 0.31006107
+v 0.27306673 0.00041888 0.32301827
+v 0.00757576 0.00407559 -0.17713898
+v 0.19336248 0.00827077 0.35681877
+v 0.19380969 -0.16773196 0.30560672
+v 0.00757576 -0.23834866 -0.17713898
+v 0.00663198 -0.15734199 0.33726739
+v 0.12368821 -0.22656358 0.28872797
+v 0.25412942 -0.09364062 0.30306662
+v 0.23472626 -0.08101526 0.32270177
+v 0.18291066 -0.09573141 0.33374873
+v 0.17043380 -0.18482782 0.30438551
+v 0.25751623 -0.18098795 0.24582384
+v 0.23757579 -0.06714085 0.32490947
+v 0.25815977 -0.06734465 0.30972549
+v 0.21711371 -0.13608158 0.31001171
+v 0.09422863 -0.14175931 0.33323008
+v 0.19925451 -0.06647927 0.33795644
+v 0.04957670 -0.22868377 0.30382670
+v 0.15489540 -0.15491412 0.31852445
+v 0.17628792 -0.19124643 0.29882765
+v 0.19819048 -0.08050880 0.33467179
+v 0.05076495 -0.15605549 0.33402864
+v 0.09375122 -0.21333768 0.30372083
+v 0.08096260 -0.18460361 0.31943284
+v 0.22534211 -0.22482192 0.22881888
+v 0.00609981 -0.20174049 0.32344382
+v 0.03392901 -0.20183213 0.31989295
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+f 12 5 1
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+f 32 31 5
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\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_17.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2977ed89514dc3ff127933b55d2d1e9358909c33
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.38387433 -0.26789653 0.20894854
+v -0.35606061 -0.25350017 0.11073981
+v -0.36297432 0.14405708 0.19118870
+v -0.38433045 0.16036196 0.11770681
+v -0.46353484 -0.18920252 0.10675327
+v -0.45492633 -0.24311844 0.10834071
+v -0.39982911 0.13952405 0.11024945
+v -0.44436016 -0.00060132 0.16080228
+v -0.44428390 -0.16007131 0.16150794
+v -0.45266766 0.04601592 0.10747955
+v -0.38566850 0.13159444 0.16440371
+v -0.42853023 0.02645880 0.17437929
+v -0.42827990 -0.22989786 0.16361887
+v -0.45793306 -0.17343281 0.13169024
+v -0.46434517 0.01431038 0.10708899
+v -0.38908878 0.11601784 0.17758561
+v -0.42796212 -0.20320970 0.17503798
+v -0.41453214 -0.24615951 0.17793421
+v -0.45959057 -0.18844824 0.11968364
+v -0.45958494 -0.04259009 0.14464203
+v -0.44446924 0.02751338 0.14622199
+v -0.37582486 0.13406852 0.17991331
+v -0.45883990 -0.10075996 0.14600071
+v -0.45991478 -0.00090297 0.13286039
+v -0.46065564 0.01368001 0.12033756
+v -0.44437699 0.04244886 0.13447092
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 4 2
+f 10 7 2
+f 10 2 5
+f 11 3 4
+f 11 4 7
+f 11 7 10
+f 12 1 3
+f 12 8 9
+f 14 6 13
+f 15 10 5
+f 16 12 3
+f 16 11 10
+f 17 12 9
+f 17 1 12
+f 17 14 13
+f 17 9 14
+f 18 13 6
+f 18 6 1
+f 18 17 13
+f 18 1 17
+f 19 14 5
+f 19 5 6
+f 19 6 14
+f 20 15 5
+f 21 12 16
+f 21 8 12
+f 22 16 3
+f 22 3 11
+f 22 11 16
+f 23 14 9
+f 23 9 8
+f 23 8 20
+f 23 20 5
+f 23 5 14
+f 24 20 8
+f 24 15 20
+f 24 8 21
+f 25 10 15
+f 25 24 21
+f 25 15 24
+f 26 21 16
+f 26 16 10
+f 26 25 21
+f 26 10 25
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_18.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158042758b5a6b139441143eb5c0e2b1346f38d2
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22955952 -0.44977617 0.09092166
+v -0.22912664 -0.36192507 -0.24148238
+v -0.23530304 -0.25414666 0.29455128
+v -0.40489779 -0.24771490 0.19359191
+v -0.43992043 -0.35407326 0.01296065
+v -0.23257132 -0.25137153 -0.32206521
+v -0.27423465 -0.38818799 0.19054654
+v -0.22761854 -0.36665100 0.23099596
+v -0.22921883 -0.45343124 -0.06837173
+v -0.30339297 -0.24753656 0.27645496
+v -0.46452881 -0.25481305 -0.07507765
+v -0.29862495 -0.40126911 0.13482520
+v -0.35578336 -0.31390069 0.20298244
+v -0.22997164 -0.42017745 0.16270973
+v -0.22969294 -0.27681230 -0.31409882
+v -0.32668140 -0.38426787 -0.12532894
+v -0.25368744 -0.44808954 0.01833018
+v -0.22805292 -0.44080067 -0.11179936
+v -0.35895801 -0.24802423 -0.24139410
+v -0.23256783 -0.29187376 0.28224049
+v -0.43297339 -0.24664574 0.13555313
+v -0.27060812 -0.43154496 0.08976519
+v -0.38499770 -0.31443908 0.16239588
+v -0.34250837 -0.27161254 0.24422745
+v -0.22948009 -0.39017452 0.20471921
+v -0.22939112 -0.43387021 0.13444485
+v -0.23942592 -0.44821711 -0.06641236
+v -0.40168991 -0.31784873 -0.11033833
+v -0.34128889 -0.40612844 0.00712805
+v -0.22844015 -0.39350523 -0.19866962
+v -0.26052743 -0.24886279 -0.31453132
+v -0.31123795 -0.29939484 -0.25327565
+v -0.28589462 -0.27349621 0.27377341
+v -0.43865920 -0.35413500 0.01798435
+v -0.24204088 -0.44556863 0.08952114
+v -0.38421398 -0.27506582 0.20391270
+v -0.34143023 -0.35778386 0.16067803
+v -0.33131997 -0.24832239 0.26193939
+v -0.31406521 -0.30420310 0.24424031
+v -0.25712872 -0.37279247 0.21561827
+v -0.24584806 -0.38748938 0.20345023
+v -0.24302925 -0.41644982 0.16139447
+v -0.35508245 -0.25745406 -0.24019891
+v -0.25312892 -0.44841725 -0.00745271
+v -0.24143518 -0.38903373 -0.19605842
+v -0.24198897 -0.31605949 -0.28250364
+v -0.32500950 -0.29943634 -0.23889043
+v -0.40062114 -0.26119319 0.19046017
+v -0.24226432 -0.42995720 0.13296552
+v -0.34168824 -0.31482757 0.21563234
+v -0.31236807 -0.38708816 0.14923091
+v -0.31467966 -0.37137881 0.17361942
+v -0.30124816 -0.26126270 0.27255131
+v -0.25736869 -0.31843391 0.25768258
+v -0.29926508 -0.35939896 0.20228225
+v -0.33004071 -0.26129407 -0.26905587
+v -0.25360881 -0.37119012 -0.21257559
+v -0.23133192 -0.31859552 -0.28413021
+v -0.26840760 -0.34261271 -0.24011946
+v -0.31139011 -0.31255498 -0.23883700
+v -0.38708730 -0.31774364 -0.13113177
+v -0.33080957 -0.25879660 0.25835911
+v -0.23261122 -0.31997889 0.26338976
+v -0.26318784 -0.28690590 0.27424977
+f 10 3 6
+f 15 6 3
+f 17 9 1
+f 18 8 1
+f 18 1 9
+f 18 9 16
+f 20 15 3
+f 20 8 15
+f 21 11 5
+f 21 19 11
+f 21 4 10
+f 25 14 8
+f 26 1 8
+f 26 8 14
+f 27 16 9
+f 27 9 5
+f 27 5 16
+f 28 16 5
+f 28 5 11
+f 29 5 9
+f 29 17 22
+f 30 15 8
+f 30 8 18
+f 30 2 15
+f 31 10 6
+f 31 6 15
+f 31 21 10
+f 31 19 21
+f 33 20 3
+f 33 3 10
+f 34 21 5
+f 34 22 12
+f 34 29 22
+f 34 5 29
+f 35 22 17
+f 35 17 1
+f 36 23 13
+f 36 24 4
+f 37 13 23
+f 37 23 34
+f 38 10 4
+f 38 4 24
+f 41 7 14
+f 41 14 25
+f 41 40 7
+f 41 25 8
+f 41 8 40
+f 42 26 14
+f 42 14 7
+f 43 28 11
+f 43 11 19
+f 44 29 9
+f 44 9 17
+f 44 17 29
+f 45 30 18
+f 45 18 16
+f 47 28 43
+f 48 4 21
+f 48 21 34
+f 48 34 23
+f 48 36 4
+f 48 23 36
+f 49 35 1
+f 49 1 26
+f 49 12 22
+f 49 22 35
+f 49 26 42
+f 49 42 7
+f 49 7 12
+f 50 36 13
+f 50 24 36
+f 50 39 24
+f 51 12 7
+f 51 37 34
+f 51 34 12
+f 52 13 37
+f 52 50 13
+f 52 51 7
+f 52 37 51
+f 53 33 10
+f 53 10 38
+f 53 39 33
+f 54 33 39
+f 54 40 8
+f 54 39 40
+f 55 40 39
+f 55 7 40
+f 55 39 50
+f 55 52 7
+f 55 50 52
+f 56 43 19
+f 56 19 31
+f 56 47 43
+f 56 32 47
+f 56 46 32
+f 56 31 15
+f 56 15 46
+f 57 2 30
+f 57 30 45
+f 57 45 16
+f 58 46 15
+f 58 15 2
+f 58 2 46
+f 59 46 2
+f 59 32 46
+f 59 2 57
+f 59 57 16
+f 60 47 32
+f 60 16 47
+f 60 59 16
+f 60 32 59
+f 61 47 16
+f 61 16 28
+f 61 28 47
+f 62 53 38
+f 62 38 24
+f 62 24 39
+f 62 39 53
+f 63 54 8
+f 63 8 20
+f 63 20 54
+f 64 54 20
+f 64 20 33
+f 64 33 54
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_19.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..902364b1b814c83010589568bbcd46e41f93c572
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.41911419 0.04601082 0.17809900
+v -0.35191376 0.13451424 -0.15858357
+v -0.35606061 0.04953013 0.11073981
+v -0.38433045 0.16036196 0.11770681
+v -0.46392947 0.04376357 -0.03691927
+v -0.39301045 0.10618499 0.18073046
+v -0.46488190 0.04183749 0.04728819
+v -0.41187646 0.13375148 -0.03953009
+v -0.38539306 0.06560052 -0.18284673
+v -0.40843042 0.05145525 0.19143810
+v -0.44386734 0.05620087 0.11888433
+v -0.43472520 0.04061419 -0.12413182
+v -0.44215877 0.08866771 0.04598433
+v -0.41540994 0.05821720 0.17885817
+v -0.39940636 0.13001359 0.13792105
+v -0.44856521 0.04404393 0.12095903
+v -0.41923005 0.04304037 -0.15458133
+v -0.42854908 0.08296551 -0.07927233
+v -0.41221509 0.13168586 0.07533434
+v -0.44310949 0.07202517 0.09250734
+v -0.44309437 0.08479662 -0.02285935
+v -0.45877801 0.05481308 -0.03536574
+v -0.39767802 0.10258506 0.17533695
+v -0.39193263 0.11926846 0.16741871
+v -0.38569068 0.09911769 -0.15049142
+v -0.41360382 0.11310341 0.12033478
+v -0.42732351 0.05551263 -0.12327358
+v -0.39755295 0.11322435 0.16301609
+v -0.39540465 0.13560085 0.13912681
+v -0.35952261 0.12961268 -0.15621086
+v -0.41454861 0.05385159 -0.15218190
+v -0.39994770 0.11092035 -0.10793342
+v -0.37074401 0.12907856 -0.13640661
+f 3 2 4
+f 6 3 4
+f 8 4 2
+f 9 2 3
+f 10 1 3
+f 10 3 6
+f 12 7 5
+f 12 3 1
+f 12 1 7
+f 14 10 6
+f 14 1 10
+f 16 7 1
+f 16 1 14
+f 17 9 3
+f 17 3 12
+f 19 4 8
+f 19 8 13
+f 19 15 4
+f 20 13 7
+f 20 19 13
+f 20 16 11
+f 20 7 16
+f 21 13 8
+f 22 5 7
+f 22 7 13
+f 22 13 21
+f 22 21 8
+f 22 8 18
+f 22 12 5
+f 23 11 16
+f 23 16 14
+f 23 14 6
+f 24 6 4
+f 26 20 11
+f 26 11 15
+f 26 15 19
+f 26 19 20
+f 27 22 18
+f 27 12 22
+f 27 17 12
+f 28 15 11
+f 28 11 23
+f 28 24 15
+f 28 23 6
+f 28 6 24
+f 29 24 4
+f 29 4 15
+f 29 15 24
+f 30 2 9
+f 30 9 25
+f 31 25 9
+f 31 9 17
+f 31 17 27
+f 32 18 8
+f 32 27 18
+f 32 31 27
+f 32 25 31
+f 33 8 2
+f 33 2 30
+f 33 32 8
+f 33 30 25
+f 33 25 32
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_2.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4005ffd02e0e15affb58edd8152319d4af8bcb19
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.02622744 -0.17713898
+v 0.00757576 -0.02622744 -0.26804807
+v 0.00757576 0.21619680 -0.17713898
+v -0.09848485 0.21619680 -0.17713898
+v -0.09848485 -0.02622744 -0.26804807
+v 0.00896549 0.13386692 -0.35620073
+v -0.09848485 -0.02622744 -0.17713898
+v 0.00854909 0.21138077 -0.31912595
+v -0.09613947 0.07852117 -0.35402050
+v -0.03241654 0.19049207 -0.32677796
+v 0.00760142 0.07935661 -0.37035006
+v 0.00838456 0.19299623 -0.32978372
+v -0.06348337 0.10265285 -0.35457240
+v -0.09498771 0.20803169 -0.29914265
+v -0.08202795 0.07651043 -0.35913713
+v -0.00583420 0.13321277 -0.35506177
+v -0.06423939 0.20768047 -0.30745907
+v -0.09292160 0.16087528 -0.32345718
+v -0.09371407 0.11798407 -0.34146348
+v -0.09159591 0.19093510 -0.30971504
+v -0.08062306 0.08895661 -0.35566848
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 9 5 4
+f 11 6 2
+f 11 2 5
+f 12 10 8
+f 12 8 6
+f 14 9 4
+f 14 4 8
+f 15 11 5
+f 15 5 9
+f 16 12 6
+f 16 10 12
+f 16 13 10
+f 16 15 13
+f 16 6 11
+f 16 11 15
+f 17 14 8
+f 17 8 10
+f 17 10 14
+f 19 9 14
+f 19 14 18
+f 19 18 10
+f 19 10 13
+f 20 18 14
+f 20 14 10
+f 20 10 18
+f 21 15 9
+f 21 9 19
+f 21 19 13
+f 21 13 15
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_20.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a54f69396a140a1ec484e3c4d35b3b9b9b5a2a03
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.35606061 -0.25350017 0.11073981
+v -0.38167567 -0.26888471 -0.17137294
+v -0.38539306 0.06560052 -0.18284673
+v -0.45266766 0.04601592 0.10747955
+v -0.47875547 -0.22391128 0.06015332
+v -0.35606061 0.04953013 0.11073981
+v -0.45492633 -0.24311844 0.10834071
+v -0.45836637 -0.11721045 -0.15313205
+v -0.46452881 -0.25481305 -0.07507765
+v -0.47459865 -0.13018630 0.10488852
+v -0.44349782 -0.18451253 -0.15664255
+v -0.47363868 0.02844963 -0.02105513
+v -0.48978801 -0.07311418 -0.06780285
+v -0.42983327 -0.21496794 -0.15350764
+v -0.45798324 0.03950536 -0.06708832
+v -0.49059629 -0.04351652 0.06253278
+v -0.48903241 -0.14337657 -0.03722220
+v -0.47248487 -0.13830712 -0.10687592
+v -0.45773759 0.04369338 0.09125420
+v -0.48912079 -0.02952613 -0.03807160
+v -0.44227988 -0.00353135 -0.15461377
+v -0.47326686 -0.01413359 0.10338525
+v -0.48952375 -0.11459751 0.06032988
+v -0.48895451 -0.10090113 -0.06762253
+v -0.47381043 0.02732533 0.04537311
+v -0.47310076 0.01206247 -0.05191617
+v -0.49069618 -0.02981987 0.04713795
+v -0.41923005 0.04304037 -0.15458133
+v -0.45868392 -0.07305408 -0.15410931
+v -0.47331976 -0.04602220 -0.10955665
+v -0.45923168 0.02743963 0.10646518
+v -0.48843682 -0.14263635 0.03289760
+v -0.48878088 -0.12870932 -0.05232986
+v -0.47369155 0.01103750 0.07979631
+v -0.45693832 -0.00417280 -0.12560653
+v -0.44312363 0.04035562 -0.10869386
+v -0.42981047 0.02442703 -0.15330565
+v -0.45770161 -0.03061158 -0.13942930
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 6 4
+f 7 1 6
+f 9 7 5
+f 9 2 1
+f 9 1 7
+f 10 7 4
+f 10 5 7
+f 11 3 2
+f 11 9 8
+f 14 11 2
+f 14 2 9
+f 14 9 11
+f 17 9 5
+f 17 16 13
+f 18 8 9
+f 19 15 12
+f 19 4 3
+f 19 3 15
+f 22 16 10
+f 23 5 10
+f 23 10 16
+f 23 16 17
+f 24 13 8
+f 24 8 18
+f 24 17 13
+f 24 18 9
+f 25 19 12
+f 26 20 12
+f 26 12 15
+f 27 20 13
+f 27 13 16
+f 27 25 12
+f 27 12 20
+f 29 21 3
+f 29 8 13
+f 29 11 8
+f 29 3 11
+f 30 13 20
+f 30 29 13
+f 31 22 10
+f 31 10 4
+f 32 23 17
+f 32 17 5
+f 32 5 23
+f 33 24 9
+f 33 9 17
+f 33 17 24
+f 34 19 25
+f 34 22 31
+f 34 31 4
+f 34 4 19
+f 34 25 27
+f 34 27 16
+f 34 16 22
+f 35 26 15
+f 35 30 20
+f 35 20 26
+f 36 15 3
+f 36 3 28
+f 36 35 15
+f 37 28 3
+f 37 3 21
+f 37 21 35
+f 37 36 28
+f 37 35 36
+f 38 35 21
+f 38 21 29
+f 38 29 30
+f 38 30 35
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_21.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01f9c9979e5d9afbe83ac51f024b24f1be8aabc8
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.25760670 0.40475969 0.18195699
+v 0.26078760 0.40854684 0.16934558
+v 0.18493693 0.45620279 0.16442777
+v 0.05649984 0.47195451 0.12412632
+v -0.01175129 0.45488994 0.11910041
+v 0.18758315 0.46759196 0.11038054
+v 0.21290548 0.44422945 0.16597734
+v 0.00336696 0.42761852 0.20957436
+v 0.14328937 0.47251144 0.13959622
+v 0.05544606 0.47339698 0.10895999
+v 0.00968719 0.46467074 0.10948521
+v 0.25456414 0.41589223 0.16550887
+v 0.19563650 0.44009816 0.18950040
+v 0.21123152 0.45779494 0.12041290
+v 0.05531127 0.45542818 0.17809403
+v 0.15693583 0.47386287 0.10894772
+v 0.06913291 0.47162455 0.13737338
+v 0.24525457 0.40581837 0.19724589
+v 0.21014544 0.44101023 0.17616500
+v 0.16954555 0.45421500 0.17884747
+v 0.01429032 0.43977854 0.19404297
+v 0.15632211 0.47222353 0.12368955
+v 0.25244050 0.41127773 0.17749247
+v 0.22288474 0.42500912 0.18930833
+v 0.01262560 0.45394787 0.14998814
+v 0.23990536 0.41215581 0.19230200
+v 0.02898652 0.45397302 0.16486953
+f 5 2 1
+f 8 5 1
+f 9 3 6
+f 11 6 2
+f 11 2 5
+f 11 4 10
+f 12 1 2
+f 14 6 3
+f 14 3 7
+f 14 7 12
+f 14 12 2
+f 14 2 6
+f 16 10 9
+f 16 11 10
+f 16 6 11
+f 17 10 4
+f 17 9 10
+f 17 15 9
+f 17 4 11
+f 18 13 8
+f 18 8 1
+f 19 7 3
+f 19 3 13
+f 19 12 7
+f 20 15 8
+f 20 8 13
+f 20 13 3
+f 20 3 9
+f 20 9 15
+f 21 5 8
+f 21 8 15
+f 22 16 9
+f 22 9 6
+f 22 6 16
+f 23 18 1
+f 23 1 12
+f 23 12 19
+f 24 19 13
+f 24 13 18
+f 24 18 19
+f 25 11 5
+f 25 5 21
+f 26 23 19
+f 26 19 18
+f 26 18 23
+f 27 17 11
+f 27 11 25
+f 27 15 17
+f 27 25 21
+f 27 21 15
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_22.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b85c430d1f23779ec8db16776a27f00d953b320
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.13228805 -0.17713898
+v 0.26552637 -0.13253657 -0.26850581
+v 0.26907704 0.23529697 -0.26183245
+v 0.14393940 0.23134832 -0.17713898
+v 0.14393940 -0.13228805 -0.17713898
+v 0.16269297 -0.15232989 -0.31343885
+v 0.26515152 0.23134832 -0.17713898
+v 0.28024427 0.11397935 -0.29787532
+v 0.14891538 0.25218136 -0.28890301
+v 0.26894459 0.11467930 -0.30356707
+v 0.14393940 0.11013619 -0.26804807
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 7 4 1
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 7 3
+f 9 4 7
+f 10 8 2
+f 10 2 6
+f 10 6 9
+f 10 9 3
+f 10 3 8
+f 11 9 6
+f 11 6 5
+f 11 5 4
+f 11 4 9
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_23.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0f949b38cf9db586392ce6c987910a7a57a4ea6
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00824156 -0.11607458 0.34882707
+v 0.18745664 -0.05409365 0.34720604
+v 0.18409723 0.00328122 0.37016256
+v 0.00832597 0.00666001 0.36983936
+v 0.19336248 0.00827077 0.35681877
+v 0.00802913 -0.03709923 0.36615727
+v 0.12812372 -0.08516929 0.34800145
+v -0.03771446 -0.11649214 0.34962750
+v 0.18805158 -0.00420285 0.36714889
+v 0.17198644 -0.06926804 0.34611212
+v 0.06754394 -0.10092689 0.34858273
+v 0.00556820 0.00089789 0.36844131
+v -0.03754002 -0.06988923 0.35889107
+v 0.08246192 -0.03685377 0.36604277
+v 0.16897459 -0.06420060 0.34886421
+v 0.14303217 -0.02257147 0.36612221
+v -0.03806497 -0.07266729 0.35834375
+v -0.01038826 -0.11265058 0.34999502
+v 0.12638409 -0.08081017 0.34963046
+f 5 4 3
+f 6 3 4
+f 8 5 2
+f 9 5 3
+f 9 2 5
+f 9 3 7
+f 10 2 9
+f 10 8 2
+f 10 1 8
+f 11 10 7
+f 11 1 10
+f 12 4 5
+f 12 5 8
+f 13 6 4
+f 13 4 12
+f 14 3 6
+f 14 6 8
+f 15 10 9
+f 15 9 7
+f 15 7 10
+f 16 14 11
+f 16 3 14
+f 17 13 12
+f 17 12 8
+f 17 8 6
+f 17 6 13
+f 18 14 8
+f 18 8 1
+f 18 1 11
+f 18 11 14
+f 19 16 11
+f 19 11 7
+f 19 7 3
+f 19 3 16
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_24.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdcefafc9658522e1c016eaf19b26cecb9f1ab08
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.02622744 -0.26804807
+v 0.00742664 -0.02599600 -0.37939886
+v 0.00757576 0.07983316 -0.26804807
+v -0.24801087 0.08983291 -0.29237893
+v -0.26098582 -0.02284584 -0.32108675
+v 0.00760142 0.07935661 -0.37035006
+v -0.16997691 -0.03187822 -0.35651575
+v -0.09689060 -0.02704873 -0.37384714
+v -0.18524851 0.02951501 -0.34269381
+v 0.00693773 0.06283058 -0.37385286
+v -0.16987843 -0.00276967 -0.35567109
+v -0.23125238 0.07713552 -0.30612169
+v -0.24083827 -0.02505303 -0.33127390
+v -0.09149379 0.07611062 -0.35688513
+v -0.14798217 0.02600162 -0.35598111
+v -0.03410158 0.06057378 -0.37150624
+v -0.15203785 0.07258783 -0.33937834
+v -0.09750915 0.00080050 -0.37106610
+v -0.08174299 0.03256647 -0.36862993
+v -0.18194131 0.07626179 -0.32700677
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 2 7
+f 10 6 2
+f 10 2 8
+f 11 8 7
+f 12 9 5
+f 12 5 4
+f 13 11 7
+f 13 7 5
+f 13 5 9
+f 13 9 11
+f 14 4 6
+f 15 11 9
+f 16 14 6
+f 16 6 10
+f 16 10 8
+f 17 15 9
+f 17 14 15
+f 18 8 11
+f 18 11 15
+f 18 16 8
+f 19 15 14
+f 19 14 16
+f 19 18 15
+f 19 16 18
+f 20 17 9
+f 20 9 12
+f 20 12 4
+f 20 4 14
+f 20 14 17
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_25.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f28040b7e9532df3a5cc3f2e20774e07d25fd7f
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23579410 0.14116402 0.29468401
+v -0.22694369 0.14715385 -0.27185749
+v -0.22656536 0.19369451 0.27868226
+v -0.22692066 0.32762554 0.13907088
+v -0.40731707 0.13260989 -0.04990730
+v -0.22424366 0.25190189 -0.16771944
+v -0.24107091 0.13198180 -0.27247194
+v -0.39073332 0.13397133 0.15046252
+v -0.22492551 0.28246504 0.22368581
+v -0.23617796 0.31953925 -0.05049862
+v -0.23042834 0.13632330 -0.27798565
+v -0.33891509 0.14118912 -0.16699605
+v -0.32595548 0.14809338 0.23152186
+v -0.33968744 0.23238221 0.04716532
+v -0.28781243 0.13447600 0.26354256
+v -0.22540418 0.31175260 0.18175433
+v -0.22679039 0.32641048 -0.05179343
+v -0.23688267 0.14334987 -0.26712788
+v -0.34716489 0.13145045 -0.16773911
+v -0.29540869 0.21714373 -0.13439084
+v -0.32483405 0.20291600 0.19037394
+v -0.25131627 0.24807419 0.22986435
+v -0.39875995 0.15948826 0.03378622
+v -0.34047570 0.23040430 -0.00766803
+v -0.25142891 0.32053060 0.00585084
+v -0.35784969 0.13298152 0.20490223
+v -0.25730150 0.13894980 0.28268978
+v -0.23755236 0.24451570 -0.16333655
+v -0.22580567 0.29697199 -0.10928326
+v -0.36784661 0.14255279 -0.12340309
+v -0.26391055 0.24775761 0.21867303
+v -0.30971981 0.24590945 0.14893630
+v -0.31250327 0.17542453 0.22889778
+v -0.22560848 0.26875189 0.23626308
+v -0.40442181 0.13281135 0.10752067
+v -0.39985629 0.15760677 -0.00814149
+v -0.27776730 0.27714255 -0.06508951
+v -0.26542420 0.30540729 0.09303307
+v -0.32927774 0.13554968 0.23303899
+v -0.35503501 0.17379180 0.17674496
+v -0.26520555 0.27563647 -0.09051793
+v -0.25150427 0.24439276 -0.14977815
+v -0.37419828 0.13179713 -0.12618905
+v -0.23465174 0.27680454 0.21855013
+v -0.26514422 0.28995756 0.14964358
+v -0.35375181 0.20266443 0.12254030
+v -0.30832208 0.23103086 0.17682901
+v -0.25464927 0.16240911 0.27452973
+v -0.32458673 0.17514551 0.21858661
+v -0.23560410 0.19090678 0.27405232
+v -0.38281308 0.17220089 -0.03180679
+v -0.33862960 0.18600665 -0.10764401
+v -0.26343895 0.30679828 -0.00734220
+v -0.25048827 0.32116321 0.07811187
+v -0.35347326 0.14639971 0.20176841
+v -0.33892119 0.20330323 0.16305048
+v -0.26667868 0.28798988 -0.06462896
+v -0.28014893 0.25941887 -0.09142305
+v -0.23361407 0.30542482 0.17884450
+v -0.23609663 0.32057950 0.13697230
+v -0.38535528 0.17276964 0.07570277
+v -0.39811758 0.14538202 0.10520155
+v -0.38501596 0.14375650 0.14982249
+v -0.31001771 0.26118429 0.09261976
+f 1 2 3
+f 6 3 2
+f 9 3 6
+f 11 2 1
+f 11 1 7
+f 15 7 1
+f 16 9 6
+f 17 4 16
+f 18 11 7
+f 18 2 11
+f 18 6 2
+f 19 18 7
+f 19 12 18
+f 20 18 12
+f 20 12 19
+f 25 24 14
+f 25 17 10
+f 25 4 17
+f 26 19 7
+f 26 7 15
+f 27 15 1
+f 27 1 3
+f 27 13 15
+f 28 6 18
+f 29 17 16
+f 29 16 6
+f 30 20 19
+f 34 3 9
+f 34 31 22
+f 34 9 31
+f 34 22 33
+f 35 23 5
+f 35 26 8
+f 35 19 26
+f 36 23 14
+f 36 14 24
+f 36 5 23
+f 39 26 15
+f 39 15 13
+f 39 13 26
+f 41 17 29
+f 41 29 20
+f 42 20 29
+f 42 28 18
+f 42 18 20
+f 42 29 6
+f 42 6 28
+f 43 30 19
+f 43 5 30
+f 43 35 5
+f 43 19 35
+f 44 31 9
+f 44 9 16
+f 44 16 31
+f 45 38 32
+f 47 21 31
+f 48 27 3
+f 48 33 13
+f 48 13 27
+f 49 33 22
+f 49 22 31
+f 49 31 21
+f 49 21 40
+f 49 26 13
+f 49 13 33
+f 50 34 33
+f 50 3 34
+f 50 48 3
+f 50 33 48
+f 51 36 24
+f 51 5 36
+f 51 24 37
+f 51 30 5
+f 52 20 30
+f 52 51 37
+f 52 30 51
+f 53 25 10
+f 53 37 24
+f 53 24 25
+f 54 25 14
+f 54 4 25
+f 55 40 8
+f 55 8 26
+f 55 49 40
+f 55 26 49
+f 56 40 21
+f 56 46 40
+f 56 32 46
+f 56 47 32
+f 56 21 47
+f 57 10 17
+f 57 17 41
+f 57 41 37
+f 57 53 10
+f 57 37 53
+f 58 41 20
+f 58 37 41
+f 58 52 37
+f 58 20 52
+f 59 45 32
+f 59 16 45
+f 59 32 47
+f 59 47 31
+f 59 31 16
+f 60 45 16
+f 60 16 4
+f 60 38 45
+f 60 54 38
+f 60 4 54
+f 61 14 23
+f 62 35 8
+f 62 46 61
+f 62 61 23
+f 62 23 35
+f 63 8 40
+f 63 40 46
+f 63 62 8
+f 63 46 62
+f 64 61 46
+f 64 14 61
+f 64 54 14
+f 64 38 54
+f 64 46 32
+f 64 32 38
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_26.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ee812057446a6fb93f71c227e4668f8f98ef7b
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.26403990 -0.23705850 -0.17632564
+v 0.25953594 -0.12906117 -0.27521890
+v 0.26515152 -0.13228805 -0.17713898
+v 0.14393940 -0.13228805 -0.17713898
+v 0.13841837 -0.23083587 -0.28629144
+v 0.24334572 -0.12673234 -0.28694819
+v 0.22317329 -0.22450902 -0.23815066
+v 0.14393940 -0.23834866 -0.17713898
+v 0.14348472 -0.13196404 -0.32768590
+v 0.25282057 -0.19659214 -0.23731693
+v 0.17875277 -0.22761331 -0.26613912
+v 0.20972929 -0.15322958 -0.29375966
+v 0.13842784 -0.17257963 -0.31403832
+v 0.18338824 -0.12740606 -0.31393944
+v 0.25259044 -0.22377834 -0.21046708
+v 0.22324099 -0.21060786 -0.24980554
+v 0.17929543 -0.18258964 -0.29387114
+v 0.24069667 -0.13962997 -0.28218280
+v 0.18220317 -0.14076059 -0.30974109
+v 0.15070747 -0.22836446 -0.28199569
+v 0.25167320 -0.15275372 -0.26716595
+v 0.15226556 -0.16994132 -0.30970831
+v 0.25127923 -0.18056393 -0.25006109
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 10 2 1
+f 11 7 1
+f 11 1 5
+f 13 5 4
+f 13 4 9
+f 14 9 4
+f 14 4 6
+f 14 6 12
+f 15 10 1
+f 15 1 7
+f 15 7 10
+f 16 10 7
+f 16 7 11
+f 16 11 12
+f 17 12 11
+f 17 5 13
+f 18 12 6
+f 18 6 2
+f 19 13 9
+f 19 9 14
+f 19 14 12
+f 19 12 17
+f 20 17 11
+f 20 11 5
+f 20 5 17
+f 21 16 12
+f 21 12 18
+f 21 18 2
+f 22 19 17
+f 22 17 13
+f 22 13 19
+f 23 10 16
+f 23 16 21
+f 23 21 2
+f 23 2 10
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_27.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7477def95fb57549c1d5a49bf6315032065853
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 0.07983316 -0.17713898
+v -0.09613947 0.07852117 -0.35402050
+v -0.11038731 0.23140045 -0.28227661
+v -0.24182893 0.22388292 -0.18378401
+v -0.25371899 0.09244143 -0.28835083
+v -0.09848485 0.21619680 -0.17713898
+v -0.21404085 0.07444957 -0.31503418
+v -0.23484849 0.07983316 -0.17713898
+v -0.22275540 0.15997493 -0.26640599
+v -0.09368988 0.14918667 -0.32858398
+v -0.13905660 0.07432839 -0.34321262
+v -0.13725864 0.15927128 -0.31030196
+v -0.23125238 0.07713552 -0.30612169
+v -0.19128869 0.20270779 -0.25049439
+v -0.09497383 0.10453804 -0.34599861
+v -0.09498771 0.20803169 -0.29914265
+v -0.17915923 0.08644547 -0.32485181
+v -0.15029182 0.20636607 -0.27849830
+v -0.21049325 0.08991033 -0.31148851
+v -0.22237638 0.20192478 -0.22487483
+v -0.12095222 0.10163383 -0.33914380
+v -0.10762289 0.20628994 -0.29648726
+v -0.18194131 0.07626179 -0.32700677
+v -0.13527917 0.19126675 -0.29467944
+v -0.20864567 0.17035905 -0.26808982
+v -0.16679079 0.10005138 -0.32381581
+v -0.13783667 0.08735992 -0.33885446
+v -0.22600669 0.10200922 -0.29795907
+f 6 3 4
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 8 7 1
+f 9 5 4
+f 10 6 1
+f 11 2 1
+f 11 1 7
+f 13 8 5
+f 13 7 8
+f 14 4 3
+f 15 10 1
+f 15 1 2
+f 15 2 11
+f 16 3 6
+f 16 6 10
+f 18 14 3
+f 19 7 13
+f 19 17 7
+f 19 12 17
+f 19 13 5
+f 20 9 4
+f 20 4 14
+f 21 12 10
+f 21 10 15
+f 21 15 11
+f 22 3 16
+f 22 16 10
+f 22 10 12
+f 23 17 11
+f 23 11 7
+f 23 7 17
+f 24 18 3
+f 24 22 12
+f 24 3 22
+f 25 14 18
+f 25 20 14
+f 25 9 20
+f 26 21 17
+f 26 17 12
+f 26 12 21
+f 27 21 11
+f 27 11 17
+f 27 17 21
+f 28 24 12
+f 28 12 19
+f 28 19 5
+f 28 18 24
+f 28 25 18
+f 28 5 9
+f 28 9 25
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_28.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69d10b07bef184fd203661f2951e4908cdfa2d90
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 -0.23834866 -0.17713898
+v 0.14758884 -0.24252397 -0.27474520
+v 0.14807825 0.24801420 -0.29158878
+v 0.00757576 0.23134832 -0.17713898
+v 0.01619350 -0.26453760 -0.31092598
+v 0.14393940 0.23134832 -0.17713898
+v 0.00757576 -0.23834866 -0.17713898
+v 0.00644373 0.24934355 -0.29884974
+f 5 2 1
+f 5 3 2
+f 6 4 1
+f 6 1 2
+f 6 2 3
+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/kiwi/kiwi_5/collision/model_normalized_collision_29.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..741ac083610416165d7c826feecc803615e7f4b3
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.26865169 -0.17713898
+v -0.09284540 -0.29176021 -0.31187935
+v -0.09848485 0.07983316 -0.26804807
+v -0.23484849 0.07983316 -0.17713898
+v -0.24498819 -0.29170025 -0.29966362
+v -0.09848485 0.07983316 -0.17713898
+v -0.23484849 -0.26865169 -0.17713898
+v -0.24801087 0.08983291 -0.29237893
+f 5 2 1
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_3.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff568900c40605d01e8400c8986355029461a2b
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.14758884 -0.24252397 -0.27474520
+v 0.26552637 -0.13253657 -0.26850581
+v 0.14393940 0.11013619 -0.25289655
+v 0.00644373 0.24934355 -0.29884974
+v 0.08002153 -0.05459662 -0.37157764
+v 0.26907704 0.23529697 -0.26183245
+v 0.01619350 -0.26453760 -0.31092598
+v 0.16664752 -0.08014785 -0.33916403
+v 0.11080482 0.11938326 -0.35473838
+v 0.00693773 0.06283058 -0.37385286
+v 0.22470670 -0.09558398 -0.30908189
+v 0.04800549 -0.15487552 -0.35524729
+v 0.14192372 0.22378054 -0.30929208
+v 0.19662160 0.09228078 -0.34056891
+v 0.00360685 -0.23132503 -0.33260117
+v 0.08077024 0.01867363 -0.37284983
+v 0.00896549 0.13386692 -0.35620073
+v 0.25336530 -0.12510234 -0.28117154
+v 0.13755208 -0.06665015 -0.35474332
+v 0.00652219 -0.11485039 -0.37431356
+v 0.10786170 -0.21223840 -0.31048227
+v 0.14891538 0.25218136 -0.28890301
+v 0.19480914 -0.02295933 -0.34006673
+v 0.28814822 0.11286450 -0.29388835
+v 0.19885360 0.16262173 -0.32297183
+v 0.00457109 -0.17015370 -0.35863674
+v 0.06610921 0.06183203 -0.37042561
+v 0.15361720 0.07624393 -0.35490912
+v 0.07981536 0.13385632 -0.35528314
+v 0.03399121 -0.11280545 -0.37045727
+v 0.06070307 -0.21477054 -0.32406705
+v 0.12000027 -0.22926790 -0.29592683
+v 0.19888287 0.22240787 -0.29516188
+v 0.15130871 -0.03821232 -0.35498112
+v 0.25426401 -0.02251826 -0.30949760
+v 0.24147971 0.14901258 -0.31088330
+v 0.18142587 0.12226015 -0.34007657
+v 0.15316021 0.14997303 -0.33913443
+v 0.00899643 0.22461422 -0.31312707
+v 0.06449985 -0.08437197 -0.36975908
+v 0.03250043 -0.20123612 -0.33868057
+v 0.03472291 -0.22888249 -0.32481122
+v 0.13841837 -0.23083587 -0.28629144
+v 0.24394343 0.22109428 -0.28125891
+v 0.13934669 0.19219179 -0.32479905
+v 0.25636567 -0.08133569 -0.29496698
+v 0.23861331 -0.06394636 -0.30969017
+v 0.25551658 0.12313143 -0.30971778
+v 0.25729549 0.17940756 -0.29427911
+v 0.22779322 0.20754757 -0.29385644
+v 0.25676915 0.20855478 -0.28196008
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 15 7 4
+f 17 10 4
+f 18 2 1
+f 19 8 12
+f 20 16 5
+f 20 10 16
+f 21 11 18
+f 21 12 8
+f 21 8 11
+f 22 13 4
+f 22 4 6
+f 23 11 8
+f 23 8 19
+f 24 6 2
+f 24 23 14
+f 26 15 4
+f 26 4 10
+f 26 10 20
+f 26 12 15
+f 27 16 10
+f 28 27 9
+f 28 16 27
+f 29 10 17
+f 29 27 10
+f 29 9 27
+f 30 19 12
+f 30 20 5
+f 30 26 20
+f 30 12 26
+f 31 12 21
+f 32 1 7
+f 32 7 21
+f 33 13 22
+f 34 23 19
+f 34 19 5
+f 34 5 16
+f 34 16 28
+f 34 28 14
+f 34 14 23
+f 35 23 24
+f 37 14 28
+f 37 36 14
+f 37 25 36
+f 37 28 9
+f 38 9 29
+f 38 37 9
+f 38 25 37
+f 39 29 17
+f 39 17 4
+f 39 4 13
+f 39 13 29
+f 40 30 5
+f 40 5 19
+f 40 19 30
+f 41 15 12
+f 41 12 31
+f 42 31 21
+f 42 21 7
+f 42 7 15
+f 42 41 31
+f 42 15 41
+f 43 32 21
+f 43 21 18
+f 43 18 1
+f 43 1 32
+f 44 33 22
+f 44 22 6
+f 45 33 25
+f 45 13 33
+f 45 25 38
+f 45 38 29
+f 45 29 13
+f 46 35 24
+f 46 24 2
+f 46 2 18
+f 46 18 11
+f 47 11 23
+f 47 23 35
+f 47 46 11
+f 47 35 46
+f 48 24 14
+f 48 14 36
+f 49 6 24
+f 49 48 36
+f 49 24 48
+f 49 36 25
+f 50 25 33
+f 50 33 44
+f 50 49 25
+f 51 44 6
+f 51 6 49
+f 51 50 44
+f 51 49 50
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_30.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4151659c19dc005af242b565c1e8c22487a30b16
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.25350017 0.18649739
+v -0.23484849 -0.25350017 -0.16198746
+v -0.23484849 0.14043922 0.18649739
+v -0.36297432 0.14405708 0.19118870
+v -0.38387433 -0.26789653 0.20894854
+v -0.23484849 0.14043922 -0.16198746
+v -0.38167567 -0.26888471 -0.17137294
+v -0.35191376 0.13451424 -0.15858357
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 4
+f 8 7 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_31.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b00be86ac6c0fb9a12b7ded67ad324248af099b
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.14446575 0.00738043 0.37232690
+v 0.14393940 0.00407559 0.20164891
+v 0.14393940 0.23134832 0.20164891
+v 0.00951600 0.22399732 0.35292593
+v 0.00746644 0.00387377 0.36929520
+v 0.00757576 0.23134832 0.20164891
+v 0.14372350 0.23080429 0.35124878
+v 0.00559424 0.18196296 0.36526794
+v 0.00757576 0.00407559 0.20164891
+v 0.14418117 0.16838230 0.36634522
+v 0.00832597 0.00666001 0.36983936
+v 0.12784517 0.18341080 0.36624070
+v 0.14216149 0.22686813 0.35254290
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 6 4
+f 7 3 6
+f 8 4 6
+f 9 6 2
+f 9 2 5
+f 9 8 6
+f 9 5 8
+f 10 1 3
+f 10 3 7
+f 11 8 5
+f 11 5 1
+f 11 1 8
+f 12 4 8
+f 12 10 7
+f 12 8 1
+f 12 1 10
+f 13 12 7
+f 13 7 4
+f 13 4 12
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_4.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1d561aebad301b1b8b55f289df94e5627c17ce
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.26865169 -0.17713898
+v 0.00460419 -0.26119919 -0.31579332
+v 0.00757576 -0.02622744 -0.17713898
+v -0.09848485 -0.02622744 -0.17713898
+v -0.23543983 -0.26938598 -0.31540358
+v 0.00742664 -0.02599600 -0.37939886
+v -0.09848485 -0.26865169 -0.17713898
+v -0.20382125 -0.02229413 -0.34547966
+v -0.11160873 -0.16195724 -0.37260147
+v -0.23950765 -0.22645328 -0.32721782
+v 0.00566224 -0.12909350 -0.37160433
+v -0.17171546 -0.24578037 -0.34044910
+v -0.11190961 -0.02686223 -0.37231103
+v -0.18034706 -0.18838559 -0.35667997
+v -0.10429363 -0.21456335 -0.35639718
+v -0.03992291 -0.25826394 -0.32523065
+v -0.14025307 -0.08902267 -0.37174394
+v -0.23077611 -0.22016619 -0.33166503
+v -0.16973444 -0.20291400 -0.35659514
+v -0.02835391 -0.22616251 -0.34111013
+v -0.02596868 -0.15506204 -0.36977597
+v -0.21164830 -0.26257298 -0.32627023
+v -0.09957589 -0.24414367 -0.33985328
+v -0.14141835 -0.13008226 -0.37095910
+v -0.18233273 -0.04288638 -0.35586880
+v -0.20150393 -0.23272820 -0.34046420
+v 0.00214911 -0.21679975 -0.33910030
+v -0.18784731 -0.02690830 -0.35206290
+v 0.00308807 -0.24273407 -0.32580276
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 10 5 4
+f 10 4 8
+f 11 9 6
+f 11 6 2
+f 13 8 6
+f 16 2 5
+f 17 13 6
+f 17 6 9
+f 18 14 10
+f 18 10 8
+f 18 8 14
+f 19 14 9
+f 19 15 12
+f 19 9 15
+f 20 16 15
+f 20 2 16
+f 21 15 9
+f 21 9 11
+f 21 20 15
+f 22 16 5
+f 22 12 16
+f 23 16 12
+f 23 12 15
+f 23 15 16
+f 24 17 9
+f 24 9 14
+f 24 14 17
+f 25 17 14
+f 25 14 8
+f 25 13 17
+f 26 10 14
+f 26 14 19
+f 26 19 12
+f 26 12 22
+f 26 22 5
+f 26 5 10
+f 27 11 2
+f 27 21 11
+f 27 20 21
+f 28 25 8
+f 28 8 13
+f 28 13 25
+f 29 27 2
+f 29 2 20
+f 29 20 27
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_5.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85de1b851b8647d949211275413b75ba5c933598
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.00662830 -0.27948432 0.28555611
+v 0.00757576 -0.26865169 0.20164891
+v 0.00864828 0.21236855 0.35767548
+v -0.25953375 0.23753409 0.23112980
+v -0.24849039 -0.26667021 0.28702618
+v 0.00757576 0.21619680 0.20164891
+v 0.00802913 -0.03709923 0.36615727
+v -0.23343843 -0.28180185 0.28573755
+v -0.23484849 -0.26865169 0.20164891
+v -0.22765923 0.07760968 0.31964173
+v 0.00873285 0.16730966 0.36762917
+v -0.18701865 -0.20479169 0.31922663
+v -0.13533511 0.21017111 0.31937837
+v -0.24726081 -0.20363487 0.30857396
+v -0.07871383 0.05036827 0.36530334
+v -0.14306373 -0.21841927 0.31907740
+v -0.09115770 0.21000453 0.33504652
+v -0.24559347 0.15216582 0.28616920
+v -0.22979531 -0.23283693 0.30493360
+v -0.05196560 0.00483181 0.36564224
+v -0.20087891 -0.08592503 0.33526930
+v 0.00382901 -0.27375643 0.28924675
+v -0.09688180 -0.09885174 0.35080135
+v -0.09234153 0.16652614 0.34890347
+v -0.22310475 0.20621584 0.27403440
+v -0.17883644 0.16208704 0.31885893
+v -0.24520332 -0.21817494 0.30483770
+v -0.21699204 -0.18809833 0.31821434
+v -0.20205788 -0.24634437 0.30465492
+v -0.13932374 0.06433336 0.35139246
+v -0.23171199 -0.17483147 0.31853535
+v 0.00609981 -0.20174049 0.32344382
+v -0.11001880 -0.17045057 0.33296710
+v -0.00670821 -0.03742665 0.36532165
+v -0.12703982 -0.05548136 0.35076658
+v -0.01922604 0.16636671 0.36453041
+v -0.05965513 0.19524998 0.34958886
+v -0.15083045 0.15110753 0.33361468
+v -0.22364042 0.13301840 0.30583148
+v -0.24111541 0.14906927 0.29021469
+v -0.18753811 -0.11510224 0.33608271
+v -0.14032879 -0.02436179 0.35126340
+v -0.19863537 0.01938255 0.33479098
+v 0.00367397 -0.24432375 0.30459696
+v 0.00663198 -0.15734199 0.33726739
+v -0.04879433 0.13758818 0.36522809
+v -0.03198935 0.21042433 0.34977357
+v -0.16823309 0.12067121 0.33456928
+v -0.18502631 0.07750011 0.33517411
+v -0.01013114 -0.21587617 0.31924271
+v -0.00819482 -0.17162643 0.33524546
+v -0.07778246 0.07764885 0.36486295
+v -0.12326418 0.12110618 0.34891016
+f 6 4 3
+f 7 1 2
+f 8 2 1
+f 9 5 4
+f 9 8 5
+f 9 2 8
+f 9 6 2
+f 9 4 6
+f 11 7 2
+f 11 6 3
+f 11 2 6
+f 14 4 5
+f 17 3 4
+f 17 4 13
+f 18 14 10
+f 18 4 14
+f 19 5 8
+f 20 7 11
+f 20 11 15
+f 22 8 1
+f 25 13 4
+f 25 4 18
+f 26 13 25
+f 27 19 14
+f 27 14 5
+f 27 5 19
+f 28 19 12
+f 28 14 19
+f 29 16 12
+f 29 12 19
+f 29 19 8
+f 29 22 16
+f 29 8 22
+f 31 21 10
+f 31 10 14
+f 31 14 28
+f 33 23 12
+f 33 12 16
+f 34 23 7
+f 34 7 20
+f 34 20 23
+f 35 23 20
+f 36 11 3
+f 37 17 24
+f 37 36 3
+f 38 24 17
+f 38 17 13
+f 38 13 26
+f 39 10 26
+f 40 26 25
+f 40 25 18
+f 40 39 26
+f 40 18 10
+f 40 10 39
+f 41 28 12
+f 41 12 23
+f 41 31 28
+f 41 21 31
+f 41 23 35
+f 42 30 21
+f 42 15 30
+f 42 41 35
+f 42 21 41
+f 42 35 20
+f 42 20 15
+f 43 10 21
+f 43 21 30
+f 44 22 1
+f 44 1 32
+f 44 16 22
+f 45 32 1
+f 45 1 7
+f 46 11 36
+f 46 37 24
+f 46 36 37
+f 47 37 3
+f 47 3 17
+f 47 17 37
+f 48 38 26
+f 48 26 10
+f 49 43 30
+f 49 10 43
+f 49 48 10
+f 50 44 32
+f 50 16 44
+f 51 45 7
+f 51 7 23
+f 51 23 33
+f 51 33 16
+f 51 16 50
+f 51 50 32
+f 51 32 45
+f 52 46 30
+f 52 30 15
+f 52 15 11
+f 52 11 46
+f 53 46 24
+f 53 30 46
+f 53 24 38
+f 53 38 48
+f 53 49 30
+f 53 48 49
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_6.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a7b56a626214b31b2cf53521938de6a4e11654
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.16456135 -0.29844104 -0.31125924
+v -0.15927004 -0.27583944 -0.32758314
+v -0.15909091 -0.02622744 -0.26804807
+v -0.23125238 0.07713552 -0.30612169
+v -0.24498819 -0.29170025 -0.29966362
+v -0.16805216 -0.02439028 -0.35543579
+v -0.15909091 -0.02622744 -0.28319958
+v -0.26098582 -0.02284584 -0.32108675
+v -0.22617496 -0.20182788 -0.33899673
+v -0.18732094 0.07810182 -0.32378316
+v -0.18470947 -0.11672635 -0.36100489
+v -0.18627350 -0.21976588 -0.34725768
+v -0.19185618 0.08226066 -0.32033455
+v -0.22534082 0.02838589 -0.32720233
+v -0.22816809 -0.05792189 -0.34017917
+v -0.23543983 -0.26938598 -0.31540358
+v -0.21064746 0.05599033 -0.32465920
+v -0.19498064 -0.11719658 -0.35618977
+v -0.18396143 -0.07545234 -0.36016929
+v -0.21445471 -0.01589515 -0.34036027
+v -0.21045816 -0.21792716 -0.34110594
+v -0.18430127 0.01666164 -0.34591498
+v -0.18610581 0.05884439 -0.33115439
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 7 3 2
+f 7 2 6
+f 8 5 4
+f 9 5 8
+f 10 7 6
+f 10 3 7
+f 11 6 2
+f 12 11 2
+f 13 4 3
+f 13 3 10
+f 14 8 4
+f 15 9 8
+f 16 12 2
+f 16 2 5
+f 16 5 9
+f 17 13 10
+f 17 14 4
+f 17 4 13
+f 18 15 11
+f 18 11 9
+f 18 9 15
+f 19 6 11
+f 19 11 15
+f 20 15 8
+f 20 8 14
+f 20 19 15
+f 21 16 9
+f 21 12 16
+f 21 9 11
+f 21 11 12
+f 22 14 17
+f 22 20 14
+f 22 6 19
+f 22 19 20
+f 23 22 17
+f 23 17 10
+f 23 10 6
+f 23 6 22
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_7.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b19603de37775afb7e7bde74e966f7070449633
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.26865169 0.20164891
+v 0.00757576 -0.26865169 -0.17713898
+v -0.00112933 0.38408532 -0.17514964
+v -0.20674976 0.32156702 0.19363871
+v -0.23484849 -0.26865169 -0.17713898
+v 0.00757576 0.33740892 0.20164891
+v -0.23484849 -0.26865169 0.20164891
+v -0.24182893 0.22388292 -0.18378401
+v 0.00757576 0.21619680 -0.17713898
+v -0.22215965 0.30872090 0.19364004
+v -0.23349119 0.33582676 0.00499457
+v 0.00757576 0.33740892 0.00467921
+v -0.22168139 0.32342568 0.16435989
+v -0.22086204 0.30468532 -0.10461769
+v -0.22097592 0.31949700 -0.07528798
+v -0.16463008 0.32217519 -0.13719520
+v -0.22419543 0.27781703 -0.13693957
+v -0.19262373 0.30383236 -0.13511434
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 7 5 1
+f 7 1 6
+f 8 2 5
+f 8 5 7
+f 9 6 2
+f 9 8 3
+f 9 2 8
+f 10 7 6
+f 10 6 4
+f 11 8 7
+f 11 7 10
+f 12 9 3
+f 12 3 6
+f 12 6 9
+f 13 4 3
+f 13 3 11
+f 13 11 10
+f 13 10 4
+f 15 11 3
+f 15 14 8
+f 15 8 11
+f 16 3 8
+f 16 15 3
+f 16 14 15
+f 17 8 14
+f 18 16 8
+f 18 8 17
+f 18 17 14
+f 18 14 16
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_8.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a08ed6264ba821d53349b9066a521be9d2b16c1
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.19908630 -0.07924946 0.33470318
+v 0.26515152 0.00407559 0.20164891
+v 0.26186699 0.22804099 0.32762207
+v 0.14216149 0.22686813 0.35254290
+v 0.14393940 0.00407559 0.20164891
+v 0.18409723 0.00328122 0.37016256
+v 0.26416128 -0.07101793 0.30565363
+v 0.26515152 0.23134832 0.20164891
+v 0.17144155 0.13796343 0.36671521
+v 0.14446575 0.00738043 0.37232690
+v 0.21665315 -0.03239830 0.34965812
+v 0.14393940 0.23134832 0.20164891
+v 0.24204553 0.13772333 0.35078763
+v 0.21470076 0.19726152 0.34924658
+v 0.18571866 -0.06776026 0.34215323
+v 0.14142082 0.15344379 0.36830510
+v 0.23757579 -0.06714085 0.32490947
+v 0.25506701 0.00853768 0.33574690
+v 0.18437066 0.22464119 0.34855057
+v 0.25963928 0.19705152 0.33542613
+v 0.18581805 -0.03643238 0.35446533
+v 0.15729162 0.15395318 0.36646393
+v 0.17979517 0.00960230 0.37053387
+v 0.25821592 -0.03487688 0.32099917
+v 0.24329874 0.12707270 0.34989834
+v 0.24381230 0.22532788 0.33414632
+f 7 5 2
+f 7 1 5
+f 8 2 5
+f 8 7 2
+f 8 3 7
+f 12 8 5
+f 12 4 3
+f 12 3 8
+f 13 9 6
+f 14 9 13
+f 15 10 5
+f 15 5 1
+f 15 6 10
+f 15 1 11
+f 16 5 10
+f 16 12 5
+f 16 4 12
+f 17 11 1
+f 17 1 7
+f 18 6 11
+f 19 3 4
+f 19 4 16
+f 20 14 13
+f 20 18 7
+f 20 7 3
+f 21 15 11
+f 21 11 6
+f 21 6 15
+f 22 16 9
+f 22 9 14
+f 22 19 16
+f 22 14 19
+f 23 16 10
+f 23 10 6
+f 23 6 9
+f 23 9 16
+f 24 17 7
+f 24 11 17
+f 24 18 11
+f 24 7 18
+f 25 13 6
+f 25 6 18
+f 25 20 13
+f 25 18 20
+f 26 19 14
+f 26 3 19
+f 26 20 3
+f 26 14 20
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_9.obj b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..107a5672167e881e194353aeea8adb12f5ee4609
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.00407559 0.20164891
+v 0.26515152 0.00407559 -0.17713898
+v 0.29183135 0.38416623 0.00545295
+v 0.00757576 0.35256044 0.20164891
+v 0.00757576 0.00407559 -0.17713898
+v 0.27992852 0.36832190 0.21040304
+v 0.00757576 0.00407559 0.20164891
+v -0.00112933 0.38408532 -0.17514964
+v 0.27310228 0.34957327 -0.15486090
+v 0.26515152 0.23134832 -0.17713898
+v 0.00757576 0.23134832 -0.17713898
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 8 3
+f 9 3 2
+f 10 2 5
+f 10 9 2
+f 10 8 9
+f 11 10 5
+f 11 5 8
+f 11 8 10
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_5/model.xml b/objects/objaverse/kiwi/kiwi_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..102b6ea70fbfc9ef0e1ef04146e05808b9fb187f
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_5/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="kiwi_9">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07999999999999999 0.07999999999999999 0.07999999999999999" refquat="0.9238795325112866 0.0 0.0 -0.3826834323650897"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="texture" texture="image0" specular="0.5" shininess="0.0"/>
+  </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="texture"/>
+        <geom solimp="0.998 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="-0.00023977250358817587 -0.0015058738256549862 -0.030351908799999997" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00023977250358817587 -0.0015058738256549862 0.029786151999999996" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03188160185315213 0.041903319471171846 -0.0002828783999999995" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/kiwi/kiwi_5/visual/material.mtl b/objects/objaverse/kiwi/kiwi_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_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 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_1.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c4ce6abc1bd087efa847024004d930624726c4e
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11243916 -0.42872473 0.30578892
+v 0.29217515 -0.34981118 0.17710603
+v 0.26500152 -0.25077334 0.30544258
+v -0.23734760 -0.24951667 0.31653565
+v -0.23350446 -0.38343300 -0.00431837
+v 0.15572902 -0.41432729 0.31679217
+v 0.05042426 -0.43006992 0.01476194
+v -0.24553774 -0.40570211 0.30909963
+v 0.26515156 -0.25028564 0.01004729
+v 0.11356635 -0.25171741 0.31197363
+v 0.29654865 -0.35253577 0.30553081
+v 0.16620237 -0.41378213 0.14869154
+v -0.23484847 -0.25028564 0.01004729
+v -0.25138683 -0.39763302 0.31382794
+v -0.17207434 -0.41951610 0.31246770
+v -0.19328464 -0.39918411 -0.00798194
+v 0.25750794 -0.34685123 0.01241413
+v 0.17123182 -0.41335653 0.30567055
+v 0.03624308 -0.44527997 0.13177367
+v 0.24039112 -0.38350767 0.20859151
+v -0.23290405 -0.41237320 0.13256459
+v 0.15473831 -0.41653776 0.31594502
+v -0.24498764 -0.40320273 0.31207441
+v 0.10902854 -0.41561693 0.01246772
+v 0.10886750 -0.42906132 0.10223406
+v -0.12648445 -0.44586207 0.28129442
+v -0.06663926 -0.44555055 0.08751127
+v 0.26893933 -0.36908675 0.23799344
+v 0.21265276 -0.39881637 0.30471047
+v 0.25447255 -0.36785220 0.11647416
+v -0.24982856 -0.40111173 0.31222072
+v -0.21278321 -0.41309425 0.08872049
+v 0.02044794 -0.44461813 0.29284506
+v 0.22417136 -0.36650311 0.01219281
+v 0.15309212 -0.41366602 0.08556453
+v 0.09351582 -0.42811013 0.05841973
+v -0.19893353 -0.42701530 0.29544465
+v -0.09605712 -0.43007715 0.01534138
+v 0.00728233 -0.44566295 0.08677891
+v -0.14274862 -0.44456873 0.19170946
+v 0.21125354 -0.39830051 0.20705466
+v 0.27074586 -0.36919813 0.30295948
+v 0.25339958 -0.35423522 0.02901590
+v 0.28378437 -0.35513665 0.17763503
+v -0.22627540 -0.39833848 0.04619269
+v -0.09630030 -0.44471914 0.29076667
+v 0.03531686 -0.44549815 0.27973898
+v 0.16699844 -0.39770673 0.02884692
+v 0.18266940 -0.39701096 0.05666799
+v 0.02074722 -0.44567361 0.10191422
+v -0.17198527 -0.42814023 0.30219914
+v -0.19887367 -0.42895119 0.19279947
+v -0.13970754 -0.42719845 0.04376036
+v -0.10999208 -0.44509910 0.13316391
+v -0.14122165 -0.44477651 0.26623906
+v 0.19679511 -0.39853627 0.11789485
+v -0.21111400 -0.39772339 0.01433302
+v 0.12282108 -0.41373394 0.02823543
+v 0.19595638 -0.38194595 0.01529225
+v 0.23960583 -0.36771657 0.06001036
+v -0.22811486 -0.41280015 0.30536334
+v -0.18485288 -0.42930479 0.13248830
+v -0.16786512 -0.41324662 0.01321886
+v 0.22500766 -0.38272679 0.10442021
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 3 6
+f 11 9 3
+f 11 2 9
+f 13 4 9
+f 14 6 4
+f 14 4 13
+f 14 13 5
+f 15 6 14
+f 16 13 9
+f 16 5 13
+f 17 9 2
+f 17 16 9
+f 21 14 5
+f 22 6 15
+f 22 1 18
+f 22 11 6
+f 23 15 14
+f 23 8 15
+f 24 7 16
+f 25 18 1
+f 25 12 18
+f 25 1 19
+f 28 2 11
+f 29 18 12
+f 29 22 18
+f 29 11 22
+f 30 28 20
+f 31 21 8
+f 31 14 21
+f 31 23 14
+f 31 8 23
+f 33 22 15
+f 33 1 22
+f 34 24 16
+f 34 16 17
+f 35 12 25
+f 36 7 24
+f 36 35 25
+f 36 24 35
+f 38 16 7
+f 39 26 27
+f 39 38 7
+f 39 27 38
+f 41 29 12
+f 41 20 29
+f 42 29 20
+f 42 20 28
+f 42 28 11
+f 42 11 29
+f 43 17 2
+f 43 2 30
+f 43 34 17
+f 44 30 2
+f 44 2 28
+f 44 28 30
+f 45 32 21
+f 45 21 5
+f 46 33 15
+f 46 26 33
+f 47 33 26
+f 47 19 1
+f 47 1 33
+f 49 35 48
+f 50 36 25
+f 50 25 19
+f 50 19 47
+f 50 47 26
+f 50 26 39
+f 50 39 7
+f 50 7 36
+f 51 46 15
+f 51 37 26
+f 51 26 46
+f 52 37 8
+f 52 8 21
+f 53 38 27
+f 54 27 26
+f 54 26 40
+f 54 53 27
+f 55 40 26
+f 55 26 37
+f 55 52 40
+f 55 37 52
+f 56 20 41
+f 56 41 12
+f 56 12 35
+f 56 35 49
+f 57 45 5
+f 57 5 16
+f 57 32 45
+f 58 48 35
+f 58 35 24
+f 58 24 48
+f 59 48 24
+f 59 24 34
+f 59 49 48
+f 59 34 49
+f 60 43 30
+f 60 49 34
+f 60 34 43
+f 61 8 37
+f 61 37 51
+f 61 51 15
+f 61 15 8
+f 62 52 21
+f 62 21 32
+f 62 40 52
+f 62 32 53
+f 62 54 40
+f 62 53 54
+f 63 53 32
+f 63 16 38
+f 63 38 53
+f 63 57 16
+f 63 32 57
+f 64 30 20
+f 64 20 56
+f 64 60 30
+f 64 56 49
+f 64 49 60
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_11.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0ba40a375b55821d3e159626ca5fe4b0c27b38
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24731143 -0.35237343 0.01090585
+v 0.46237356 -0.09375419 0.01517112
+v 0.25000004 -0.00786138 0.01004729
+v 0.24649210 0.39421486 -0.00258794
+v 0.24190484 -0.09250357 -0.29519586
+v 0.25945441 0.38673119 0.00084971
+v 0.32674387 -0.29664382 0.01406689
+v 0.24055634 0.34537859 -0.12327883
+v 0.25750794 -0.34685123 0.01241413
+v 0.35310233 -0.17866561 -0.15756917
+v 0.24347502 -0.34245923 -0.03113069
+v 0.28618592 0.36841464 -0.00938402
+v 0.38185723 0.09663854 -0.18941710
+v 0.41481509 -0.19367704 -0.00199722
+v 0.24226476 -0.28431612 -0.14676275
+v 0.24468891 0.39290490 -0.01205981
+v 0.28172895 -0.32349656 -0.01284312
+v 0.43093969 0.19753235 0.00063311
+v 0.24385398 0.15084589 -0.27915228
+v 0.36946120 -0.02304226 -0.21783083
+v 0.42726742 -0.10547093 -0.08861952
+v 0.41645585 -0.19662124 0.01356551
+v 0.37066393 -0.20520688 -0.09781469
+v 0.24185553 -0.17968554 -0.24837822
+v 0.24398987 0.37386762 -0.06146534
+v 0.28603979 -0.32757078 0.01219093
+v 0.25365103 -0.33686376 -0.02889838
+v 0.38753480 0.26875746 -0.00015838
+v 0.45844260 0.06593527 -0.04554854
+v 0.24238195 0.18180136 -0.26353815
+v 0.32447575 -0.11933886 -0.23077793
+v 0.29892698 0.06377096 -0.27539069
+v 0.44350752 -0.13583257 -0.00025629
+v 0.37249019 -0.07724275 -0.20096979
+v 0.38622679 -0.23759400 0.01368297
+v 0.41290689 -0.16332155 -0.06008399
+v 0.31043131 -0.26255962 -0.10259802
+v 0.26883738 -0.21955305 -0.20199010
+v 0.27171422 0.33920342 -0.09770265
+v 0.28637783 0.36874550 -0.00581054
+v 0.47632781 -0.00775338 0.01028352
+v 0.37048925 0.17646592 -0.15593842
+v 0.42860983 -0.02046080 -0.13086643
+v 0.24454686 0.11061954 -0.29333877
+v 0.29920100 -0.05305820 -0.27397746
+v 0.28346800 -0.14860791 -0.24383055
+v 0.31236261 0.13515049 -0.24454762
+v 0.34168974 0.03376257 -0.24636751
+v 0.44316525 -0.09077595 -0.05721363
+v 0.44644289 -0.13641159 0.01277091
+v 0.41377507 -0.09345176 -0.12965182
+v 0.36861716 -0.13247721 -0.17513749
+v 0.39695760 -0.19246222 -0.05803111
+v 0.33763023 -0.26608760 -0.04444024
+v 0.42682559 -0.12185011 -0.07319460
+v 0.33837415 -0.22066368 -0.12994520
+v 0.28243263 -0.30667277 -0.05626202
+v 0.32549169 -0.16385344 -0.20046418
+v 0.36886202 0.28124701 -0.02873478
+v 0.46261185 0.10875404 -0.00088920
+v 0.32294553 0.22317451 -0.17484366
+v 0.42916981 0.10667534 -0.10174175
+v 0.39932833 0.06207662 -0.17580917
+v 0.39900106 -0.04825638 -0.17488766
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 9 7 3
+f 9 3 1
+f 11 9 1
+f 12 4 6
+f 15 11 8
+f 16 11 1
+f 16 1 4
+f 16 8 11
+f 16 4 12
+f 24 15 8
+f 24 8 5
+f 25 16 12
+f 25 8 16
+f 26 17 7
+f 26 7 9
+f 26 9 17
+f 27 17 9
+f 27 9 11
+f 30 5 8
+f 35 22 2
+f 35 2 7
+f 35 14 22
+f 36 33 14
+f 38 15 24
+f 39 25 12
+f 39 8 25
+f 40 28 12
+f 40 12 6
+f 40 6 28
+f 41 28 6
+f 41 6 2
+f 41 18 28
+f 43 29 41
+f 44 30 19
+f 44 5 30
+f 44 32 5
+f 45 31 5
+f 45 34 31
+f 45 20 34
+f 45 5 32
+f 46 24 5
+f 46 5 31
+f 46 38 24
+f 47 42 13
+f 47 19 30
+f 47 44 19
+f 47 32 44
+f 48 45 32
+f 48 20 45
+f 48 47 13
+f 48 32 47
+f 49 2 33
+f 49 41 2
+f 49 43 41
+f 50 22 14
+f 50 14 33
+f 50 33 2
+f 50 2 22
+f 51 36 23
+f 51 49 21
+f 51 43 49
+f 52 31 34
+f 52 34 51
+f 52 51 23
+f 52 23 10
+f 53 35 23
+f 53 14 35
+f 53 36 14
+f 53 23 36
+f 54 35 7
+f 54 23 35
+f 54 7 17
+f 55 33 36
+f 55 49 33
+f 55 21 49
+f 55 51 21
+f 55 36 51
+f 56 10 23
+f 56 54 37
+f 56 23 54
+f 56 38 10
+f 56 37 15
+f 56 15 38
+f 57 17 27
+f 57 27 11
+f 57 11 15
+f 57 15 37
+f 57 54 17
+f 57 37 54
+f 58 10 38
+f 58 52 10
+f 58 31 52
+f 58 46 31
+f 58 38 46
+f 59 39 12
+f 59 12 28
+f 59 28 18
+f 59 18 42
+f 60 41 29
+f 60 18 41
+f 61 8 39
+f 61 59 42
+f 61 39 59
+f 61 42 47
+f 61 47 30
+f 61 30 8
+f 62 13 42
+f 62 29 43
+f 62 60 29
+f 62 42 18
+f 62 18 60
+f 63 62 43
+f 63 13 62
+f 63 48 13
+f 63 20 48
+f 64 34 20
+f 64 63 43
+f 64 20 63
+f 64 51 34
+f 64 43 51
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_16.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0dd0db174e5979e7f41940996c812cbab2399e8
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.26389815 -0.35497842 0.30354005
+v 0.41902282 -0.19866017 0.02826463
+v 0.43760596 -0.19881689 0.29425362
+v 0.26385077 -0.20485141 0.30587606
+v 0.25750794 -0.34685123 0.01241413
+v 0.43645779 -0.19755457 0.16167063
+v 0.42908972 -0.20627609 0.29877610
+v 0.25752250 -0.35953041 0.07262434
+v 0.26515156 -0.20483109 0.01004729
+v 0.31471675 -0.33782722 0.30312091
+v 0.35803150 -0.27927671 0.05617215
+v 0.41252212 -0.20264673 0.01098931
+v 0.38777987 -0.26693416 0.29858584
+v 0.26306045 -0.36850792 0.17711336
+v 0.31123507 -0.31058357 0.01772854
+v 0.41425902 -0.22151535 0.08766930
+v 0.42212088 -0.22441503 0.29884609
+v 0.35617922 -0.29625579 0.16591638
+v 0.28238220 -0.33771868 0.04421046
+v 0.40250230 -0.22027490 0.01559688
+v 0.43106438 -0.20988370 0.29386245
+v 0.40068829 -0.25163320 0.19471797
+v 0.31512587 -0.33813107 0.23788916
+v 0.27019989 -0.33881027 0.01393860
+v 0.31147882 -0.32390910 0.08881965
+v 0.38547711 -0.25100478 0.05914987
+v 0.41398481 -0.20665697 0.02781535
+v 0.42890408 -0.20836856 0.16086622
+v 0.39942821 -0.25536650 0.29223961
+v 0.34178708 -0.29314453 0.05652675
+v 0.32782589 -0.32422709 0.19340161
+v 0.29694772 -0.33949320 0.11638990
+v 0.38481123 -0.26565889 0.16398098
+v 0.26781621 -0.35308794 0.07331693
+v 0.28200947 -0.35524960 0.16391781
+v 0.28378437 -0.35513665 0.17763503
+f 6 4 3
+f 7 3 4
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 6 2
+f 9 4 6
+f 10 7 4
+f 10 4 1
+f 12 9 2
+f 12 5 9
+f 14 10 1
+f 14 1 8
+f 15 5 12
+f 16 2 6
+f 17 3 7
+f 17 7 10
+f 17 10 13
+f 19 8 5
+f 20 15 12
+f 20 11 15
+f 21 17 6
+f 21 6 3
+f 21 3 17
+f 22 6 17
+f 23 13 10
+f 23 10 14
+f 24 19 5
+f 24 5 15
+f 24 15 19
+f 25 19 15
+f 25 11 18
+f 26 20 16
+f 26 11 20
+f 26 16 22
+f 26 18 11
+f 27 20 12
+f 27 12 2
+f 27 2 16
+f 27 16 20
+f 28 22 16
+f 28 16 6
+f 28 6 22
+f 29 22 17
+f 29 17 13
+f 29 18 22
+f 29 23 18
+f 29 13 23
+f 30 25 15
+f 30 15 11
+f 30 11 25
+f 31 25 18
+f 31 18 23
+f 32 19 25
+f 32 25 31
+f 32 31 23
+f 33 26 22
+f 33 22 18
+f 33 18 26
+f 34 8 19
+f 34 19 32
+f 35 32 23
+f 35 34 32
+f 35 14 8
+f 35 8 34
+f 36 35 23
+f 36 23 14
+f 36 14 35
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_20.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e6cbc0c8adfa475728ac1aa9eeca5106c72f299
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.14390174 -0.25029135 0.31112363
+v 0.14393943 -0.25028564 0.17671397
+v 0.15122689 -0.14068861 0.30596606
+v -0.23711445 -0.14301772 0.31497606
+v -0.23484847 -0.25028564 0.17671397
+v 0.02080551 -0.14387628 0.31237259
+v 0.11356635 -0.25171741 0.31197363
+v 0.14393943 -0.14422503 0.17671397
+v 0.14419348 -0.20454800 0.31023912
+v -0.23734760 -0.24951667 0.31653565
+v -0.23484847 -0.14422503 0.17671397
+f 1 2 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 1 3
+f 9 3 6
+f 9 7 1
+f 9 6 7
+f 10 5 7
+f 10 7 6
+f 10 6 4
+f 11 8 5
+f 11 4 3
+f 11 3 8
+f 11 10 4
+f 11 5 10
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_23.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01599d66b9495e16ccdd3c5b2adf73e4965eaf75
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.23216821 -0.00326506 0.31515591
+v -0.23484847 -0.00786138 0.01004729
+v -0.23484847 0.18910832 0.01004729
+v -0.35684972 0.19009453 0.32027527
+v -0.35598916 -0.00754827 0.31846472
+v -0.40805083 0.21282322 -0.00325560
+v -0.23556648 0.18892655 0.31634082
+v -0.35606060 -0.00786138 0.01004729
+v -0.35606060 -0.00786138 0.17671397
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 6 2
+f 9 8 2
+f 9 2 5
+f 9 5 6
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_25.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7088848a60a9ed6e138e66a4ab498fd12a813813
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35598916 -0.00754827 0.31846472
+v -0.35606060 -0.00786138 0.01004729
+v -0.35585293 0.08407569 0.31888604
+v -0.41795644 0.08491971 0.31937870
+v -0.47416187 -0.00387657 -0.00226093
+v -0.41639040 -0.00808225 0.31978902
+v -0.45307221 0.09514120 0.00170564
+v -0.35606060 0.08304771 0.01004729
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_29.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1492ab1fd5ffafc13e1c519ed1731faf80b3da19
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00757579 -0.12907351 -0.15661938
+v 0.00806095 -0.12734746 -0.32128533
+v 0.00757579 -0.00786138 -0.15661938
+v -0.09848482 -0.00786138 -0.15661938
+v -0.09848482 -0.12907351 -0.15661938
+v -0.10184499 -0.00687968 -0.32529130
+v 0.00434944 -0.00753433 -0.32483243
+v -0.09884218 -0.12580923 -0.32193151
+v -0.09852111 -0.11343151 -0.32389534
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 5 6
+f 9 7 2
+f 9 2 8
+f 9 8 6
+f 9 6 7
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_31.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b49b1dc393a8bd1589576cc60c047f8021f4165
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757579 -0.00786138 0.17671397
+v 0.00757579 -0.00786138 0.01004729
+v 0.00757579 0.21941136 0.01004729
+v -0.23484847 0.21941136 0.17671397
+v -0.23484847 -0.00786138 0.01004729
+v 0.00757579 0.21941136 0.17671397
+v -0.23484847 -0.00786138 0.17671397
+v -0.23484847 0.21941136 0.01004729
+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/kiwi/kiwi_6/collision/model_normalized_collision_4.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32d546eedd6bbb01f167929146fff82e0fc90f18
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.14419348 -0.20454800 0.31023912
+v -0.10117046 0.43613897 0.26684479
+v -0.23509032 0.37117969 0.31688386
+v -0.16454650 0.42259868 0.26687509
+v -0.24752874 0.39477597 0.26515802
+v -0.15686496 0.39908913 0.31543090
+v 0.14034870 -0.20421747 0.30980606
+v 0.14661432 0.00268078 0.30088267
+v 0.12785671 -0.11561374 0.31140542
+v -0.23711445 -0.14301772 0.31497606
+v -0.09786448 0.39924707 0.31241474
+v 0.14198097 -0.00756765 0.30426236
+v 0.05308883 -0.20480051 0.31252201
+v -0.23344667 -0.14789464 0.31428005
+v 0.12228480 -0.08826920 0.31105522
+v 0.05179537 -0.20448394 0.31240327
+f 5 4 2
+f 6 2 4
+f 6 5 3
+f 6 4 5
+f 7 5 2
+f 8 7 2
+f 8 1 7
+f 9 6 3
+f 10 3 5
+f 11 8 2
+f 11 2 6
+f 11 6 9
+f 12 9 1
+f 12 1 8
+f 12 8 11
+f 13 7 1
+f 13 1 9
+f 13 9 3
+f 13 3 10
+f 14 10 5
+f 14 5 7
+f 14 13 10
+f 15 12 11
+f 15 11 9
+f 15 9 12
+f 16 14 7
+f 16 7 13
+f 16 13 14
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_5.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4118efe9c57721d0337af2dafc0d2478a4019496
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.15524897 -0.25085754 -0.23154409
+v 0.27129980 -0.14884694 -0.25132828
+v 0.24515268 -0.22758984 -0.20814928
+v 0.21829826 0.21458742 -0.25813767
+v 0.00588572 -0.10017554 -0.32314822
+v 0.25610982 0.20886380 -0.24039565
+v 0.21088669 -0.15955117 -0.27574928
+v 0.00757579 -0.00786138 -0.23237696
+v 0.24424801 0.05334637 -0.30601485
+v 0.24095988 -0.20588341 -0.22960795
+v 0.00665214 -0.23201578 -0.28729049
+v 0.00434944 -0.00753433 -0.32483243
+v 0.08333337 0.08304771 -0.23237696
+v 0.14393943 -0.12907351 -0.21722545
+v 0.24038634 0.11860448 -0.29370606
+v 0.23387828 -0.08332381 -0.30479727
+v 0.24030585 -0.16293920 -0.26022881
+v 0.18041648 -0.22122849 -0.24616508
+v 0.01418286 -0.25840047 -0.26939787
+v 0.00636670 -0.21373943 -0.29633920
+v 0.20169010 0.20124100 -0.27264459
+v 0.23505721 0.19656282 -0.26125613
+v 0.14320767 0.07999386 -0.32192296
+v 0.24112060 -0.05018463 -0.30545455
+v 0.24170262 -0.10621784 -0.28922656
+v 0.24192821 -0.22096178 -0.21605385
+v 0.08350010 -0.22717601 -0.27327176
+v 0.15829165 -0.08042382 -0.32063142
+v 0.18471153 -0.11957696 -0.30387122
+v 0.08489171 0.07796248 -0.32194408
+v 0.22309014 0.18111019 -0.27521483
+v 0.21437555 0.10647419 -0.30615287
+v 0.21299009 -0.13583646 -0.28769668
+v 0.14086951 -0.22257034 -0.25871634
+v 0.04439519 -0.21090518 -0.29203612
+v 0.00855428 -0.18439191 -0.30814230
+v 0.19974261 -0.00842862 -0.32065740
+v 0.15458018 -0.19131702 -0.27514635
+v 0.19956425 0.15663839 -0.29366430
+v 0.22838268 0.09406508 -0.30368585
+v 0.18655582 -0.05066891 -0.32015947
+v 0.18957655 0.03611788 -0.32076633
+v 0.12579360 -0.17651865 -0.28999613
+v 0.20060998 0.00597882 -0.32044906
+f 6 3 2
+f 9 6 2
+f 10 2 3
+f 12 11 8
+f 13 6 4
+f 13 12 8
+f 13 3 6
+f 14 8 1
+f 14 1 3
+f 14 13 8
+f 14 3 13
+f 15 6 9
+f 17 2 10
+f 18 17 10
+f 18 7 17
+f 19 1 8
+f 19 8 11
+f 20 12 5
+f 20 11 12
+f 21 13 4
+f 22 4 6
+f 22 6 15
+f 24 9 2
+f 24 2 16
+f 25 16 2
+f 25 2 17
+f 26 18 10
+f 26 10 3
+f 26 3 1
+f 26 1 18
+f 27 1 19
+f 28 5 12
+f 29 28 16
+f 30 12 13
+f 30 13 21
+f 30 23 12
+f 31 21 4
+f 31 4 22
+f 31 22 15
+f 33 25 17
+f 33 17 7
+f 33 16 25
+f 33 29 16
+f 34 18 1
+f 34 1 27
+f 35 27 19
+f 35 19 11
+f 35 11 20
+f 36 20 5
+f 36 5 28
+f 36 28 29
+f 36 35 20
+f 36 29 35
+f 37 28 12
+f 37 12 23
+f 37 9 24
+f 37 24 16
+f 38 27 35
+f 38 34 27
+f 38 7 18
+f 38 18 34
+f 38 33 7
+f 38 29 33
+f 39 30 21
+f 39 23 30
+f 39 32 23
+f 39 21 31
+f 39 31 15
+f 39 15 32
+f 40 32 15
+f 40 15 9
+f 40 9 32
+f 41 37 16
+f 41 16 28
+f 41 28 37
+f 42 32 9
+f 42 37 23
+f 42 23 32
+f 43 38 35
+f 43 35 29
+f 43 29 38
+f 44 42 9
+f 44 9 37
+f 44 37 42
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_6.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a4df9d98d35af0cf8af714599afcfddfd30a5b9
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.00993539 0.22090045 0.30450502
+v 0.00757579 0.21941136 0.01004729
+v 0.00887893 0.44580608 0.07189858
+v -0.12348885 0.43021369 0.30978608
+v -0.23484847 0.21941136 0.01004729
+v 0.00644260 0.44836460 0.30622345
+v -0.22751376 0.21409119 0.31489074
+v 0.00788130 0.43665003 0.01081292
+v -0.03519223 0.44522096 0.14528891
+v -0.22885497 0.39975337 0.31492540
+v -0.05500931 0.43511253 0.31237364
+v -0.03807951 0.44504030 0.29870593
+v -0.15210551 0.41256634 0.02559172
+v -0.23509032 0.37117969 0.31688386
+v -0.09888115 0.21940794 0.31075902
+v -0.07915796 0.43475161 0.31222074
+v -0.02022867 0.44566925 0.30629975
+v -0.10888706 0.43021491 0.10515957
+v -0.08030367 0.42855363 0.04195480
+v -0.23130541 0.38523260 0.01207277
+v -0.18396514 0.41452474 0.31416899
+v -0.16076567 0.37236693 0.31597256
+v -0.05386806 0.43783130 0.31189119
+v -0.00587506 0.44461765 0.07218440
+v -0.12594706 0.42865275 0.14680885
+v -0.04770396 0.42919095 0.01331871
+v -0.10019678 0.32591894 0.31267917
+v -0.01967438 0.44479291 0.10414634
+v -0.19880274 0.41290207 0.23844893
+v -0.18359279 0.41390038 0.11785145
+v -0.14147693 0.41196308 0.01309644
+v -0.19850046 0.41302621 0.25240567
+v -0.22763839 0.39803166 0.11699509
+v -0.21382762 0.39801917 0.04661702
+v -0.19677954 0.39719846 0.01192139
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 6 3
+f 11 1 6
+f 12 9 4
+f 12 6 9
+f 14 5 7
+f 15 7 1
+f 15 1 11
+f 17 12 4
+f 17 6 12
+f 17 4 16
+f 19 13 18
+f 20 14 10
+f 20 5 14
+f 21 14 11
+f 21 10 14
+f 21 11 16
+f 21 16 4
+f 22 14 7
+f 22 11 14
+f 22 7 15
+f 23 16 11
+f 23 11 6
+f 23 17 16
+f 23 6 17
+f 24 9 3
+f 24 19 18
+f 24 3 8
+f 25 4 9
+f 25 9 18
+f 26 13 19
+f 26 24 8
+f 26 19 24
+f 27 22 15
+f 27 15 11
+f 27 11 22
+f 28 24 18
+f 28 18 9
+f 28 9 24
+f 29 4 25
+f 30 25 18
+f 30 18 13
+f 30 29 25
+f 31 13 26
+f 31 26 8
+f 32 21 4
+f 32 4 29
+f 32 29 10
+f 32 10 21
+f 33 20 10
+f 33 10 29
+f 33 29 30
+f 34 30 13
+f 34 33 30
+f 34 20 33
+f 35 13 31
+f 35 34 13
+f 35 20 34
+f 35 31 8
+f 35 8 5
+f 35 5 20
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_7.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21eacac39eff02cc7275ec818bf1d5e041d691f0
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.25000004 -0.23513412 0.01004729
+v 0.26189989 -0.25107478 -0.17038035
+v 0.24649210 0.39421486 -0.00258794
+v -0.12544099 0.41516268 0.01218517
+v -0.26034231 -0.26743966 -0.18627308
+v 0.25000004 -0.00786138 0.01004729
+v -0.23484847 -0.23513412 0.01004729
+v -0.00513523 0.38198816 -0.13509119
+v 0.00788130 0.43665003 0.01081292
+v -0.03617307 0.43061625 0.01193479
+v -0.18621479 0.40047394 0.01278446
+v 0.23840261 0.34262436 -0.12918207
+v 0.25000004 0.20425984 -0.15661938
+v 0.19565316 0.41821237 0.00055668
+v -0.13143905 0.39880321 -0.05448338
+v -0.23130541 0.38523260 0.01207277
+v -0.23484847 0.20425984 -0.15661938
+v 0.15308370 0.38120859 -0.13130397
+v -0.10601773 0.41395081 -0.01482165
+v 0.01427071 0.41386122 -0.07091875
+v -0.16931224 0.39750930 -0.03216931
+v -0.22868568 0.33830109 -0.13355355
+v 0.19364495 0.38256514 -0.10274289
+v -0.12361232 0.41337528 -0.00244466
+v -0.15022955 0.37046212 -0.11777031
+v 0.08086327 0.39817971 -0.11752019
+v 0.02395570 0.42768065 -0.02895155
+v -0.22562614 0.38195632 -0.01657004
+v 0.15761556 0.41311762 -0.05826866
+v 0.22784008 0.40036500 -0.01332070
+v 0.23569269 0.36927620 -0.08386243
+v 0.19200122 0.37076750 -0.12829487
+v -0.00497959 0.39857304 -0.10218838
+v -0.19652268 0.35540042 -0.12954549
+v -0.03627422 0.42777161 0.00025449
+v 0.12598639 0.41339893 -0.07577199
+v -0.22544523 0.36590100 -0.07306630
+v 0.15430254 0.39623224 -0.10296143
+v 0.13921543 0.43355846 -0.00070649
+v 0.22824527 0.40316102 -0.00179002
+v 0.19415543 0.41434680 -0.01545033
+v 0.20813092 0.38179768 -0.08929963
+v 0.22199603 0.35650130 -0.12573068
+v -0.21203752 0.36525061 -0.08811647
+v 0.09765792 0.39785464 -0.11691618
+v 0.12283758 0.42826244 -0.03012765
+v 0.21104558 0.39658890 -0.04505561
+f 5 2 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 10 1 6
+f 10 6 9
+f 11 7 1
+f 11 10 4
+f 11 1 10
+f 13 2 5
+f 13 12 3
+f 13 3 2
+f 14 9 6
+f 14 6 3
+f 16 5 7
+f 16 7 11
+f 17 13 5
+f 17 8 13
+f 18 13 8
+f 18 12 13
+f 21 19 15
+f 22 8 17
+f 22 17 5
+f 22 5 16
+f 24 4 10
+f 24 10 19
+f 24 19 21
+f 24 21 11
+f 24 11 4
+f 26 18 8
+f 27 20 15
+f 27 15 19
+f 28 16 11
+f 28 11 21
+f 31 3 12
+f 31 30 3
+f 32 12 18
+f 33 8 25
+f 33 26 8
+f 33 20 26
+f 33 25 15
+f 33 15 20
+f 34 25 8
+f 34 8 22
+f 34 21 15
+f 34 15 25
+f 35 27 19
+f 35 9 27
+f 35 19 10
+f 35 10 9
+f 36 26 20
+f 36 20 27
+f 37 22 16
+f 37 16 28
+f 37 34 22
+f 37 28 21
+f 38 29 23
+f 38 36 29
+f 38 32 18
+f 38 23 32
+f 39 9 14
+f 39 14 29
+f 40 30 14
+f 40 14 3
+f 40 3 30
+f 41 29 14
+f 41 14 30
+f 42 30 31
+f 42 23 29
+f 42 29 41
+f 42 32 23
+f 43 31 12
+f 43 12 32
+f 43 42 31
+f 43 32 42
+f 44 37 21
+f 44 21 34
+f 44 34 37
+f 45 38 18
+f 45 18 26
+f 45 26 36
+f 45 36 38
+f 46 39 29
+f 46 29 36
+f 46 36 27
+f 46 27 9
+f 46 9 39
+f 47 42 41
+f 47 41 30
+f 47 30 42
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_9.obj b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..581bed7f75d1c406e3786bbd47ccb57345cb7e23
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26189989 -0.25107478 -0.17038035
+v 0.26559007 -0.14650714 -0.25579506
+v 0.25000004 0.20425984 -0.15661938
+v -0.23484847 0.20425984 -0.15661938
+v -0.23535475 -0.23579310 -0.23317759
+v -0.24431526 0.20940140 -0.24382464
+v 0.25610982 0.20886380 -0.24039565
+v 0.14468912 -0.24196394 -0.24328093
+v -0.26034231 -0.26743966 -0.18627308
+v 0.24515268 -0.22758984 -0.20814928
+f 1 3 4
+f 6 4 3
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 5 2
+f 9 1 4
+f 9 6 5
+f 9 4 6
+f 9 8 1
+f 9 5 8
+f 10 8 2
+f 10 2 1
+f 10 1 8
\ No newline at end of file
diff --git a/objects/objaverse/kiwi/kiwi_6/model.xml b/objects/objaverse/kiwi/kiwi_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8de23482c3cbe659a47136a3ee22c0911cc5caa4
--- /dev/null
+++ b/objects/objaverse/kiwi/kiwi_6/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="kiwi_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.06999999999999998 0.06999999999999998 0.06999999999999998" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
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diff --git a/objects/objaverse/milk/milk_0/visual/model_normalized_0.obj b/objects/objaverse/milk/milk_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b1c8c0fb5108aedd8d4bce6b97b5c2fd7d1fd6e
--- /dev/null
+++ b/objects/objaverse/milk/milk_0/visual/model_normalized_0.obj
@@ -0,0 +1,21458 @@
+# https://github.com/mikedh/trimesh
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+f 4361/4361/4361 4377/4377/4377 2887/2887/2887
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+f 2878/2878/2878 4397/4397/4397 4375/4375/4375
+f 4396/4396/4396 2898/2898/2898 2889/2889/2889
+f 2897/2897/2897 2898/2898/2898 4390/4390/4390
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+f 4438/4438/4438 928/928/928 4511/4511/4511
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+f 951/951/951 4505/4505/4505 4294/4294/4294
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_7/collision/model_normalized_collision_11.obj b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..780f73bcad54ac78b8d8212ee3b49d2eba8db77b
--- /dev/null
+++ b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.10716954 -0.14289184 -0.35648133
+v 0.15966847 -0.02035937 -0.35780233
+v -0.06548764 -0.01680106 -0.35606370
+v -0.07045266 -0.14758520 -0.35671057
+v 0.10106516 -0.13343077 -0.49845275
+v 0.09999270 -0.13801571 -0.48897491
+v 0.10107969 -0.01680070 -0.49896504
+v 0.09977902 -0.14280468 -0.41635775
+v -0.06496378 -0.13784459 -0.49270531
+v -0.06480155 -0.14650034 -0.41635872
+v 0.07034484 -0.13773517 -0.49270531
+v -0.06539734 -0.01680002 -0.49933446
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 8 6 1
+f 8 1 4
+f 10 8 4
+f 10 6 8
+f 10 4 9
+f 11 9 5
+f 11 5 6
+f 11 10 9
+f 11 6 10
+f 12 7 5
+f 12 5 9
+f 12 3 7
+f 12 9 4
+f 12 4 3
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_7/collision/model_normalized_collision_23.obj b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514d95522eb70f50967518c0d6bf636f73f00022
--- /dev/null
+++ b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01026810 -0.01680106 0.26513338
+v 0.01026810 -0.01680106 -0.23485451
+v 0.00940744 0.15616369 -0.23477890
+v -0.06494606 0.14231212 0.26438359
+v -0.06548764 -0.01680106 0.26513338
+v 0.01005509 0.14643836 0.26463748
+v -0.06548764 -0.01680106 -0.23485451
+v -0.04857702 0.14823477 0.18886508
+v -0.06341438 0.14934526 -0.23475380
+v -0.00400780 0.14859339 0.24840469
+v -0.06346850 0.14804857 0.12847881
+v 0.00908065 0.14841829 0.24840868
+v -0.03371996 0.14838610 0.21877398
+f 5 2 1
+f 6 5 1
+f 6 4 5
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 9 7 4
+f 9 3 7
+f 10 4 6
+f 11 8 3
+f 11 3 9
+f 11 9 4
+f 11 4 8
+f 12 10 6
+f 12 6 3
+f 12 3 10
+f 13 10 3
+f 13 3 8
+f 13 8 4
+f 13 4 10
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_7/collision/model_normalized_collision_29.obj b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0586616bdb151b8dfbab251752cb7aace38c9951
--- /dev/null
+++ b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01519672 -0.15568641 -0.23523447
+v 0.01450960 -0.15363864 -0.35715446
+v 0.00940744 0.15616369 -0.23477890
+v -0.06341438 0.14934526 -0.23475380
+v -0.07096390 -0.14899601 -0.23506370
+v -0.06520890 0.14751974 -0.35601856
+v 0.00929748 0.15391176 -0.35577923
+v -0.07045266 -0.14758520 -0.35671057
+v -0.04856007 0.14948313 -0.35573978
+v -0.06334622 0.14803837 -0.34061201
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
+f 9 4 3
+f 9 7 6
+f 9 3 7
+f 10 9 6
+f 10 6 4
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_7/collision/model_normalized_collision_4.obj b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac73228bab10e5a9e27187f2905a1aa70b9b26a7
--- /dev/null
+++ b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.10792315 -0.14375481 -0.23499718
+v 0.15995176 -0.01668257 -0.35600724
+v 0.15851711 0.05849664 -0.23482409
+v 0.01026810 0.05895468 -0.23485451
+v 0.01450960 -0.15363864 -0.35715446
+v 0.01026810 0.05895468 -0.35606370
+v 0.16170586 -0.03092191 -0.23470357
+v 0.10716954 -0.14289184 -0.35648133
+v 0.01519672 -0.15568641 -0.23523447
+v 0.15623826 0.05825533 -0.35590882
+v 0.16063691 0.04207643 -0.23469300
+v 0.15795045 -0.06157840 -0.23482167
+v 0.16129161 -0.00129011 -0.32527173
+v 0.16047190 0.04205894 -0.24972495
+v 0.15687006 -0.06146780 -0.31053321
+v 0.16099119 0.02761918 -0.29515867
+v 0.16141609 -0.01579535 -0.31032887
+v 0.16104491 0.01313577 -0.32527068
+v 0.16071192 -0.03090085 -0.29516495
+f 6 4 3
+f 6 5 4
+f 7 4 1
+f 8 5 2
+f 9 1 4
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 10 6 3
+f 10 2 5
+f 10 5 6
+f 11 3 4
+f 11 4 7
+f 12 7 1
+f 12 1 8
+f 14 10 3
+f 14 3 11
+f 15 12 8
+f 15 8 2
+f 15 7 12
+f 16 11 7
+f 16 7 13
+f 16 14 11
+f 16 10 14
+f 17 13 7
+f 17 2 13
+f 18 13 2
+f 18 2 10
+f 18 16 13
+f 18 10 16
+f 19 15 2
+f 19 2 17
+f 19 17 7
+f 19 7 15
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_7/collision/model_normalized_collision_5.obj b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722985593d14a6aaecc7a3f76df58ae12ef3faa1
--- /dev/null
+++ b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.13529362 0.05916519 0.29594105
+v 0.10108151 0.05895225 -0.49895851
+v 0.10109602 0.13232858 -0.49854426
+v 0.01005509 0.14643836 0.26463748
+v 0.01019621 0.05894616 -0.49991803
+v 0.10462901 0.13880048 0.26750889
+v 0.01216688 0.09075429 0.31372419
+v 0.01020201 0.10434484 -0.49975064
+v 0.06873613 0.14816032 -0.31042961
+v 0.00918203 0.14983499 0.23339187
+v 0.10007370 0.14160406 0.21943310
+v 0.00913962 0.14924239 -0.44537994
+v 0.05518581 0.14329035 0.26441736
+v 0.03903765 0.14810516 0.21875868
+v 0.05396082 0.14822272 -0.38584237
+v 0.07085100 0.13237605 -0.49857760
+v 0.02401364 0.14862572 0.23340801
+v 0.06874117 0.14820009 0.09827457
+v 0.03882332 0.14779170 -0.43085061
+v 0.05382407 0.14842478 0.17371973
+v 0.02396620 0.14807261 -0.44536426
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 10 7 4
+f 10 5 7
+f 11 6 3
+f 11 3 9
+f 12 10 9
+f 12 8 5
+f 12 5 10
+f 13 10 4
+f 13 4 6
+f 14 6 11
+f 15 12 9
+f 15 9 3
+f 16 12 3
+f 16 3 8
+f 16 8 12
+f 17 14 10
+f 17 6 14
+f 17 13 6
+f 17 10 13
+f 18 11 9
+f 18 9 10
+f 19 15 3
+f 19 12 15
+f 20 14 11
+f 20 11 18
+f 20 18 10
+f 20 10 14
+f 21 19 3
+f 21 3 12
+f 21 12 19
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_7/collision/model_normalized_collision_7.obj b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a2bc314f76fdc6d33fb39a8f939f450b5ac33f2
--- /dev/null
+++ b/objects/objaverse/milk/milk_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.06493631 -0.14824288 -0.35598092
+v -0.06496378 -0.13784459 -0.49270531
+v -0.06520890 0.14751974 -0.35601856
+v -0.13142477 0.13514137 -0.35600072
+v -0.14786181 -0.09083945 -0.41624872
+v -0.12446479 0.13200433 -0.49853113
+v -0.14005833 0.12521099 -0.35590630
+v -0.13168505 -0.13143950 -0.49773665
+v -0.06547491 0.13237887 -0.49857760
+v -0.13203962 0.13269255 -0.49102275
+v -0.10907149 -0.14218815 -0.35595097
+v -0.12317408 -0.13526334 -0.48988900
+v -0.08047012 -0.13357397 -0.49852993
+v -0.15574412 0.05886987 -0.35604559
+v -0.13951936 0.10232568 -0.48641632
+v -0.13374699 -0.13166395 -0.44687087
+v -0.12276294 -0.13721823 -0.46166442
+v -0.13888092 -0.10554288 -0.48682408
+v -0.13915930 0.11561245 -0.47579491
+v -0.13201432 0.13069804 -0.49773678
+v -0.14024875 -0.11818545 -0.44623540
+v -0.13877388 0.12584996 -0.41623972
+v -0.13824942 -0.11900758 -0.47571689
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 10 7 4
+f 11 1 7
+f 12 8 2
+f 12 2 1
+f 13 8 6
+f 13 6 9
+f 13 9 2
+f 13 2 8
+f 14 11 7
+f 14 5 11
+f 15 5 14
+f 16 11 5
+f 17 12 1
+f 17 1 11
+f 17 11 16
+f 17 16 8
+f 17 8 12
+f 18 15 8
+f 18 5 15
+f 19 15 14
+f 20 10 6
+f 20 6 8
+f 20 8 15
+f 20 19 10
+f 20 15 19
+f 21 16 5
+f 21 8 16
+f 22 19 14
+f 22 14 7
+f 22 7 10
+f 22 10 19
+f 23 18 8
+f 23 8 21
+f 23 21 5
+f 23 5 18
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_7/model.xml b/objects/objaverse/milk/milk_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..73ff6b2f8f34c312be771d593e724143c2a80625
--- /dev/null
+++ b/objects/objaverse/milk/milk_7/model.xml
@@ -0,0 +1,83 @@
+<mujoco model="milk_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999996 0.16999999999999996 0.16999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <material name="Material.171" specular="0.5" shininess="0.119339151" rgba="0.228248 0.333787 0.800000 1.0"/>
+    <material name="material_0.012" specular="0.5" shininess="0.15999998099999999" rgba="1.000000 1.000000 1.000000 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_0.012"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Material.171"/>
+        <geom solimp="0.998 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="0.00043814524999999843 2.9871549999998794e-05 -0.08499007539999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00043814524999999843 2.9871549999998794e-05 0.084967564" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.027695609499999992 0.026547827299999993 -1.1255699999997145e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_0.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b2d1c6d8bf05fa504f69c1424d54892df77dfc
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.20436244 -0.07812407 0.32729495
+v 0.21759092 -0.07812407 0.26316672
+v 0.23474885 0.08720265 0.35905536
+v 0.13630366 0.13747134 0.28959688
+v 0.13630366 -0.01751800 0.26515153
+v 0.21759092 0.10369412 0.26316672
+v 0.13630366 -0.04308312 0.42001722
+v 0.23354302 0.05720245 0.40050797
+v 0.22939079 0.10735243 0.31323421
+v 0.22984295 0.04531847 0.40311750
+v 0.13630366 0.05708057 0.40067637
+v 0.18937287 -0.01751800 0.39996045
+f 6 5 4
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 8 2 3
+f 8 3 4
+f 9 3 2
+f 9 2 6
+f 9 6 4
+f 9 4 3
+f 10 1 2
+f 10 2 8
+f 11 8 4
+f 11 10 8
+f 11 7 10
+f 11 4 5
+f 11 5 7
+f 12 10 7
+f 12 7 1
+f 12 1 10
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_1.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07427c72280e27ee04c3274489a2aa27de19c3cb
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.23856672 -0.18607797 0.22101065
+v 0.24370632 -0.18155805 0.14389578
+v 0.24858139 0.14914866 0.14391844
+v 0.21206124 0.20536395 0.18847847
+v 0.15145518 -0.21398101 0.14409738
+v 0.23910426 0.19556195 0.20933051
+v 0.24150672 -0.18418467 0.18662676
+v 0.15145518 0.17468448 0.23817784
+v 0.15145518 0.14914866 0.14393941
+v 0.23943304 0.20327084 0.18935479
+v 0.15145518 -0.18672754 0.22153731
+v 0.21206124 0.19551691 0.20939275
+f 6 1 3
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 8 1 6
+f 9 3 2
+f 9 2 5
+f 9 4 3
+f 9 8 4
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 5 1
+f 11 1 8
+f 11 9 5
+f 11 8 9
+f 12 8 6
+f 12 6 4
+f 12 4 8
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_10.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a50a003995b3822f5917ffbbd8e0baea3235a303
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.15145518 -0.16589512 0.25032240
+v 0.22658467 -0.12357861 0.21956742
+v 0.23713731 0.15292432 0.26773201
+v 0.15145518 0.17468448 0.23817784
+v 0.22658467 0.14914866 0.21956742
+v 0.15145518 -0.14430630 0.28015263
+v 0.23290050 0.15598474 0.25467214
+v 0.15145518 0.15309566 0.26800806
+v 0.21759092 -0.12357861 0.26316672
+v 0.22939079 0.13920656 0.26889398
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 6 4 1
+f 7 5 4
+f 7 4 3
+f 7 3 5
+f 8 3 4
+f 8 4 6
+f 9 6 1
+f 9 1 2
+f 9 2 3
+f 9 3 6
+f 10 8 6
+f 10 6 3
+f 10 3 8
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_11.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6b386644fce7aa6e9cd6d55475c6b38bb226ee
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.23896039 -0.19198267 0.21427606
+v -0.23897887 -0.19198209 0.21427685
+v -0.21759586 -0.12357861 0.26314299
+v 0.22658467 -0.12357861 0.21956742
+v -0.23297920 -0.14560202 0.26985968
+v -0.22720801 -0.15388164 0.21654578
+v -0.23774563 -0.15999341 0.25847705
+v 0.23395958 -0.14491368 0.26959380
+v 0.22720308 -0.15388164 0.21656951
+v -0.22658960 -0.12357861 0.21954369
+v 0.21759092 -0.12357861 0.26316672
+v 0.23767469 -0.15999541 0.25847429
+f 6 1 2
+f 9 4 1
+f 9 1 6
+f 10 3 4
+f 10 9 6
+f 10 4 9
+f 10 5 3
+f 10 7 5
+f 10 6 2
+f 10 2 7
+f 11 8 4
+f 11 4 3
+f 11 3 5
+f 11 5 8
+f 12 4 8
+f 12 1 4
+f 12 2 1
+f 12 7 2
+f 12 8 5
+f 12 5 7
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_12.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf606efd67b74567be42bade03d5c761134adc07
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.23767469 -0.15999541 0.25847429
+v 0.23738561 -0.15280313 0.26841218
+v -0.23774563 -0.15999341 0.25847705
+v -0.23332239 -0.11505088 0.31514423
+v 0.21759092 -0.10842710 0.26316672
+v -0.23651240 -0.12800473 0.30267724
+v 0.23490987 -0.11391149 0.31454608
+v -0.21759586 -0.10842710 0.26314299
+v 0.23638899 -0.12800815 0.30267252
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 7 5
+f 8 4 7
+f 8 6 4
+f 8 3 6
+f 8 5 1
+f 8 1 3
+f 9 6 2
+f 9 2 7
+f 9 7 4
+f 9 4 6
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_13.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16bc39cd00a98df84dc2d184ba01002a9b018d8f
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.23175901 0.01281769 0.46183637
+v 0.23354302 0.05720245 0.40050797
+v -0.23378256 0.05719589 0.40051704
+v 0.20830543 0.03035580 0.41413806
+v 0.22939079 0.02614908 0.42626745
+v -0.22939083 0.03848638 0.40909420
+v 0.22939079 0.03848638 0.40909420
+v -0.23207136 0.01280915 0.46184816
+v -0.22939083 0.02614908 0.42626745
+v -0.20842188 0.03037222 0.41414985
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 7 4 6
+f 8 1 2
+f 8 2 3
+f 8 4 1
+f 9 8 3
+f 9 3 6
+f 10 9 6
+f 10 6 4
+f 10 4 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_14.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff48289d89175606310c85996e2af9eda3e315cc
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.21127704 -0.21182664 0.14392426
+v 0.24872334 -0.13873013 0.08341936
+v 0.24781701 -0.13873013 0.15011986
+v -0.24858143 -0.13873013 0.14391816
+v -0.19702968 -0.21430317 0.08333237
+v -0.19702968 -0.21398186 0.14393672
+v 0.21137055 -0.21214396 0.08332001
+v -0.24872362 -0.13873013 0.08331243
+v -0.24371102 -0.18153641 0.14389517
+v -0.24389682 -0.18157175 0.08328970
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 5 1
+f 7 2 1
+f 7 1 5
+f 8 4 2
+f 8 2 7
+f 9 6 3
+f 9 3 4
+f 9 5 6
+f 10 5 9
+f 10 8 7
+f 10 7 5
+f 10 9 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_15.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab13860f0e972e3ec743af82199b001e2ec91166
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.18814097 -0.01751800 0.40593255
+v -0.16672665 0.08586566 0.36090274
+v -0.16672665 0.05708057 0.40067637
+v -0.23426054 0.06959393 0.38338611
+v -0.20198787 -0.01751800 0.33880641
+v -0.23164921 0.04579752 0.40319007
+v -0.20198787 0.05823957 0.33880641
+v -0.23398325 0.06240133 0.39332444
+v -0.23227748 0.06574892 0.37660687
+f 5 2 3
+f 5 3 1
+f 6 1 3
+f 6 5 1
+f 7 4 2
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 8 3 2
+f 8 2 4
+f 9 6 4
+f 9 5 6
+f 9 7 5
+f 9 4 7
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_16.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a67b1f3eacf5e20e510d3b708e4e6844f6d9623d
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.23045845 -0.02165101 0.43454859
+v 0.22939079 0.01896956 0.43626118
+v 0.23181966 -0.00715968 0.50000002
+v -0.23150341 0.00715971 0.50000002
+v -0.18937780 0.01278503 0.39993673
+v 0.23181966 0.00715971 0.50000002
+v -0.23150341 -0.00715968 0.50000002
+v 0.18937287 0.01278503 0.39996045
+v -0.23037180 0.01989311 0.43683160
+v 0.23175901 0.01281769 0.46183637
+v -0.18937780 -0.01751800 0.39993673
+v -0.22939083 -0.02058070 0.43401845
+v 0.18937287 -0.01751800 0.39996045
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 9 8 5
+f 9 2 8
+f 9 6 2
+f 9 4 6
+f 9 7 4
+f 10 1 2
+f 10 2 6
+f 10 6 3
+f 10 3 1
+f 11 5 8
+f 12 11 1
+f 12 1 7
+f 12 7 9
+f 12 9 5
+f 12 5 11
+f 13 11 8
+f 13 8 1
+f 13 1 11
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_17.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d4f73c530a581aab633fb652dde26228fb2272
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.23941221 -0.20322347 0.19874415
+v 0.24092508 -0.19618057 0.14388700
+v 0.23856672 -0.18607797 0.22101065
+v -0.19702968 -0.18672754 0.22153731
+v -0.19702968 -0.21398186 0.14393672
+v 0.24370632 -0.18155805 0.14389578
+v 0.23896039 -0.19198267 0.21427606
+v 0.21949332 -0.20940447 0.14408292
+v -0.19702968 -0.20322347 0.19874415
+v 0.24150672 -0.18418467 0.18662676
+v 0.23915880 -0.20361037 0.14387751
+v 0.24078652 -0.19615421 0.18934111
+f 6 4 3
+f 6 5 4
+f 6 1 2
+f 7 3 4
+f 8 1 5
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 6 3
+f 10 3 7
+f 11 8 5
+f 11 2 1
+f 11 1 8
+f 11 6 2
+f 11 5 6
+f 12 10 7
+f 12 7 1
+f 12 1 6
+f 12 6 10
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_18.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..265cbde67d315f41f8a21674ca023a5dce08fb1f
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.24858139 -0.13873013 0.14391844
+v 0.24890133 -0.13873013 0.00755556
+v 0.22261828 0.20929823 0.00748346
+v -0.22250347 0.20851881 0.14384615
+v -0.24890136 -0.13873013 0.00755527
+v 0.22239982 0.20855611 0.14384271
+v -0.24858143 -0.13873013 0.14391816
+v -0.22271387 0.20923276 0.00748658
+v 0.24221260 0.19169278 0.00752715
+v -0.24221332 0.19167374 0.00752679
+v 0.24179455 0.19161328 0.14388947
+v -0.24179812 0.19159082 0.14388938
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 5
+f 9 1 2
+f 9 2 3
+f 10 5 7
+f 10 8 5
+f 11 1 9
+f 11 6 4
+f 11 9 3
+f 11 3 6
+f 12 10 7
+f 12 4 8
+f 12 8 10
+f 12 11 4
+f 12 7 1
+f 12 1 11
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_19.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c8713e38363276de9cba2ce7c09c19b7f3dcd82
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15145518 -0.14430630 0.28015263
+v 0.15145518 -0.12357861 0.14393941
+v 0.15145518 0.15309566 0.26800806
+v -0.16672665 0.15309566 0.26800806
+v -0.16672665 -0.14430630 0.28015263
+v 0.15145518 0.14914866 0.14393941
+v -0.16672665 -0.12357861 0.14393941
+v -0.16672665 0.14914866 0.14393941
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 5
+f 7 6 2
+f 8 6 7
+f 8 4 3
+f 8 3 6
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_2.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a809a45452cf9da9d75f5865ce61cd5c8153798
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.23713731 0.15292432 0.26773201
+v 0.22939079 0.14914866 0.20596408
+v 0.21206124 0.20536395 0.18847847
+v -0.23943308 0.20327084 0.18935452
+v -0.23684182 0.15109811 0.26643838
+v -0.24107068 0.14914866 0.18914962
+v -0.23911686 0.19556153 0.20933109
+v 0.23889504 0.19035673 0.21652279
+v 0.22720308 0.14914866 0.21656951
+v -0.23788363 0.16357284 0.25353128
+v 0.23781856 0.16357468 0.25352874
+v 0.21206124 0.19551691 0.20939275
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 4 6
+f 8 2 3
+f 9 2 1
+f 9 1 5
+f 9 6 2
+f 9 5 6
+f 10 5 1
+f 10 7 6
+f 10 6 5
+f 11 1 2
+f 11 2 8
+f 11 10 1
+f 12 8 3
+f 12 3 7
+f 12 11 8
+f 12 7 10
+f 12 10 11
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_20.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57b51b55b0a40bd4bb6860729f8aa8530d144d06
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.13630366 -0.04308312 0.42001722
+v 0.13630366 -0.01751800 0.26515153
+v 0.13630366 0.06427685 0.39073296
+v -0.16672665 0.05708057 0.40067637
+v -0.21512220 -0.01751800 0.27513465
+v 0.13630366 0.05708057 0.40067637
+v -0.18814097 -0.01751800 0.40593255
+v 0.01509154 0.05823957 0.26515153
+v -0.21512220 0.05823957 0.27513465
+v 0.13630366 0.05823957 0.26515153
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 9 7 4
+f 9 5 7
+f 9 8 5
+f 9 4 3
+f 9 3 8
+f 10 8 3
+f 10 2 8
+f 10 1 2
+f 10 3 1
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_21.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbcb3cbd22e62d081b5d66e98fa391bf87cdd2c
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15145518 -0.21398101 0.14409738
+v 0.15145518 -0.12357861 0.14393941
+v -0.16672665 -0.16589512 0.25032240
+v -0.16672665 -0.12357861 0.14393941
+v -0.16672665 -0.21398101 0.14409738
+v 0.15145518 -0.16589512 0.25032240
+v -0.16672665 -0.18672754 0.22153731
+v 0.15145518 -0.18672754 0.22153731
+f 3 2 4
+f 2 1 4
+f 5 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 3 4
+f 7 4 5
+f 8 7 1
+f 8 1 6
+f 8 6 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_22.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21fb8d57baeeef7442b14077887f5b216d213ed2
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.23311007 -0.04643091 0.41539142
+v 0.23253189 -0.03204636 0.43526720
+v -0.23213405 -0.01443519 0.45960134
+v -0.22939083 -0.02776022 0.42402472
+v 0.22939079 -0.02776022 0.42402472
+v -0.23336728 -0.04642387 0.41540115
+v 0.23182437 -0.01444365 0.45958965
+f 5 1 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 3
+f 7 3 2
+f 7 2 1
+f 7 1 5
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_23.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07217281562b682dc54ccf0eb07a4fb3398b94a
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.16672665 -0.21398101 0.14409738
+v -0.16672665 -0.18672754 0.22153731
+v -0.24738096 0.14914866 0.15264272
+v -0.16672665 0.17468448 0.23817784
+v -0.22535277 0.14914866 0.22553952
+v -0.16672665 0.14914866 0.14393941
+v -0.19702968 -0.21398101 0.14409738
+v -0.19702968 -0.18672754 0.22153731
+f 2 1 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 2 4
+f 8 4 5
+f 8 7 2
+f 8 5 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_24.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..865e5c5d5eafbd8fbce918eb83239671a05caaf2
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.21127704 -0.21182664 0.14392426
+v 0.24134139 -0.19626387 0.00752441
+v 0.23915880 -0.20361037 0.14387751
+v 0.24781701 -0.13873013 0.15011986
+v 0.24890133 -0.13873013 0.00755556
+v 0.24092508 -0.19618057 0.14388700
+v 0.21148068 -0.21254448 0.00756426
+v 0.24858139 -0.13873013 0.14391844
+v 0.23936920 -0.20432433 0.00751793
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 3 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 2 3
+f 9 3 7
+f 9 7 5
+f 9 5 2
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_25.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6352393ae40e1767b045826a5cad75995c66cc5
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.23617977 -0.12280293 0.30986479
+v 0.23490987 -0.11391149 0.31454608
+v 0.23539238 -0.10321316 0.33693285
+v -0.23555646 -0.10320864 0.33693910
+v -0.23631172 -0.12279928 0.30986984
+v -0.23332239 -0.11505088 0.31514423
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 6 4 2
+f 6 2 5
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_26.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea61c15a45332ee7079100923512f23294b21c5
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.19702968 -0.20556107 0.18753273
+v -0.19702968 -0.21430317 0.08333237
+v -0.24389682 -0.18157175 0.08328970
+v -0.24151024 -0.18418467 0.18660663
+v -0.23915845 -0.20335293 0.18933049
+v -0.19702968 -0.20429859 0.19358774
+v -0.23932421 -0.20390788 0.08327305
+v -0.24079071 -0.19613253 0.18934044
+v -0.24111586 -0.19619436 0.08328087
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 4 3
+f 8 6 4
+f 8 5 6
+f 9 7 5
+f 9 5 8
+f 9 8 3
+f 9 3 7
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_27.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05c5bc9bf686fc6e2991f008e968717d3777c400
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23354302 0.05720245 0.40050797
+v 0.23383211 0.06439473 0.39057008
+v 0.23404132 0.06959994 0.38337780
+v -0.19702968 0.06228868 0.39348010
+v -0.19702968 0.06427685 0.39073296
+v 0.23375224 0.06240766 0.39331569
+v -0.19702968 0.05708057 0.40067637
+v -0.19702968 0.06948495 0.38353669
+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/milk/milk_9/collision/model_normalized_collision_28.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d312d4c09291e29d25e9e31d39941f8abef97ce7
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.24150672 0.14914866 0.18662676
+v 0.24858139 0.14914866 0.14391844
+v 0.22243794 0.20836607 0.17407989
+v -0.19702968 0.20902267 0.17093070
+v -0.24738096 0.14914866 0.15264272
+v 0.22239982 0.20855611 0.14384271
+v -0.22939083 0.14914866 0.20596408
+v 0.23943304 0.20327084 0.18935479
+v -0.19702968 0.21398219 0.14388149
+v -0.19702968 0.20536395 0.18847847
+v 0.24132172 0.19336773 0.18769702
+v 0.24179455 0.19161328 0.14388947
+f 5 2 1
+f 7 5 1
+f 8 7 1
+f 8 6 3
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 9 6 2
+f 9 2 5
+f 10 4 5
+f 10 5 7
+f 10 7 8
+f 10 8 3
+f 10 3 4
+f 11 8 1
+f 11 1 2
+f 12 2 6
+f 12 6 8
+f 12 11 2
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_29.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74614f8200d1fb8405b5912c68059993268f187b
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.19702968 -0.20556107 0.18753273
+v -0.19702968 -0.20322347 0.19874415
+v -0.23941225 -0.20322347 0.19874415
+v -0.22535277 0.14914866 0.22553952
+v -0.19702968 -0.19193564 0.21434104
+v -0.24107068 0.14914866 0.18914962
+v -0.23897887 -0.19198209 0.21427685
+v -0.23915845 -0.20335293 0.18933049
+v -0.22939083 0.14914866 0.20596408
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 7 5 4
+f 7 3 2
+f 7 2 5
+f 7 6 3
+f 7 4 6
+f 8 6 1
+f 8 1 3
+f 8 3 6
+f 9 6 4
+f 9 4 1
+f 9 1 6
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_3.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6739cbcf95df5eb923b7c486f8a02c4abc1c720
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23532702 0.10158721 0.33917958
+v 0.23760934 0.15836947 0.26072102
+v -0.23768294 0.15836740 0.26072388
+v -0.21759586 0.10369412 0.26314299
+v 0.21759092 0.10369412 0.26316672
+v -0.19702968 0.10148998 0.33931392
+v -0.23305133 0.11063412 0.31559179
+v -0.23644971 0.12637871 0.30492407
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 5 1
+f 6 4 5
+f 7 4 6
+f 8 7 6
+f 8 3 4
+f 8 4 7
+f 8 2 3
+f 8 6 1
+f 8 1 2
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_30.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f8246beb8dcbbebdf03a44e9a226f8372bb5bf1
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.19702968 -0.20429859 0.19358774
+v -0.19702968 -0.21398101 0.14409738
+v -0.19702968 0.21398219 0.14388149
+v -0.23943308 0.20327084 0.18935452
+v -0.24371102 -0.18153641 0.14389517
+v -0.19702968 0.20536395 0.18847847
+v -0.24151024 -0.18418467 0.18660663
+v -0.24179812 0.19159082 0.14388938
+v -0.22247541 0.20835472 0.17413428
+v -0.24132372 0.19335760 0.18768567
+v -0.19702968 0.20902267 0.17093070
+v -0.22250347 0.20851881 0.14384615
+f 5 3 2
+f 6 4 1
+f 6 1 2
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 9 4 6
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 10 4 8
+f 11 9 6
+f 11 3 9
+f 11 6 2
+f 11 2 3
+f 12 8 4
+f 12 4 9
+f 12 9 3
+f 12 3 5
+f 12 5 8
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_31.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6ee5bf65dfadbf7a2e2beb1ea51d7af246ca0b
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.20732507 -0.21378650 0.00748187
+v 0.24096252 -0.20674286 -0.50000000
+v 0.24221260 0.19169278 0.00752715
+v -0.22271387 0.20923276 0.00748658
+v -0.24096256 -0.20674286 -0.50000000
+v 0.24096252 0.20674290 -0.50000000
+v 0.24134139 -0.19626387 0.00752441
+v 0.22204733 -0.21234971 -0.49252665
+v -0.23944260 -0.20430428 0.00751773
+v 0.24238009 -0.19924427 -0.49786212
+v 0.22261828 0.20929823 0.00748346
+v -0.24096256 0.20674290 -0.50000000
+v 0.23936920 -0.20432433 0.00751793
+v -0.22215874 -0.21231663 -0.49252297
+v 0.24030713 0.20525509 -0.20460629
+v 0.23982643 0.20707999 -0.49960769
+v -0.24221332 0.19167374 0.00752679
+v -0.20750321 -0.21374758 0.00748178
+v -0.23992579 0.20705052 -0.49964199
+v -0.24040801 0.20548403 -0.25005973
+v -0.24238395 -0.19922398 -0.49785634
+v -0.24134811 -0.19623853 0.00752403
+f 6 2 5
+f 8 5 2
+f 10 6 3
+f 10 2 6
+f 10 7 2
+f 10 3 7
+f 11 4 3
+f 12 6 5
+f 13 2 7
+f 13 8 2
+f 13 1 8
+f 13 7 9
+f 14 8 1
+f 14 5 8
+f 14 9 5
+f 15 11 3
+f 15 3 6
+f 16 15 6
+f 16 11 15
+f 17 3 4
+f 17 7 3
+f 18 14 1
+f 18 9 14
+f 18 13 9
+f 18 1 13
+f 19 4 11
+f 19 11 16
+f 19 16 6
+f 19 6 12
+f 20 17 4
+f 20 12 17
+f 20 19 12
+f 20 4 19
+f 21 17 12
+f 21 12 5
+f 22 21 5
+f 22 5 9
+f 22 17 21
+f 22 9 7
+f 22 7 17
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_4.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db999a3ca56f978f4fee5d432ebfd9c3c96b91ec
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.16672665 -0.13909819 0.28734890
+v -0.16672665 -0.11031311 0.32712254
+v -0.23583375 -0.11040124 0.32700077
+v -0.23644971 0.12637871 0.30492407
+v -0.16672665 0.08586566 0.36090274
+v -0.21759586 -0.10842710 0.26314299
+v -0.21759586 0.10369412 0.26314299
+v -0.20013263 -0.01751800 0.34780015
+v -0.23332239 -0.11505088 0.31514423
+v -0.19702968 0.12629874 0.30503456
+v -0.22960305 0.08286808 0.34771740
+v -0.23569445 0.10678807 0.33199333
+f 1 2 3
+f 5 2 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 9 6 1
+f 9 1 3
+f 9 3 4
+f 9 4 6
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 5
+f 11 8 5
+f 11 3 8
+f 12 11 5
+f 12 5 4
+f 12 4 3
+f 12 3 11
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_5.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..021263b27d2287f322574cf85a19743c41f00b55
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.21137055 -0.21214396 0.08332001
+v 0.24890108 -0.13873013 0.00766220
+v 0.24872334 -0.13873013 0.08341936
+v -0.24872362 -0.13873013 0.08331243
+v -0.20750321 -0.21374758 0.00748178
+v 0.20732507 -0.21378650 0.00748187
+v -0.23932421 -0.20390788 0.08327305
+v -0.24890136 -0.13873013 0.00755527
+v 0.20725123 -0.21353934 0.05293495
+v -0.20743039 -0.21350021 0.05293487
+v -0.24134811 -0.19623853 0.00752403
+v -0.24111586 -0.19619436 0.08328087
+v -0.23944260 -0.20430428 0.00751773
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 1 3
+f 8 4 2
+f 8 6 5
+f 8 2 6
+f 9 6 1
+f 9 5 6
+f 10 7 5
+f 10 1 7
+f 10 9 1
+f 10 5 9
+f 11 4 8
+f 12 11 7
+f 12 4 11
+f 12 7 3
+f 12 3 4
+f 13 5 7
+f 13 7 11
+f 13 11 8
+f 13 8 5
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_6.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfb3dd386bc1282e4f8a2bd6ccb8e7b33692561c
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.23550140 -0.10974388 0.32651094
+v 0.23510329 -0.09602088 0.34687074
+v -0.23583375 -0.11040124 0.32700077
+v -0.22939083 -0.02776022 0.42402472
+v 0.20498086 -0.01751800 0.32429704
+v -0.23356796 -0.05162932 0.40820855
+v 0.22939079 -0.02776022 0.42402472
+v -0.20498579 -0.01751800 0.32427331
+v 0.23331929 -0.05163613 0.40819914
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 5
+f 7 5 4
+f 7 4 6
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 8 4 5
+f 9 2 1
+f 9 1 7
+f 9 7 6
+f 9 6 2
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_7.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8e9983581544682f6a8650dd40d65562ba5fcf
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13630366 0.06427685 0.39073296
+v 0.13630366 0.05823957 0.26515153
+v 0.13630366 0.13747134 0.28959688
+v -0.23549377 0.10158262 0.33918592
+v -0.23279718 0.06034691 0.38761850
+v -0.21635903 0.10369412 0.26913882
+v -0.23446122 0.07479938 0.37619351
+v -0.21635903 0.05823957 0.26913882
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_8.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed87bd5d3429d316a4b00a13100652ffdcd7c832
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.23490987 -0.11391149 0.31454608
+v 0.23550140 -0.10974388 0.32651094
+v -0.16672665 -0.13909819 0.28734890
+v -0.20313054 -0.01751800 0.33326705
+v 0.21635410 -0.01751800 0.26916255
+v -0.16672665 -0.11031311 0.32712254
+v 0.20436244 -0.01751800 0.32729495
+v 0.21759092 -0.10842710 0.26316672
+v -0.21512220 -0.01751800 0.27513465
+v 0.23318573 -0.10002847 0.33060888
+v 0.21759092 -0.07812407 0.26316672
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 8 1 3
+f 9 3 4
+f 9 4 5
+f 9 8 3
+f 10 6 2
+f 10 4 6
+f 10 7 4
+f 10 2 5
+f 10 5 7
+f 11 5 1
+f 11 1 8
+f 11 9 5
+f 11 8 9
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/collision/model_normalized_collision_9.obj b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cf7aea4bc6de8a2cfb8347f11d660599d129c7d
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.16672665 -0.16589512 0.25032240
+v -0.16672665 -0.14430630 0.28015263
+v -0.23684182 0.15109811 0.26643838
+v -0.16672665 0.17468448 0.23817784
+v -0.16672665 0.15309566 0.26800806
+v -0.22658960 -0.12357861 0.21954369
+v -0.23210104 0.14163630 0.27063951
+v -0.22658960 0.14914866 0.21954369
+v -0.21759586 -0.12357861 0.26314299
+v -0.23382518 0.15551933 0.25457671
+f 5 4 3
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 7 5 3
+f 7 2 5
+f 8 6 3
+f 8 4 6
+f 9 6 1
+f 9 1 2
+f 9 2 7
+f 9 7 3
+f 9 3 6
+f 10 8 3
+f 10 3 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/model.xml b/objects/objaverse/milk/milk_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..95bd5fb3619752b53d30bc55e6bd133e31bd9f8a
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="milk_23">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16499999999999995 0.16499999999999995 0.16499999999999995" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert2.003" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="lambert2.003"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_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="-2.6480849999999867e-05 2.4749999986972685e-09 -0.08249999999999996" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-2.6480849999999867e-05 2.4749999986972685e-09 0.08250000329999996" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03530706134999998 0.041068724399999985 1.6499999991315124e-09" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/milk/milk_9/visual/material.mtl b/objects/objaverse/milk/milk_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/milk/milk_9/visual/model_normalized_0.obj b/objects/objaverse/milk/milk_9/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7c69af1fa0406f4327b2b81f7a374de4daba5c4
--- /dev/null
+++ b/objects/objaverse/milk/milk_9/visual/model_normalized_0.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.22939079 0.00000002 0.46266636
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+v -0.22939082 -0.18441551 0.20596408
+v -0.22939082 0.00000002 0.46266636
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+v -0.22939082 0.18441555 0.20596408
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+v 0.24096252 0.20674289 -0.50000000
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+v 0.25005998 -0.15861945 -0.48627983
+v -0.25005998 -0.15861945 -0.48627983
+v -0.25005998 0.15861949 -0.48627983
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+vn 0.81261032 0.00000000 -0.58280740
+vn 0.90547898 0.42089023 0.05439874
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+vn -0.09610196 -0.99272022 0.07260148
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