diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..278aba183f53a715b677ddd9c42665a4f02422b2
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/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/apple/apple_11/collision/model_normalized_collision_1.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c3176b138b97b45b4561d6c4b736db751c2545
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b33fb0efc6836f548492a071715c898d6a837337
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_10.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_11.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e2f90a08042958f44606e0d85aee57395a999a6
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c38da3d3d31f90f923a8e7cff893a2340b1375d
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_12.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.30535789 -0.30683876 0.26337843
+v 0.26078983 -0.26053320 0.33958409
+v 0.02747892 -0.26783526 0.23484846
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+v 0.12699536 -0.26099755 0.39772220
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6126c4419e6956aea688074faf9cb36dfa52e2c5
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_13.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.37128744 -0.23454832 -0.23145576
+v 0.40942264 -0.14384639 -0.22671394
+v 0.23960013 -0.01025951 -0.23484850
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e850006265bf6bba0661d22d2113da14b456835
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_14.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.04072424 -0.43732791 0.25936189
+v 0.04256497 -0.43396275 0.26480144
+v -0.18979738 -0.35619404 0.32681506
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+v 0.02747892 -0.23753223 0.26515149
+v -0.06095554 -0.34311965 0.38729025
+v -0.22466554 -0.38096495 0.26097171
+v -0.16398770 -0.29674253 0.39997668
+v 0.03856101 -0.19397584 0.43880363
+v -0.06039388 -0.41740793 0.29813094
+v -0.13610199 -0.42195268 0.25877508
+v -0.24272710 -0.20393663 0.42378516
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+v -0.13353798 -0.35712934 0.35540983
+v -0.04988944 -0.17542908 0.46911735
+v 0.02428252 -0.31870341 0.40088774
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+v -0.23009684 -0.23753223 0.26515149
+v -0.07778817 -0.43683322 0.25912436
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9f85916a455bb1b9a9595afc5ecf646b6346257
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23009684 0.20186170 0.26515149
+v -0.23009684 0.20186170 -0.21969699
+v -0.22174206 0.38573464 0.22993375
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+f 54 21 41
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+f 58 57 44
+f 58 31 57
+f 59 36 6
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+f 60 20 58
+f 60 50 37
+f 60 37 49
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+f 62 37 23
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+f 62 51 49
+f 62 49 37
+f 63 55 23
+f 63 23 37
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+f 64 51 59
+f 64 60 49
+f 64 59 6
+f 64 6 60
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5ff1aaa59fc2b72de5f870cf59098c81803d2cc
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_16.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.03201456 -0.05886719 0.40925912
+v 0.16384951 0.09983266 0.33524583
+v 0.17656035 0.23413116 0.37809543
+v 0.02799732 0.36052776 0.36628879
+v 0.03897619 -0.05630921 0.39870330
+v 0.09303698 0.35417524 0.36048781
+v 0.02268621 0.25609009 0.43023388
+v 0.15943316 0.14905838 0.36854712
+v 0.02650900 -0.05587218 0.41588905
+v 0.07044138 0.07890993 0.37254763
+v 0.02596515 0.31501890 0.40181960
+v 0.14533568 0.29015204 0.37873065
+v 0.16330114 0.10632243 0.33984355
+v 0.03352636 -0.05452001 0.40567477
+v 0.01944178 0.06742266 0.43983011
+v 0.15784983 0.18968336 0.38316025
+v 0.02697315 0.33025685 0.39116242
+v 0.12706676 0.24521246 0.39750987
+v 0.08201687 0.29883453 0.39695267
+v 0.05342221 0.31372728 0.39736375
+v 0.11131320 0.27171958 0.39764341
+v 0.16151159 0.26112884 0.38048435
+v 0.05071881 0.22806924 0.42866643
+v 0.13063276 0.30420009 0.37826478
+v 0.03681218 0.25629640 0.42604848
+v 0.15654312 0.25827491 0.38310415
+v 0.14101805 0.28681602 0.38165604
+v 0.08308740 0.32607844 0.38200747
+v 0.12618773 0.29842137 0.38285590
+f 5 2 1
+f 6 3 2
+f 6 2 4
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+f 10 2 5
+f 11 4 7
+f 12 3 6
+f 13 8 1
+f 13 1 2
+f 13 2 3
+f 13 3 8
+f 14 9 4
+f 14 4 5
+f 14 5 9
+f 15 7 4
+f 15 4 9
+f 16 9 8
+f 16 8 3
+f 16 15 9
+f 16 3 15
+f 17 6 4
+f 17 4 11
+f 20 17 11
+f 20 6 17
+f 20 11 7
+f 20 7 19
+f 22 3 12
+f 23 15 3
+f 23 3 18
+f 23 7 15
+f 23 18 21
+f 24 12 6
+f 25 21 19
+f 25 19 7
+f 25 23 21
+f 25 7 23
+f 26 18 3
+f 26 3 22
+f 26 22 21
+f 26 21 18
+f 27 22 12
+f 27 21 22
+f 28 20 19
+f 28 24 6
+f 28 6 20
+f 29 27 12
+f 29 12 24
+f 29 19 21
+f 29 21 27
+f 29 28 19
+f 29 24 28
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b29033266ed0d1fa7f4405e00d03ff6e19ec74
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_17.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22308574 -0.43681550 0.11121607
+v -0.22203564 -0.33001134 -0.34489274
+v -0.23009684 -0.23753223 0.26515149
+v -0.38649491 -0.23161601 0.24522539
+v -0.42400790 -0.27027986 -0.13920640
+v -0.22466554 -0.38096495 0.26097171
+v -0.24896596 -0.41828213 -0.15079269
+v -0.37973953 -0.32946414 0.04883043
+v -0.23099957 -0.22148034 -0.39775177
+v -0.37638092 -0.23373922 0.26205900
+v -0.22266166 -0.39119372 0.24300774
+v -0.33620849 -0.31221576 -0.27144508
+v -0.22410186 -0.43754607 -0.11151314
+v -0.44433812 -0.23231791 0.05158208
+v -0.32475427 -0.38669951 -0.06674337
+v -0.22632840 -0.26589930 -0.38724145
+v -0.23009684 -0.22238072 -0.20454547
+v -0.32126861 -0.34122223 0.19609706
+v -0.22116284 -0.37485652 -0.28757427
+v -0.38194209 -0.21550926 -0.31672982
+v -0.40815582 -0.25474113 0.15399156
+v -0.43970696 -0.25717869 -0.02443894
+v -0.40923224 -0.30157180 -0.09560398
+v -0.25164370 -0.42986560 -0.07880372
+v -0.29442446 -0.39998013 0.08026133
+v -0.30784758 -0.36999323 -0.19698200
+v -0.33402667 -0.31273674 0.22603443
+v -0.27642571 -0.37291075 0.21017008
+v -0.22492616 -0.42188239 -0.17173264
+v -0.27960902 -0.32640704 -0.31167811
+v -0.39386045 -0.26999231 -0.24024788
+v -0.34125230 -0.21574573 -0.35863574
+v -0.41526208 -0.21704864 -0.25922228
+v -0.42242902 -0.25772427 0.09421770
+v -0.41360417 -0.22995906 0.18448195
+v -0.37854604 -0.31483063 0.10842944
+v -0.40855502 -0.30166497 0.00661051
+v -0.44004723 -0.25589713 -0.08098692
+v -0.29355306 -0.40107579 -0.11192072
+v -0.23680912 -0.43243546 -0.11018172
+v -0.24843020 -0.43018696 0.06726091
+v -0.32405598 -0.38607955 0.02082895
+v -0.35164588 -0.35644917 -0.12501743
+v -0.36502457 -0.25559013 0.25632542
+v -0.23423299 -0.38606554 0.23989228
+v -0.30613375 -0.34092950 0.22405671
+v -0.30648102 -0.37159873 0.15262346
+v -0.22268437 -0.39034828 -0.25953945
+v -0.38144402 -0.25245159 -0.28375556
+v -0.36574386 -0.32787312 -0.18385661
+v -0.28615174 -0.21760454 -0.38807282
+v -0.28058970 -0.28349621 -0.35323413
+v -0.42393884 -0.23865916 -0.21379936
+v -0.43026870 -0.23104323 0.12621471
+v -0.37687622 -0.28535118 0.18375992
+v -0.39361935 -0.30041373 0.09341616
+v -0.42363032 -0.27257802 0.03491448
+v -0.44386475 -0.23183412 -0.15611359
+v -0.28249816 -0.41507691 -0.05246249
+v -0.30920725 -0.38505276 -0.13950620
+v -0.23446413 -0.43106485 0.10962213
+v -0.33701094 -0.37222542 0.05065728
+v -0.27903592 -0.41685937 0.03779953
+v -0.39515739 -0.31473353 0.03468433
+f 10 6 3
+f 10 3 4
+f 11 2 3
+f 11 3 6
+f 16 3 2
+f 17 4 3
+f 17 16 9
+f 17 3 16
+f 19 11 1
+f 19 2 11
+f 19 1 13
+f 20 4 17
+f 29 13 7
+f 30 2 19
+f 32 20 17
+f 33 4 20
+f 35 4 33
+f 37 23 15
+f 37 22 23
+f 38 23 22
+f 38 5 23
+f 38 22 14
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+f 40 13 24
+f 40 39 7
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+f 41 24 13
+f 41 13 1
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+f 44 6 10
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+f 45 6 28
+f 45 1 11
+f 46 27 18
+f 46 18 28
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+f 49 32 12
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+f 49 31 33
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+f 51 32 17
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+f 53 33 31
+f 53 31 5
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+f 61 41 1
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+f 61 47 25
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+f 61 1 45
+f 62 42 25
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+f 62 47 36
+f 62 36 8
+f 63 41 25
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+f 63 42 15
+f 63 15 59
+f 63 59 24
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+f 64 37 15
+f 64 15 42
+f 64 8 36
+f 64 36 56
+f 64 57 37
+f 64 56 34
+f 64 34 57
+f 64 62 8
+f 64 42 62
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b88eb69135630f1485b3520adaf558f69f7b9f8
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23009684 -0.01025951 -0.21969699
+v -0.22326953 0.01900471 -0.44833787
+v -0.22249239 0.37167756 -0.24374927
+v -0.22804487 0.38024351 -0.21823615
+v -0.46147922 -0.01208903 -0.23476979
+v -0.23010322 -0.00908924 -0.43970671
+v -0.44217731 0.12061108 -0.21460669
+v -0.33028705 -0.01073553 -0.40429854
+v -0.45723295 0.06547467 -0.21965874
+v -0.24960711 0.36856256 -0.21259482
+v -0.28285788 -0.00210372 -0.42863713
+v -0.30501356 0.17613108 -0.38493554
+v -0.31120648 -0.01111019 -0.41447206
+v -0.41066045 0.06188304 -0.31557169
+v -0.24798118 0.36391369 -0.22693806
+v -0.27867008 0.10780318 -0.42870971
+v -0.27228724 -0.00811574 -0.42871824
+v -0.43115341 -0.00970146 -0.29767807
+v -0.43912992 0.07584931 -0.25721660
+v -0.34735635 0.19095556 -0.32929459
+v -0.32247275 0.10460854 -0.39877374
+v -0.25189736 0.06850638 -0.44560911
+v -0.22265260 0.23804182 -0.40332175
+v -0.43815529 0.11961543 -0.22705128
+v -0.44197552 0.06144369 -0.25845173
+v -0.33732287 0.29476151 -0.21453456
+v -0.39307574 0.11850640 -0.31271391
+v -0.29268533 0.13517081 -0.41317371
+v -0.30864646 0.07770770 -0.41460795
+v -0.22425773 0.13910312 -0.44880935
+v -0.22245195 0.32627934 -0.31701355
+v -0.38215416 0.23704936 -0.21365130
+v -0.32348671 0.30966218 -0.21366328
+v -0.40777717 0.07599536 -0.31275609
+v -0.36362872 0.16280078 -0.32737878
+v -0.42188296 0.10447905 -0.27064313
+v -0.37937999 0.10337221 -0.34076250
+v -0.30677309 0.14719754 -0.39849770
+v -0.23501874 0.18009181 -0.43051959
+v -0.25264026 0.09437161 -0.44347735
+v -0.25044135 0.16344422 -0.42894897
+v -0.23316049 0.35107676 -0.26952628
+v -0.29132045 0.23441373 -0.35517571
+v -0.33502998 0.26352991 -0.27033374
+v -0.33369278 0.17599257 -0.35731769
+v -0.37816669 0.23532418 -0.22611215
+v -0.33464521 0.15005764 -0.37033519
+v -0.27876923 0.19022033 -0.39839475
+v -0.22483433 0.18215191 -0.43458468
+v -0.23736465 0.13556988 -0.44404400
+v -0.23467878 0.36543234 -0.24093527
+v -0.22271492 0.35507405 -0.27316806
+v -0.29187671 0.30622478 -0.26903998
+v -0.26132324 0.26302882 -0.35556014
+v -0.30415430 0.23370377 -0.34253868
+v -0.33458994 0.29223949 -0.22542280
+v -0.34662201 0.23499210 -0.28613071
+v -0.36283275 0.24902152 -0.24058280
+v -0.23217929 0.23443899 -0.40050922
+v -0.27675411 0.16256423 -0.41345435
+v -0.24792169 0.34964982 -0.25391258
+v -0.27733492 0.33549621 -0.23945221
+v -0.26263031 0.32078840 -0.28355871
+v -0.30481415 0.26293894 -0.31148711
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 9 5 1
+f 9 1 7
+f 10 7 1
+f 10 1 4
+f 11 2 6
+f 13 6 1
+f 13 1 5
+f 13 5 8
+f 15 10 4
+f 15 4 3
+f 17 13 11
+f 17 11 6
+f 17 6 13
+f 18 14 8
+f 18 8 5
+f 21 8 14
+f 22 13 8
+f 22 11 13
+f 22 2 11
+f 24 19 9
+f 24 9 7
+f 25 19 14
+f 25 14 18
+f 25 18 5
+f 25 5 9
+f 25 9 19
+f 29 8 21
+f 29 22 8
+f 29 16 22
+f 29 28 16
+f 29 21 28
+f 30 23 2
+f 30 2 22
+f 31 3 2
+f 31 2 23
+f 32 7 10
+f 32 24 7
+f 33 10 15
+f 33 32 10
+f 33 26 32
+f 34 14 19
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+f 36 19 24
+f 36 24 27
+f 36 34 19
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+f 37 34 27
+f 37 14 34
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+f 40 30 22
+f 40 22 16
+f 41 16 28
+f 45 35 20
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+f 45 43 12
+f 46 35 24
+f 46 24 32
+f 47 38 21
+f 47 21 37
+f 47 37 45
+f 47 45 12
+f 47 12 38
+f 48 12 43
+f 48 38 12
+f 49 23 30
+f 49 41 39
+f 50 40 16
+f 50 30 40
+f 50 16 41
+f 50 49 30
+f 50 41 49
+f 51 15 3
+f 51 3 42
+f 52 42 3
+f 52 3 31
+f 52 31 42
+f 54 31 23
+f 55 45 20
+f 55 43 45
+f 56 26 33
+f 56 53 44
+f 56 33 53
+f 57 20 35
+f 57 35 46
+f 57 55 20
+f 58 46 32
+f 58 32 26
+f 58 26 56
+f 58 56 44
+f 58 57 46
+f 58 44 57
+f 59 39 48
+f 59 49 39
+f 59 23 49
+f 59 54 23
+f 59 48 43
+f 59 43 54
+f 60 48 39
+f 60 39 41
+f 60 41 28
+f 60 28 38
+f 60 38 48
+f 61 51 42
+f 61 15 51
+f 62 53 33
+f 62 33 15
+f 62 15 61
+f 63 42 31
+f 63 31 54
+f 63 61 42
+f 63 62 61
+f 63 53 62
+f 64 54 43
+f 64 43 55
+f 64 63 54
+f 64 53 63
+f 64 44 53
+f 64 57 44
+f 64 55 57
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece3955544cf0539e6a02da9943b287dbc18865d
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_19.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.31657409 0.03523314 0.33593081
+v 0.34478490 0.09560907 0.32387838
+v 0.16279612 0.23225228 0.38410240
+v 0.23138580 0.31552018 0.32077063
+v 0.16176977 0.08509401 0.32374111
+v 0.30590747 0.21200732 0.32354576
+v 0.33931136 0.09408842 0.32641168
+v 0.26620285 0.30405097 0.30543087
+v 0.15952664 0.16126577 0.37295250
+v 0.16384255 0.23216473 0.31060604
+v 0.29188593 0.18413267 0.33740327
+v 0.21820950 0.28778929 0.34538556
+v 0.34140796 0.14009471 0.31860664
+v 0.27004733 0.03487502 0.33642757
+v 0.22139047 0.30524766 0.33520097
+v 0.20247136 0.23125123 0.36881754
+v 0.32639084 0.18503120 0.31897493
+v 0.33464238 0.13771645 0.32320749
+v 0.16330114 0.10632243 0.33984355
+v 0.31474287 0.03533555 0.33617150
+v 0.26079611 0.29877721 0.31360662
+v 0.27531460 0.22704379 0.33587682
+v 0.32036499 0.18247646 0.32310193
+v 0.25815946 0.28415728 0.32370572
+v 0.25910018 0.25530505 0.33649767
+v 0.24400383 0.29749708 0.32534244
+v 0.23201502 0.28437766 0.33974758
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 10 4 8
+f 10 9 3
+f 10 5 9
+f 11 7 2
+f 13 10 8
+f 13 2 5
+f 13 5 10
+f 14 5 1
+f 15 10 3
+f 15 4 10
+f 15 3 12
+f 16 3 7
+f 16 7 11
+f 16 12 3
+f 17 13 8
+f 17 8 6
+f 18 11 2
+f 18 2 13
+f 18 13 17
+f 19 14 9
+f 19 9 5
+f 19 5 14
+f 20 14 1
+f 20 9 14
+f 20 1 3
+f 20 3 9
+f 21 8 4
+f 21 4 15
+f 21 6 8
+f 22 16 11
+f 23 17 6
+f 23 18 17
+f 23 11 18
+f 23 22 11
+f 23 6 22
+f 24 6 21
+f 25 12 16
+f 25 16 22
+f 25 22 6
+f 25 6 24
+f 26 24 21
+f 26 21 15
+f 26 15 24
+f 27 24 15
+f 27 15 12
+f 27 25 24
+f 27 12 25
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa693632a6059cebc57f6b26ed5bd11441a3bbb
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_2.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.26990316 -0.01025951 0.21969695
+v 0.26718425 -0.00691619 -0.40915078
+v 0.25410267 0.37651319 0.23705065
+v 0.02747892 0.35337685 0.21969695
+v 0.02747892 -0.01025951 0.21969695
+v 0.03073212 0.34643306 -0.36290144
+v 0.30021593 0.25487574 -0.27367470
+v 0.02747892 -0.01025951 -0.37121214
+v 0.02747892 0.35337685 -0.23484850
+v 0.26990316 -0.01025951 -0.25000002
+v 0.26990316 0.23216473 0.21969695
+v 0.23838933 0.35187937 -0.23364523
+v 0.23159797 0.22539490 -0.36027313
+v 0.02747892 0.23216473 -0.37121214
+v 0.18562328 0.30875145 -0.32590539
+f 5 1 3
+f 5 3 4
+f 8 1 5
+f 8 5 4
+f 9 4 3
+f 9 8 4
+f 10 7 1
+f 10 2 7
+f 10 8 2
+f 10 1 8
+f 11 7 3
+f 11 3 1
+f 11 1 7
+f 12 3 7
+f 12 9 3
+f 12 6 9
+f 13 7 2
+f 13 2 6
+f 14 6 2
+f 14 2 8
+f 14 9 6
+f 14 8 9
+f 15 12 7
+f 15 7 13
+f 15 13 6
+f 15 6 12
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_20.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..908bd886ff12c8e416b4d2f53df4cdc33de5a968
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.40847803 0.22437325 0.20019119
+v 0.42501683 0.22614242 -0.06502222
+v 0.37431477 0.32503032 0.09596184
+v 0.23360472 0.43079872 0.14135127
+v 0.23960013 0.23216473 -0.23484850
+v 0.25672636 0.39521835 -0.13586954
+v 0.30398763 0.36532867 0.19501626
+v 0.41881715 0.25250239 0.12447655
+v 0.36370246 0.22542291 -0.21072318
+v 0.23960013 0.23216473 0.21969695
+v 0.34549765 0.35320132 -0.03469438
+v 0.23235637 0.37161161 -0.21091019
+v 0.30324144 0.39655915 0.09648221
+v 0.42416648 0.22557602 0.15539921
+v 0.40440072 0.28122140 -0.01855241
+v 0.35904007 0.32346587 0.16775066
+v 0.40825092 0.22532722 -0.12337219
+v 0.23284936 0.40243401 0.21450229
+v 0.34384235 0.30764243 -0.14929493
+v 0.23248219 0.43094724 -0.06528470
+v 0.35238864 0.22606133 -0.22926011
+v 0.28828701 0.39457592 0.15327223
+v 0.38897544 0.31043408 0.06630084
+v 0.41914510 0.25268986 -0.03454728
+v 0.37216632 0.28075996 0.20938174
+v 0.40246259 0.28020265 0.12467021
+v 0.34445819 0.35359540 0.12602618
+v 0.23159771 0.41706945 0.18371200
+v 0.32923399 0.35204691 -0.09288074
+v 0.29996243 0.33697837 -0.17882111
+v 0.35897832 0.26415284 -0.17949204
+v 0.23178743 0.41504499 -0.12323104
+v 0.25977666 0.42601716 -0.00652506
+v 0.23323439 0.35911657 -0.22882371
+v 0.27430925 0.41112122 0.12457716
+v 0.27380820 0.38024266 0.20864096
+v 0.30137968 0.39803348 -0.00496192
+v 0.38923245 0.30979975 0.02500873
+v 0.41907804 0.23951553 -0.06326273
+v 0.38649153 0.28138437 -0.09304514
+v 0.35777920 0.30864324 0.19689660
+v 0.40216976 0.25148222 0.18002940
+v 0.39881970 0.22813043 0.21610261
+v 0.31526185 0.38171736 0.12373166
+v 0.30034646 0.38127601 0.16743062
+v 0.24343204 0.42602832 0.13989071
+v 0.25673341 0.36519969 -0.19352787
+v 0.34402140 0.32393716 -0.12020612
+v 0.28630982 0.38052977 -0.12090065
+v 0.32920474 0.29449845 -0.19389887
+v 0.25926362 0.42606035 0.06717576
+v 0.24444043 0.41015375 0.18235170
+v 0.31469810 0.38200570 -0.03320960
+v 0.27326341 0.41106489 -0.05064325
+v 0.37409396 0.32468811 -0.00527701
+v 0.38792954 0.29749348 -0.04828496
+v 0.40344096 0.23541458 -0.12231167
+v 0.38762580 0.26389861 -0.12068920
+v 0.40358541 0.23804837 0.19592329
+v 0.41852270 0.23792275 0.15339368
+v 0.24369310 0.35512410 -0.22363427
+v 0.31434139 0.32283689 -0.17753147
+v 0.37215257 0.29421118 -0.10689719
+v 0.28591682 0.36600171 -0.15033136
+f 10 9 1
+f 10 5 9
+f 12 5 10
+f 14 1 2
+f 14 2 8
+f 17 2 1
+f 17 1 9
+f 21 9 5
+f 23 13 3
+f 23 8 15
+f 24 15 8
+f 24 8 2
+f 26 3 16
+f 26 23 3
+f 26 8 23
+f 27 16 3
+f 27 3 13
+f 28 12 10
+f 28 10 18
+f 28 4 20
+f 31 9 21
+f 32 6 12
+f 32 28 20
+f 32 12 28
+f 33 20 4
+f 34 21 5
+f 34 5 12
+f 35 22 13
+f 36 25 7
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+f 38 23 15
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+f 45 44 22
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+f 51 13 33
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+f 51 33 4
+f 51 4 46
+f 52 28 18
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+f 52 45 22
+f 52 46 28
+f 52 22 46
+f 53 37 11
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+f 53 29 49
+f 54 20 33
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+f 54 53 49
+f 54 37 53
+f 54 32 20
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+f 54 6 32
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+f 56 55 15
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+f 56 48 29
+f 56 29 11
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+f 57 39 17
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+f 57 9 31
+f 58 31 19
+f 58 57 31
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+f 59 42 25
+f 59 1 14
+f 59 43 1
+f 59 25 43
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+f 60 8 26
+f 60 26 42
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+f 61 34 12
+f 61 12 47
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+f 61 21 34
+f 62 48 19
+f 62 30 48
+f 62 50 30
+f 62 19 50
+f 63 19 48
+f 63 58 19
+f 63 40 58
+f 63 56 40
+f 63 48 56
+f 64 49 48
+f 64 48 30
+f 64 30 47
+f 64 47 6
+f 64 6 49
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f00b7679c286778ae4f7dc6e43c493f230d22cf0
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23009684 -0.23753223 0.26515149
+v -0.23009684 -0.23753223 -0.20454547
+v -0.23009684 0.20186170 -0.21969699
+v -0.36698901 0.21290020 0.27433058
+v -0.36213652 -0.24563467 0.27224719
+v -0.23009684 0.20186170 0.26515149
+v -0.38427627 0.22151133 -0.23239018
+v -0.23009684 -0.01025951 -0.21969699
+v -0.35130896 -0.23753223 -0.20454547
+v -0.35130896 -0.01025951 -0.21969699
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 5 4
+f 7 6 3
+f 7 4 6
+f 8 7 3
+f 8 3 2
+f 9 2 5
+f 9 5 7
+f 9 8 2
+f 10 9 7
+f 10 7 8
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3285f21f0f3986690c245899930802515f6ce4c4
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_22.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02747892 -0.01025951 -0.23484850
+v 0.02747892 -0.01025951 -0.35606062
+v 0.03415683 0.33823703 -0.37048447
+v -0.25621203 0.34266414 -0.25556917
+v -0.23009684 -0.01025951 -0.35606062
+v 0.02747892 0.30792231 -0.23484850
+v -0.23009684 -0.01025951 -0.23484850
+v -0.25512886 0.22953716 -0.38768734
+v -0.22824027 0.30517263 -0.33799125
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
+f 9 8 4
+f 9 4 3
+f 9 3 8
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_23.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a9e99dd5cd27b70bc4168eee1a79e16a97f2d3
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_23.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.24675924 -0.22304773 0.40932665
+v -0.22378087 -0.20166601 0.43503569
+v -0.30709922 -0.08096599 0.43026455
+v -0.25149254 0.19295688 0.41988121
+v -0.22455308 0.04883368 0.47855585
+v -0.34228749 0.10844527 0.37837543
+v -0.27678986 -0.15558433 0.42788324
+v -0.22363435 0.16568228 0.45004958
+v -0.34197142 -0.14266906 0.37592010
+v -0.31591843 0.16855597 0.38133058
+v -0.30556646 0.03286361 0.43242556
+v -0.26495539 -0.19755897 0.41377375
+v -0.22484812 -0.06866988 0.47902418
+v -0.22413811 -0.14108844 0.46216260
+v -0.32113909 -0.13975323 0.39887077
+v -0.32690264 0.15218726 0.37786858
+v -0.30125296 -0.20374000 0.38088595
+v -0.29080789 0.10463062 0.43021445
+v -0.23634012 -0.19657606 0.43156158
+v -0.26470396 -0.08375599 0.45836319
+v -0.29253285 -0.12355110 0.42914159
+v -0.33419486 -0.14000110 0.38595587
+v -0.32719405 -0.17288331 0.37720288
+v -0.27765998 -0.18025402 0.41514573
+v -0.26306218 0.16342710 0.42839253
+v -0.29178578 0.14899095 0.41355076
+v -0.33525820 0.10563756 0.38714829
+v -0.26509104 0.04851635 0.45837539
+v -0.23505377 -0.14093716 0.45766019
+v -0.27870480 -0.11036246 0.44300042
+v -0.31983994 -0.16812721 0.38622377
+v -0.23702033 0.12102577 0.46015523
+v -0.23634056 0.16372780 0.44403807
+v -0.32021188 0.15004911 0.38605322
+v -0.26320132 0.12297785 0.44361073
+v -0.30934114 0.16523120 0.38980302
+v -0.27813635 0.07718743 0.44577993
+v -0.23708407 -0.06951471 0.47424354
+v -0.26326141 -0.13829824 0.44296690
+v -0.25112118 0.09155704 0.45943808
+v -0.22547163 0.12199574 0.46552061
+v -0.24922998 0.14779696 0.44410688
+v -0.23657953 0.04754729 0.47381082
+f 2 1 4
+f 8 2 4
+f 9 3 6
+f 10 4 1
+f 11 6 3
+f 14 8 5
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+f 14 5 13
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+f 17 10 1
+f 17 16 10
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+f 19 1 2
+f 20 11 3
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+f 22 3 9
+f 23 9 16
+f 23 16 17
+f 23 22 9
+f 23 15 22
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+f 29 2 14
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+f 30 3 21
+f 30 29 20
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+f 33 4 25
+f 34 10 16
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+f 35 26 18
+f 36 26 25
+f 36 25 4
+f 36 4 10
+f 36 34 26
+f 36 10 34
+f 37 18 11
+f 37 11 28
+f 37 35 18
+f 38 28 20
+f 38 13 5
+f 38 20 29
+f 38 29 14
+f 38 14 13
+f 39 30 7
+f 39 7 29
+f 39 29 30
+f 40 37 28
+f 40 32 35
+f 40 35 37
+f 41 5 8
+f 41 32 40
+f 42 8 33
+f 42 41 8
+f 42 32 41
+f 42 33 25
+f 42 35 32
+f 42 25 26
+f 42 26 35
+f 43 38 5
+f 43 28 38
+f 43 40 28
+f 43 41 40
+f 43 5 41
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6639396f6213953310c02d6e29dc39f0fca06e79
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_24.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.08696322 -0.44520284 0.21748596
+v 0.37277649 -0.26574757 0.21803513
+v 0.18566989 -0.34296972 0.32627456
+v 0.02640003 -0.26648731 0.42746971
+v 0.02747892 -0.26783526 0.21969695
+v 0.27600118 -0.26101393 0.32971032
+v 0.02560234 -0.40565032 0.31697125
+v 0.26050450 -0.37471544 0.21405310
+v 0.14194021 -0.31688771 0.36774269
+v 0.06918682 -0.26287532 0.41696156
+v 0.36468357 -0.25849814 0.24078387
+v 0.15317263 -0.38694842 0.29745049
+v 0.03152022 -0.45322064 0.22845784
+v 0.02445153 -0.29121289 0.41685873
+v 0.30042497 -0.29788766 0.28095350
+v 0.31865781 -0.33090011 0.21162023
+v 0.23093854 -0.31369413 0.32279670
+v 0.15709154 -0.26155764 0.38559188
+v 0.08307262 -0.36035253 0.35425915
+v 0.17134962 -0.41522749 0.22713843
+v 0.02616976 -0.42266996 0.29002262
+v 0.02428252 -0.31870341 0.40088774
+v 0.06793542 -0.27584010 0.41255941
+v 0.24323832 -0.35680461 0.26806888
+v 0.36611620 -0.27544440 0.21504567
+v 0.32954621 -0.31269122 0.22301544
+v 0.12930425 -0.43426278 0.21483063
+v 0.27237032 -0.27366156 0.32373195
+v 0.15421726 -0.27434017 0.38170552
+v 0.06865172 -0.40122569 0.31304347
+v 0.12741786 -0.36239250 0.33738914
+v 0.11135714 -0.32913371 0.36931269
+v 0.03910333 -0.31716537 0.39806289
+v 0.09707060 -0.28914135 0.39716081
+v 0.31291722 -0.32810996 0.22521005
+v 0.25728655 -0.37158616 0.22596317
+v 0.18455279 -0.37132915 0.29540271
+v 0.22870300 -0.34264679 0.29653910
+v 0.35718258 -0.26926847 0.23896838
+v 0.33212971 -0.31625275 0.21286226
+v 0.17346532 -0.41865453 0.21475491
+v 0.15537261 -0.41618061 0.23996011
+v 0.08421512 -0.38579413 0.32707721
+v 0.08258805 -0.41511342 0.28427668
+v 0.15731628 -0.34547945 0.33924800
+v 0.06453651 -0.32889778 0.38295951
+v 0.13999762 -0.28987884 0.38066739
+v 0.03762035 -0.28934049 0.41424881
+v 0.25612584 -0.35622922 0.25543325
+v 0.12816453 -0.43011915 0.22706218
+v 0.12613423 -0.38645114 0.31145251
+v 0.09922951 -0.43189998 0.24213669
+v 0.11368677 -0.41458905 0.26984321
+f 10 5 4
+f 11 2 5
+f 11 5 10
+f 13 5 1
+f 14 4 5
+f 15 11 6
+f 17 9 3
+f 17 6 9
+f 18 11 10
+f 18 6 11
+f 21 7 5
+f 21 5 13
+f 22 14 5
+f 22 5 7
+f 22 7 19
+f 23 10 4
+f 23 4 14
+f 24 12 20
+f 25 16 5
+f 25 5 2
+f 26 25 2
+f 27 1 5
+f 27 5 16
+f 28 17 15
+f 28 15 6
+f 28 6 17
+f 29 9 6
+f 29 6 18
+f 30 7 21
+f 32 31 9
+f 32 19 31
+f 33 14 22
+f 33 32 9
+f 34 18 10
+f 34 10 23
+f 34 29 18
+f 34 33 9
+f 35 26 15
+f 35 16 26
+f 36 24 20
+f 36 20 8
+f 36 8 16
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+f 37 3 12
+f 37 12 24
+f 38 17 3
+f 38 37 24
+f 38 3 37
+f 38 24 15
+f 38 15 17
+f 39 11 15
+f 39 15 26
+f 39 26 2
+f 39 2 11
+f 40 26 16
+f 40 16 25
+f 40 25 26
+f 41 27 16
+f 41 16 8
+f 41 8 20
+f 41 20 27
+f 42 27 20
+f 42 20 12
+f 43 19 7
+f 43 7 30
+f 43 31 19
+f 44 30 21
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+f 45 31 12
+f 45 12 3
+f 45 3 9
+f 45 9 31
+f 46 33 22
+f 46 22 19
+f 46 19 32
+f 46 32 33
+f 47 34 9
+f 47 9 29
+f 47 29 34
+f 48 34 23
+f 48 23 14
+f 48 14 33
+f 48 33 34
+f 49 35 15
+f 49 15 24
+f 49 36 35
+f 49 24 36
+f 50 1 27
+f 50 27 42
+f 51 43 30
+f 51 12 31
+f 51 31 43
+f 51 44 12
+f 51 30 44
+f 52 44 13
+f 52 13 1
+f 52 1 50
+f 52 50 42
+f 53 42 12
+f 53 12 44
+f 53 52 42
+f 53 44 52
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_25.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ac711cf0bbc0d222b0985da10027aa3212148a
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_25.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.18906033 0.31487763 -0.31769200
+v 0.21794362 0.34943313 -0.25538040
+v -0.25621203 0.34266414 -0.25556917
+v -0.08973476 0.43185061 -0.22917235
+v 0.05260717 0.39611822 -0.29843470
+v 0.02747892 0.30792231 -0.23484850
+v 0.14073204 0.36654027 -0.29734686
+v 0.08438745 0.43101191 -0.22761914
+v -0.22824027 0.30517263 -0.33799125
+v -0.22536650 0.37616764 -0.23092871
+v 0.18201600 0.36687564 -0.26624000
+v 0.03415683 0.33823703 -0.37048447
+v -0.05915969 0.42623706 -0.25742656
+v 0.09704089 0.39571097 -0.28170305
+v 0.18902758 0.38878093 -0.22683246
+v 0.17199033 0.31273674 -0.33203582
+v -0.20373929 0.35064857 -0.29838233
+v 0.18389929 0.32472466 -0.31182076
+v 0.04031864 0.42630972 -0.25512391
+v -0.06179485 0.38070031 -0.32820873
+v 0.08314269 0.36589222 -0.32622835
+v 0.18640802 0.38211088 -0.24005628
+v 0.12473299 0.41135658 -0.24052329
+v -0.20859068 0.38665097 -0.22930467
+v -0.21874716 0.35061917 -0.28456567
+v -0.14686814 0.39415157 -0.27052768
+v 0.16850212 0.33677033 -0.31066842
+v 0.16685557 0.32330319 -0.32593291
+v 0.08301547 0.42478376 -0.23973738
+v -0.01948341 0.38333162 -0.32546869
+v -0.11758922 0.36809304 -0.32886108
+v 0.10968595 0.38050979 -0.29643203
+v 0.15772518 0.38122619 -0.26586464
+v 0.12738338 0.41649421 -0.22828926
+v -0.21939965 0.32098510 -0.32619455
+v -0.22114174 0.36616040 -0.25552412
+v -0.10265566 0.40887247 -0.27056918
+v -0.17947011 0.40126863 -0.22933837
+v 0.02419234 0.41136495 -0.28375002
+v -0.16232705 0.35240561 -0.32612179
+v -0.20654442 0.38234586 -0.24124608
+v -0.08909946 0.42623797 -0.24262391
+v -0.09028188 0.39657967 -0.29903418
+v -0.06103148 0.41085584 -0.28542604
+v -0.17388239 0.36480363 -0.29963305
+v -0.17688682 0.39677581 -0.24164316
+f 6 1 2
+f 9 6 3
+f 10 3 6
+f 15 6 2
+f 16 1 6
+f 16 6 9
+f 16 9 12
+f 18 11 2
+f 18 2 1
+f 19 14 5
+f 19 13 4
+f 19 4 8
+f 21 12 5
+f 21 5 14
+f 22 15 2
+f 22 2 11
+f 24 10 6
+f 24 6 15
+f 24 15 8
+f 27 7 11
+f 27 11 18
+f 28 18 1
+f 28 1 16
+f 28 27 18
+f 28 7 27
+f 28 21 7
+f 28 16 12
+f 28 12 21
+f 29 19 8
+f 29 14 19
+f 29 23 14
+f 29 8 23
+f 30 5 12
+f 30 12 20
+f 31 20 12
+f 31 12 9
+f 32 21 14
+f 32 7 21
+f 33 22 11
+f 33 11 7
+f 33 7 32
+f 33 32 14
+f 33 14 23
+f 33 23 15
+f 33 15 22
+f 34 23 8
+f 34 8 15
+f 34 15 23
+f 35 25 17
+f 35 9 3
+f 35 3 25
+f 36 25 3
+f 36 3 10
+f 38 24 8
+f 38 8 4
+f 39 19 5
+f 39 5 30
+f 39 13 19
+f 40 26 31
+f 40 35 17
+f 40 31 9
+f 40 9 35
+f 41 36 10
+f 41 10 24
+f 41 24 38
+f 41 17 25
+f 41 25 36
+f 42 37 26
+f 42 4 13
+f 42 13 37
+f 42 38 4
+f 43 31 26
+f 43 26 37
+f 43 20 31
+f 44 39 30
+f 44 30 20
+f 44 13 39
+f 44 20 43
+f 44 43 37
+f 44 37 13
+f 45 40 17
+f 45 26 40
+f 45 17 41
+f 46 41 38
+f 46 45 41
+f 46 26 45
+f 46 42 26
+f 46 38 42
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165e64bfbcdfeee6e06b57ef19247e1d9e009c44
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_26.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.05435604 -0.43720105 -0.22818350
+v 0.37128744 -0.23454832 -0.23145576
+v 0.34949023 -0.27501246 -0.22469270
+v -0.09373320 -0.23753223 -0.23484850
+v 0.08521065 -0.22943827 -0.43749026
+v 0.36572307 -0.24666363 -0.22844073
+v -0.09265497 -0.43941504 -0.23080599
+v 0.34748300 -0.23025994 -0.26952915
+v 0.18259919 -0.32639130 -0.32569072
+v 0.00702024 -0.37167501 -0.34349960
+v -0.10163660 -0.24428035 -0.40632899
+v 0.21732432 -0.22800681 -0.38763744
+v 0.36526886 -0.23195522 -0.24234231
+v 0.34338739 -0.27062330 -0.23789355
+v 0.24694362 -0.36203674 -0.22709842
+v -0.01863287 -0.41607882 -0.28578659
+v 0.06418104 -0.37284745 -0.32537154
+v 0.01144215 -0.23136247 -0.43290687
+v -0.09247772 -0.34562247 -0.37210021
+v 0.11423568 -0.29959650 -0.38331658
+v 0.34272610 -0.24065914 -0.26675754
+v 0.11274674 -0.42046369 -0.22764457
+v 0.28717924 -0.32640320 -0.23900114
+v -0.00452510 -0.43074309 -0.25673055
+v 0.03788787 -0.40106897 -0.29706204
+v -0.09219482 -0.38780048 -0.32710578
+v -0.09056570 -0.29266950 -0.40182027
+v -0.00269506 -0.33183327 -0.38278588
+v 0.20082929 -0.27071825 -0.36736764
+v 0.14525006 -0.23102630 -0.42169394
+v 0.15439300 -0.31265915 -0.35526512
+v 0.06742159 -0.32744116 -0.37180685
+v 0.27220074 -0.23892857 -0.34135532
+v 0.18561499 -0.37078079 -0.26749488
+v 0.29134378 -0.33139363 -0.22646959
+v -0.06008389 -0.43185559 -0.25544800
+v -0.00528047 -0.38689913 -0.32799076
+v 0.05375025 -0.41548928 -0.26739264
+v -0.09123973 -0.27879452 -0.40627674
+v -0.07397841 -0.30491524 -0.40014364
+v 0.06933881 -0.27094554 -0.41489747
+v 0.15520358 -0.29744713 -0.36871395
+v 0.18139560 -0.24311365 -0.39840435
+v 0.14344755 -0.35606622 -0.31074691
+v 0.18480064 -0.31239669 -0.33898712
+v 0.00772203 -0.34485387 -0.36974403
+v 0.27473994 -0.23097379 -0.34416245
+v 0.24153983 -0.25558120 -0.35353225
+v 0.18845123 -0.39238179 -0.22770738
+v 0.22906124 -0.32565591 -0.29585679
+v 0.24184092 -0.35723569 -0.24194209
+v -0.06026916 -0.41614866 -0.28717082
+v 0.11061958 -0.41499183 -0.23979920
+v -0.01723879 -0.23665175 -0.42653437
+v 0.01071666 -0.24670081 -0.42806780
+v -0.06041376 -0.33036348 -0.38574960
+v 0.09859408 -0.28493246 -0.39952764
+v 0.14384581 -0.24144126 -0.41519419
+v 0.18733831 -0.23006133 -0.40280148
+v 0.21554154 -0.24222275 -0.38104906
+v 0.17168136 -0.35565616 -0.29721534
+v 0.22968827 -0.28149874 -0.34028337
+v 0.21372541 -0.35672261 -0.26782341
+v -0.09166538 -0.43398855 -0.24444016
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 6
+f 11 7 4
+f 12 5 4
+f 12 4 8
+f 13 8 4
+f 13 4 2
+f 13 2 8
+f 14 6 3
+f 18 11 4
+f 18 4 5
+f 21 8 6
+f 21 6 14
+f 22 15 3
+f 22 3 1
+f 23 14 3
+f 24 1 7
+f 25 24 16
+f 26 7 11
+f 26 11 19
+f 27 19 11
+f 30 5 12
+f 32 17 10
+f 32 31 17
+f 32 20 31
+f 33 8 21
+f 33 21 14
+f 33 14 23
+f 35 23 3
+f 35 3 15
+f 36 24 7
+f 37 25 16
+f 37 10 17
+f 37 17 25
+f 37 26 19
+f 37 19 10
+f 38 1 24
+f 38 24 25
+f 39 27 11
+f 40 19 27
+f 40 27 39
+f 42 31 20
+f 43 29 42
+f 44 31 9
+f 44 17 31
+f 44 25 17
+f 45 9 31
+f 45 42 29
+f 45 31 42
+f 46 32 10
+f 46 28 32
+f 46 10 19
+f 46 19 28
+f 47 12 8
+f 47 8 33
+f 49 15 22
+f 50 9 45
+f 51 35 15
+f 51 23 35
+f 51 50 23
+f 51 15 49
+f 52 16 24
+f 52 24 36
+f 52 37 16
+f 52 26 37
+f 53 22 1
+f 53 1 38
+f 53 49 22
+f 53 34 49
+f 53 38 25
+f 54 39 11
+f 54 11 18
+f 54 18 39
+f 55 18 5
+f 55 5 40
+f 55 40 39
+f 55 39 18
+f 56 28 19
+f 56 19 40
+f 56 41 28
+f 56 40 5
+f 56 5 41
+f 57 32 28
+f 57 28 41
+f 57 20 32
+f 57 41 5
+f 57 5 30
+f 58 42 20
+f 58 43 42
+f 58 30 43
+f 58 57 30
+f 58 20 57
+f 59 43 30
+f 59 30 12
+f 60 29 43
+f 60 33 48
+f 60 47 33
+f 60 12 47
+f 60 59 12
+f 60 43 59
+f 61 44 9
+f 61 34 53
+f 61 53 25
+f 61 25 44
+f 61 9 50
+f 62 50 45
+f 62 45 29
+f 62 48 33
+f 62 33 23
+f 62 23 50
+f 62 60 48
+f 62 29 60
+f 63 50 51
+f 63 61 50
+f 63 34 61
+f 63 51 49
+f 63 49 34
+f 64 52 36
+f 64 36 7
+f 64 7 26
+f 64 26 52
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2348cb3f1c157499be3010a8ac552fb430b6818
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_27.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.34507741 0.23176843 -0.23449329
+v 0.33351695 0.22611245 -0.25622844
+v 0.28922807 0.31230473 -0.22660981
+v 0.19306579 0.38185780 -0.23382669
+v 0.19414559 0.23216473 -0.23484850
+v 0.19251172 0.23074226 -0.38420831
+v 0.32954996 0.25207750 -0.23898014
+v 0.33467873 0.25562467 -0.22771746
+v 0.21748258 0.37135593 -0.22659333
+v 0.18610168 0.37139355 -0.25518648
+v 0.21541513 0.22403603 -0.37357463
+v 0.33024561 0.23520630 -0.25362646
+v 0.27490366 0.32730517 -0.22532314
+v 0.30391645 0.29728622 -0.22668576
+v 0.18690720 0.25273828 -0.37258565
+v 0.21133716 0.36679896 -0.23956393
+v 0.28403480 0.25053350 -0.29524813
+v 0.19584754 0.25138719 -0.36835442
+v 0.19895395 0.36701793 -0.25036937
+v 0.28475730 0.30807549 -0.23679127
+v 0.29932782 0.26466460 -0.26556484
+v 0.23993174 0.26481444 -0.32523305
+v 0.21105433 0.30676508 -0.31050932
+v 0.26995542 0.32269736 -0.23699187
+v 0.29969306 0.29261749 -0.23659048
+v 0.27016075 0.25039048 -0.30880362
+v 0.21149492 0.23628632 -0.36791666
+v 0.22623729 0.27901640 -0.32463843
+v 0.22783393 0.32369311 -0.27828274
+f 5 2 1
+f 8 5 1
+f 8 1 7
+f 9 4 5
+f 10 5 4
+f 11 2 5
+f 11 5 6
+f 12 7 1
+f 12 1 2
+f 13 5 8
+f 13 9 5
+f 14 8 7
+f 14 13 8
+f 14 3 13
+f 15 6 5
+f 15 5 10
+f 16 4 9
+f 16 9 13
+f 17 12 2
+f 17 2 11
+f 18 11 6
+f 18 6 15
+f 19 10 4
+f 19 4 16
+f 20 3 14
+f 21 14 7
+f 21 7 12
+f 21 12 17
+f 21 17 20
+f 22 20 17
+f 23 18 15
+f 23 15 10
+f 24 13 3
+f 24 3 20
+f 24 20 22
+f 24 16 13
+f 25 21 20
+f 25 20 14
+f 25 14 21
+f 26 22 17
+f 26 17 11
+f 26 11 22
+f 27 22 11
+f 27 11 18
+f 27 18 22
+f 28 22 18
+f 28 18 23
+f 29 23 10
+f 29 10 19
+f 29 19 16
+f 29 16 24
+f 29 28 23
+f 29 24 22
+f 29 22 28
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c24f5914d235ae9e6cda15ad08fe0301546060
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02747892 -0.26783526 0.00757574
+v 0.02747892 -0.26783526 -0.23484850
+v 0.02747892 0.35337685 0.00757574
+v -0.23009684 0.35337685 0.00757574
+v -0.23009684 -0.26783526 0.00757574
+v -0.23683997 0.36468986 -0.23964934
+v 0.02747892 0.35337685 -0.23484850
+v -0.23009684 -0.26783526 -0.23484850
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_29.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6218a09b601a700195aa2129a1bb30f426f49f
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.30535789 -0.30683876 0.26337843
+v 0.29885943 -0.29522103 -0.26634083
+v 0.26990316 -0.01025951 0.23484846
+v 0.02747892 -0.01025951 0.23484846
+v 0.02747892 -0.26783526 -0.23484850
+v 0.26990316 -0.01025951 -0.23484850
+v 0.02747892 -0.26783526 0.23484846
+v 0.02747892 -0.01025951 -0.23484850
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61aab485d42ee95a7c8136df488b7790ab151dd
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36416474 0.22573231 0.26864945
+v 0.39881970 0.22813043 0.21610261
+v 0.14337501 0.44630543 0.21257675
+v -0.04631743 0.44539326 0.24388815
+v -0.23009684 0.23216473 0.24999998
+v -0.03591806 0.25446287 0.44323428
+v 0.30132253 0.35134990 0.22379429
+v 0.39429014 0.22512557 0.22724263
+v 0.02747892 0.23216473 0.21969695
+v -0.20822085 0.38630741 0.24357092
+v 0.06990972 0.36761574 0.35483540
+v -0.14975026 0.22448400 0.44805848
+v 0.33354198 0.32664146 0.21110205
+v 0.02734300 0.46470048 0.21599980
+v 0.19667875 0.38123534 0.28258314
+v 0.18680973 0.27129441 0.36772568
+v -0.00672128 0.22770102 0.44824813
+v -0.22271271 0.22312399 0.41845752
+v -0.13181580 0.35153667 0.35677928
+v 0.26164386 0.38529278 0.21295567
+v 0.37752182 0.26936445 0.21238796
+v 0.34328248 0.26542933 0.26615779
+v -0.14800147 0.41594012 0.24440347
+v 0.06999691 0.42618342 0.28454764
+v 0.14120912 0.34217682 0.35233401
+v 0.33472794 0.22634684 0.29758380
+v -0.10586189 0.25282824 0.44388590
+v -0.22564107 0.37551705 0.24612796
+v -0.16124906 0.29372303 0.39895299
+v 0.30571807 0.35420729 0.21181294
+v 0.26034285 0.38002256 0.22555988
+v 0.39305911 0.24073825 0.21451901
+v 0.34421105 0.29376696 0.23829479
+v 0.37555978 0.25195508 0.23681992
+v 0.24178304 0.34120780 0.29289277
+v -0.10466119 0.43158977 0.24445226
+v -0.17464597 0.36471785 0.31291695
+v 0.08300953 0.45499711 0.22791532
+v 0.14101585 0.42606505 0.25396802
+v -0.03157885 0.42476659 0.28566151
+v 0.11150887 0.39798714 0.31074337
+v 0.12712022 0.32665614 0.36816648
+v 0.20247136 0.23125123 0.36881754
+v 0.33148197 0.23921485 0.29454383
+v -0.07610309 0.33940048 0.38471776
+v -0.18970575 0.23517194 0.42857940
+v 0.32895592 0.32274523 0.22531894
+v 0.35966040 0.23835962 0.26623158
+v 0.37330420 0.26557741 0.22465697
+v 0.38874137 0.23911365 0.22503975
+v 0.19984397 0.33868347 0.32513334
+v 0.24287844 0.35164524 0.28142801
+v 0.31558846 0.26605111 0.29320272
+v -0.13315668 0.41028990 0.27026077
+v -0.20497199 0.38172239 0.25666739
+v -0.18876653 0.33515264 0.34227510
+v 0.08590990 0.46007522 0.21414537
+v 0.02755386 0.45973604 0.22917325
+v 0.08767022 0.44213867 0.25304625
+v 0.14246312 0.44020348 0.22580125
+v -0.02999704 0.39695407 0.32745142
+v 0.11156387 0.35389526 0.35519229
+v 0.17018853 0.39534099 0.28117096
+v 0.04116930 0.39720340 0.32729750
+f 9 8 5
+f 9 2 8
+f 10 9 5
+f 12 8 1
+f 13 9 3
+f 14 9 10
+f 18 5 8
+f 18 8 12
+f 21 9 13
+f 23 14 10
+f 26 17 12
+f 26 12 1
+f 27 17 6
+f 27 12 17
+f 28 10 5
+f 28 5 18
+f 30 13 3
+f 30 3 20
+f 31 30 20
+f 31 7 30
+f 31 20 3
+f 32 2 9
+f 32 9 21
+f 34 1 8
+f 34 33 22
+f 34 32 21
+f 36 4 14
+f 36 14 23
+f 39 15 31
+f 42 17 16
+f 42 6 17
+f 43 26 16
+f 43 16 17
+f 43 17 26
+f 44 26 1
+f 44 16 26
+f 45 27 6
+f 45 6 11
+f 45 29 27
+f 45 19 29
+f 46 29 18
+f 46 18 12
+f 46 12 27
+f 46 27 29
+f 47 30 7
+f 47 13 30
+f 47 33 21
+f 47 21 13
+f 48 34 22
+f 48 1 34
+f 48 44 1
+f 48 22 44
+f 49 34 21
+f 49 21 33
+f 49 33 34
+f 50 34 8
+f 50 8 2
+f 50 2 32
+f 50 32 34
+f 51 42 16
+f 51 25 42
+f 51 41 25
+f 51 15 41
+f 52 31 15
+f 52 51 35
+f 52 15 51
+f 52 7 31
+f 52 47 7
+f 52 35 47
+f 53 22 33
+f 53 47 35
+f 53 33 47
+f 53 44 22
+f 53 35 51
+f 53 51 16
+f 53 16 44
+f 54 36 23
+f 54 37 19
+f 54 40 4
+f 54 4 36
+f 55 10 28
+f 55 28 37
+f 55 37 54
+f 55 54 23
+f 55 23 10
+f 56 29 19
+f 56 19 37
+f 56 18 29
+f 56 37 28
+f 56 28 18
+f 57 38 3
+f 57 3 9
+f 57 9 14
+f 58 40 24
+f 58 14 4
+f 58 4 40
+f 58 57 14
+f 58 38 57
+f 59 41 39
+f 59 24 41
+f 59 58 24
+f 59 38 58
+f 59 3 38
+f 60 39 31
+f 60 31 3
+f 60 59 39
+f 60 3 59
+f 61 24 40
+f 61 19 45
+f 61 54 19
+f 61 40 54
+f 62 41 11
+f 62 25 41
+f 62 42 25
+f 62 11 6
+f 62 6 42
+f 63 41 15
+f 63 15 39
+f 63 39 41
+f 64 41 24
+f 64 11 41
+f 64 24 61
+f 64 61 45
+f 64 45 11
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5469b65db165c7be9bac0a5c804afd0a36b8a5e
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23960013 -0.23753223 -0.23484850
+v 0.24393642 -0.24129590 -0.36101476
+v 0.27772676 -0.00248505 -0.40006769
+v -0.09373320 -0.01025951 -0.23484850
+v -0.09373320 -0.23753223 -0.23484850
+v 0.23960013 -0.01025951 -0.23484850
+v -0.11013180 -0.22112403 -0.40109822
+v -0.10046783 -0.02892088 -0.38109065
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_31.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b745e6ca8f835fb1838d47c982491d55813c1db
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02747892 0.23216473 0.24999998
+v 0.02747892 0.23216473 0.00757574
+v 0.02747892 0.35337685 0.00757574
+v -0.23633900 0.36376705 0.25571972
+v -0.23009684 0.23216473 0.24999998
+v -0.23009684 0.23216473 0.00757574
+v 0.02747892 0.35337685 0.24999998
+v -0.23009684 0.35337685 0.00757574
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_4.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6a777e36ddeca6611a45ca8833e444d5bf7e746
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.01519502 -0.31254063 -0.39618032
+v 0.30764015 -0.11463520 -0.36303553
+v -0.23009684 -0.01025951 -0.35606062
+v -0.07685549 0.37383126 -0.33314633
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+v 0.24393642 -0.24129590 -0.36101476
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+v -0.22998806 0.00289819 -0.44189777
+v -0.09702024 -0.30732135 -0.39344719
+v 0.14338555 -0.08312655 -0.47334010
+v 0.02400931 0.30813493 -0.40099684
+v -0.22420827 0.31269855 -0.33290255
+v -0.23010322 -0.00908924 -0.43970671
+v 0.22549493 -0.16962632 -0.41345180
+v 0.24208320 0.07616192 -0.41391892
+v 0.04414290 -0.16918760 -0.46034414
+v 0.13895521 0.20595833 -0.42803618
+v 0.08478854 0.35962825 -0.33254699
+v 0.17199033 0.31273674 -0.33203582
+v -0.25789270 0.23376380 -0.38242463
+v 0.25550426 -0.06796137 -0.41648703
+v 0.12789725 -0.22584369 -0.43079601
+v 0.29530345 0.09398457 -0.36575428
+v 0.13998860 0.06168574 -0.47339021
+v -0.04797695 -0.27703580 -0.41453549
+v -0.10781385 0.10872536 -0.48974593
+v 0.02567910 0.22114571 -0.46026856
+v 0.02737441 0.37412623 -0.33235387
+v 0.08184163 0.30808555 -0.38525042
+v -0.12051377 0.26214905 -0.43261157
+v 0.19829088 -0.12674947 -0.44188368
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+v -0.21184123 0.06455800 -0.45678183
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_5.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..920ccec38c22f93679a34fd308cbaceaee5f8f18
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_5.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.03954321 -0.24770374 0.43073359
+v 0.02747892 -0.26783526 0.00757574
+v 0.02747892 0.23216473 0.00757574
+v -0.22271271 0.22312399 0.41845752
+v -0.23009684 -0.26783526 0.26515149
+v 0.02451440 0.23007303 0.43810134
+v 0.02747892 -0.26783526 0.26515149
+v -0.22332458 -0.09629829 0.47490404
+v -0.23009684 -0.26783526 0.00757574
+v -0.23009684 0.23216473 0.00757574
+v -0.23317411 -0.24100633 0.40631476
+v -0.15286849 0.10777416 0.48947378
+v -0.13731986 -0.17131412 0.47359080
+v -0.22274073 0.09204041 0.47338659
+v -0.09172129 0.22423777 0.45894261
+v -0.06769715 0.07957494 0.48975273
+v -0.02101921 -0.23383100 0.44795641
+v -0.20658558 -0.16894562 0.45821446
+v -0.16661054 -0.09756834 0.48974559
+v -0.19308773 0.17665999 0.45786034
+v -0.16638208 0.22334045 0.44431857
+v -0.02555097 0.11029206 0.47346768
+v -0.07918010 0.18084257 0.47459413
+v -0.08259100 -0.08386648 0.48970791
+v -0.22371217 -0.18253791 0.44473944
+v -0.19526161 -0.14146258 0.47210763
+v -0.19571274 0.04896486 0.48947505
+v -0.17968648 0.14834264 0.47368378
+v -0.22106619 0.14852375 0.45852814
+v -0.19234310 0.20664732 0.44378936
+v 0.02042058 0.21319808 0.44349126
+v -0.08134934 0.10808598 0.49021018
+v -0.03725786 0.21111222 0.46010941
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+v -0.06927303 -0.01019650 0.48940238
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+v -0.22109211 0.20625410 0.43061242
+v -0.05186431 0.16678458 0.47396966
+v -0.04139379 -0.11512857 0.47376803
+v -0.05428434 -0.14412917 0.47478181
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 9 3 2
+f 9 2 5
+f 10 6 3
+f 10 4 6
+f 10 3 9
+f 11 5 1
+f 11 4 10
+f 11 10 9
+f 11 9 5
+f 14 11 8
+f 14 4 11
+f 17 13 11
+f 17 11 1
+f 18 11 13
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+f 21 6 4
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+f 47 44 31
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+f 48 17 1
+f 49 13 17
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+f 49 19 13
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+f 50 45 24
+f 50 16 45
+f 51 1 22
+f 51 22 35
+f 51 48 1
+f 52 37 19
+f 52 8 37
+f 52 38 8
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+f 55 51 35
+f 55 35 50
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+f 56 24 34
+f 56 34 48
+f 56 48 51
+f 56 55 24
+f 56 51 55
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_6.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce6c4078d55bc3ba46d2f446640b982cc807d6d
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25410267 0.37651319 0.23705065
+v 0.23838933 0.35187937 -0.23364523
+v 0.15703198 0.47157519 0.00926614
+v -0.07491398 0.47017527 0.15512410
+v -0.23633900 0.36376705 0.25571972
+v -0.16221241 0.41007802 -0.22515354
+v 0.08570764 0.47113721 0.18221197
+v 0.23063177 0.44080242 -0.00569286
+v 0.02747892 0.35337685 0.24999998
+v 0.04041741 0.44124506 -0.22612140
+v -0.22051443 0.42610935 -0.06565642
+v -0.23683997 0.36468986 -0.23964934
+v -0.06088210 0.48744880 -0.02200987
+v 0.02753743 0.45154862 0.24581257
+v 0.23006527 0.42524918 -0.09366058
+v 0.21645218 0.44151574 0.12488194
+v -0.21996959 0.42701929 0.09587256
+v -0.21847973 0.40995333 -0.15332085
+v -0.05891164 0.44079387 -0.22612508
+v 0.09944300 0.48738751 0.08173733
+v 0.05565344 0.48689856 -0.06518020
+v 0.11330325 0.45399866 0.21462302
+v -0.01566599 0.48724082 0.12539231
+v -0.13218215 0.42367646 0.24242166
+v 0.11189331 0.42459643 -0.22389407
+v 0.18729883 0.45589605 -0.03548734
+v 0.23014756 0.44031897 0.08220153
+v -0.16247274 0.45619566 -0.03645991
+v -0.21906957 0.39517997 -0.19589318
+v -0.11768384 0.42502134 -0.22555712
+v 0.14171452 0.47038827 0.12607235
+v -0.03142053 0.47165672 -0.13947775
+v 0.09845095 0.48725826 0.00933652
+v 0.02755386 0.45973604 0.22917325
+v 0.20033040 0.42384613 0.21045581
+v 0.07034204 0.48676151 0.12653041
+v -0.05941088 0.48734912 0.06630712
+v -0.07431909 0.44103417 0.24109687
+v -0.20387381 0.40944573 0.19706761
+v 0.23057789 0.41087275 -0.13729418
+v 0.08417631 0.45568257 -0.16813870
+v 0.21461492 0.44026140 -0.06295872
+v 0.12665019 0.47088855 -0.06604666
+v 0.22890555 0.42490854 0.16752817
+v 0.15853482 0.47141261 0.05278456
+v -0.17650635 0.44019988 -0.10970238
+v -0.19047056 0.40959538 -0.19696535
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+v -0.08889439 0.45430265 0.19796280
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+v 0.22678614 0.36673311 -0.22401235
+v 0.17172156 0.43861107 -0.13665622
+v 0.14300393 0.47101416 -0.03472600
+v 0.06996329 0.48691717 -0.04974989
+v 0.09903752 0.46938770 -0.10880281
+f 9 2 1
+f 12 5 11
+f 12 9 5
+f 12 2 9
+f 12 10 2
+f 14 9 1
+f 14 5 9
+f 15 8 1
+f 15 1 2
+f 17 11 5
+f 18 12 11
+f 19 10 12
+f 22 14 1
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+f 57 52 4
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+f 58 17 5
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+f 58 57 4
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+f 59 5 24
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+f 59 58 5
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+f 60 40 2
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+f 61 42 15
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+f 62 3 26
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+f 62 33 3
+f 63 21 33
+f 63 62 43
+f 63 33 62
+f 64 41 21
+f 64 63 43
+f 64 21 63
+f 64 61 41
+f 64 43 61
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_7.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bd05a23cc414e8bc922983f6882d797b4566181
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.40881188 -0.23557594 0.18815247
+v -0.35130896 -0.23753223 -0.20454547
+v -0.35130896 0.20186170 0.00757574
+v -0.40462451 0.25805217 0.08238728
+v -0.48495059 -0.07004569 -0.14156977
+v -0.42137548 -0.18913504 0.21733594
+v -0.35130896 -0.23753223 0.00757574
+v -0.45371286 -0.22834895 -0.08109724
+v -0.38427627 0.22151133 -0.23239018
+v -0.48525917 0.03410410 0.08047303
+v -0.43080881 -0.23220765 -0.20234423
+v -0.46891446 -0.18560344 0.02074953
+v -0.35130896 -0.01025951 -0.21969699
+v -0.40388360 0.25821673 -0.09708119
+v -0.45558927 0.16491273 0.08120005
+v -0.46903636 -0.15699232 -0.15506545
+v -0.45377469 -0.22979713 -0.00918579
+v -0.46756539 -0.01038281 -0.21762673
+v -0.45218082 -0.18511803 0.12420307
+v -0.48530954 -0.11389162 0.03608797
+v -0.42967358 -0.17243636 0.21466213
+v -0.42401778 0.23592164 -0.05167105
+v -0.45395879 -0.21374796 -0.14143170
+v -0.46897284 -0.18662946 -0.09666447
+v -0.48598121 0.06231173 -0.08150927
+v -0.46933771 -0.09917793 -0.19944485
+v -0.42347996 -0.21316282 0.18361390
+v -0.45376028 -0.21300438 0.04947984
+v -0.46960252 -0.15623573 0.08066618
+v -0.46877368 0.12074628 0.08120894
+v -0.42616131 -0.17655460 0.21933938
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e583549808b279475cc891b940cd7248879c236
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_8.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.36213652 -0.24563467 0.27224719
+v -0.35130896 -0.23753223 0.00757574
+v -0.35130896 0.20186170 0.00757574
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+v -0.47392964 -0.14216850 0.08122566
+v -0.43858055 -0.25275352 0.01193589
+v -0.43899833 -0.09841230 0.24111466
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+v -0.39389813 -0.20986804 0.25661415
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+v -0.43805999 0.17693669 0.13930730
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c8a31d3aa8348da741575c8272efa175821195c
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23322722 -0.42129459 0.11252496
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+v 0.41832787 -0.12901607 0.25189406
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+v 0.26331337 -0.20361525 0.35963038
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+v 0.23547667 -0.36652501 -0.23094198
+v 0.47883506 -0.03954721 0.15360508
+v 0.43381733 0.22392956 0.12397839
+v 0.46262856 0.09069224 -0.10739050
+v 0.37980307 0.06309216 0.30746114
+v 0.23357884 -0.39095522 0.21488276
+v 0.38885893 -0.01023492 -0.27881229
+v 0.23960013 -0.26783526 -0.23484850
+v 0.31646309 -0.37144468 -0.08038289
+v 0.46358793 -0.18601242 0.03633956
+v 0.43420666 0.22214059 -0.03412166
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+v 0.47898952 0.10560208 -0.01941518
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+v 0.29361737 -0.08886634 0.35228822
+v 0.43415112 0.04850336 0.25402045
+v 0.31707172 -0.35595414 0.15365308
+v 0.23230561 -0.42221532 -0.08026636
+v 0.38710963 -0.21489981 -0.22346997
+v 0.38687860 0.13475154 -0.23778293
+v 0.23960013 -0.26783526 0.21969695
+v 0.40459690 -0.28540373 -0.06482932
+v 0.46146109 -0.13953251 0.15451477
+v 0.44920889 0.19450399 -0.01998631
+v 0.44882720 0.03339373 -0.16625326
+v 0.47951982 -0.11288859 -0.03525840
+v 0.47822444 0.10635440 0.09548898
+v 0.47908590 0.03306949 -0.07864595
+v 0.47904998 0.01840319 0.15504635
+v 0.34518856 -0.24316810 0.27922020
+v 0.35087777 0.07708626 0.32313979
+v 0.26790796 -0.05919261 0.35432026
+v 0.29072267 -0.17478452 0.35330797
+v 0.46423482 -0.05273196 0.19551441
+v 0.44724130 0.10619125 0.21035316
+v 0.40565120 -0.08164551 0.28021131
+v 0.26091534 -0.40180635 0.13626322
+v 0.31737525 -0.37164942 0.08017865
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+v 0.23404921 -0.37744503 -0.21362877
+v 0.43377799 -0.11336110 -0.19466691
+v 0.34370311 -0.28405452 -0.22253303
+v 0.37272366 0.09477150 -0.27803163
+v 0.40420796 0.22282066 -0.13605927
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+v 0.47921341 -0.08456070 -0.06442926
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+v 0.47935145 0.06214282 -0.06411030
+v 0.46313243 0.06335179 -0.12251096
+v 0.33281725 -0.18577178 0.32233687
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_11/model.xml b/objects/objaverse/apple/apple_11/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..56c90e79a3fc2280f6b31737f3dde65654957452
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="apple.002" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="apple.002"/>
+        <geom solimp="0.998 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="-0.000207115650000001 -0.00024983525000000037 -0.0343401478" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.000207115650000001 -0.00024983525000000037 0.0343311234" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.033604848900000005 0.034121416 -4.512199999999189e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/apple/apple_11/visual/material.mtl b/objects/objaverse/apple/apple_11/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/objects/objaverse/apple/apple_11/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_0.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dcb9a53f13445d5a6f97384c4b52169d5fe4c93
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22903448 -0.22801396 -0.23484848
+v 0.21882223 -0.21773509 -0.37261806
+v 0.22126066 0.33750235 -0.26237282
+v -0.24581756 0.32478923 -0.25475604
+v -0.22551097 -0.22801396 -0.23484848
+v -0.05532284 0.14528664 -0.48991934
+v 0.22903448 0.19622846 -0.23484848
+v -0.09747094 -0.21718842 -0.44266232
+v 0.20041904 0.10290044 -0.44464097
+v -0.08603947 0.31904888 -0.37308521
+v 0.21710911 -0.14559279 -0.41693974
+v 0.01187084 -0.21686523 -0.44251142
+v -0.21598654 -0.02751092 -0.45879860
+v -0.21152924 0.21530166 -0.38314815
+v -0.14713050 0.32773874 -0.33641513
+v 0.14756904 0.19883619 -0.42903460
+v 0.11888271 -0.08670917 -0.49104041
+v 0.21596442 0.15862275 -0.41550107
+v -0.21448599 -0.21912203 -0.37303331
+v -0.21611632 -0.11371921 -0.42782995
+v -0.11043559 0.21652808 -0.44198970
+v -0.21654830 0.08289464 -0.44344081
+v 0.01571817 0.32667701 -0.36493738
+v -0.19628757 0.28762541 -0.33989876
+v 0.11859571 0.09998630 -0.48944431
+v 0.20091660 -0.08937969 -0.44499199
+v 0.14683782 -0.17066092 -0.44268141
+v -0.01835661 -0.13234147 -0.49075495
+v 0.21490815 0.11729574 -0.43040479
+v 0.21695334 0.18658500 -0.40021094
+v -0.09583555 -0.18930725 -0.45727526
+v -0.18345522 -0.18865860 -0.41312616
+v -0.01624756 0.27452297 -0.41498192
+v -0.12678252 0.27281621 -0.39929549
+v -0.21591819 0.03938668 -0.45804723
+v -0.21392164 0.15679310 -0.41315278
+v -0.08189060 0.17288437 -0.47219024
+v 0.16026051 0.28740341 -0.35453217
+v -0.21166005 0.27267435 -0.34009047
+v -0.15894603 0.32376686 -0.33276939
+v 0.15856433 0.08838027 -0.47448782
+v 0.15932757 0.14251068 -0.45842953
+v 0.17260129 -0.11613075 -0.45896875
+v 0.20198333 -0.17279984 -0.41448571
+v 0.14757496 -0.21417842 -0.41295093
+v 0.12021514 -0.12727964 -0.47376458
+v -0.06970178 -0.20284674 -0.45836264
+v -0.14463507 0.02503230 -0.48974473
+v 0.21538012 -0.10385132 -0.43103499
+v -0.20243566 -0.05443663 -0.45704501
+v -0.18276821 -0.21726477 -0.39817617
+v -0.21292797 -0.20275492 -0.38501286
+v -0.13979515 -0.17539207 -0.44222451
+v -0.08412103 0.27390748 -0.41407260
+v 0.01403484 0.31939056 -0.37204044
+v -0.00233689 0.22982671 -0.44293026
+v -0.09851990 0.28705547 -0.39907441
+v -0.16866708 0.21588086 -0.41236267
+v -0.15318109 0.27330749 -0.38410715
+v -0.12456431 0.20253940 -0.44215297
+v 0.18986097 0.21407485 -0.39999994
+v -0.21185090 0.28794475 -0.32588613
+v 0.15821326 -0.08961607 -0.47367959
+v 0.17184235 0.12937653 -0.45768275
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 5
+f 11 7 1
+f 11 1 2
+f 12 2 1
+f 12 1 8
+f 15 4 3
+f 18 7 11
+f 19 8 5
+f 20 5 4
+f 20 4 13
+f 20 19 5
+f 23 15 3
+f 23 10 15
+f 25 17 6
+f 28 6 17
+f 29 18 11
+f 30 3 7
+f 30 7 18
+f 35 13 4
+f 35 4 22
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+f 39 14 4
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+f 42 30 18
+f 44 11 2
+f 44 43 11
+f 44 27 43
+f 45 2 12
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+f 46 12 28
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+f 48 6 28
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+f 49 26 9
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+f 50 20 13
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+f 55 23 38
+f 56 25 6
+f 56 54 33
+f 56 6 54
+f 56 33 16
+f 56 42 25
+f 56 16 42
+f 57 34 15
+f 57 15 10
+f 57 54 34
+f 57 10 54
+f 58 34 21
+f 58 36 14
+f 59 24 40
+f 59 40 15
+f 59 15 34
+f 59 39 24
+f 59 14 39
+f 59 58 14
+f 59 34 58
+f 60 37 22
+f 60 21 37
+f 60 58 21
+f 60 22 36
+f 60 36 58
+f 61 16 38
+f 61 42 16
+f 61 30 42
+f 61 38 3
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+f 62 39 4
+f 62 24 39
+f 62 40 24
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+f 63 41 26
+f 63 17 41
+f 63 43 17
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+f 64 41 25
+f 64 25 42
+f 64 9 41
+f 64 29 9
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+f 64 18 29
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_10.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5394dc5b86fdf585504a1e53d363bef27d2561ae
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_10.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.13747373 -0.39247013 0.26353940
+v 0.24053925 -0.35643533 0.25918689
+v 0.22436621 -0.18984712 0.39821436
+v 0.01384541 -0.01186262 0.32572028
+v 0.24418600 -0.01589275 0.26515152
+v 0.01410000 -0.28198803 0.38697490
+v 0.22216279 -0.30429909 0.32485348
+v 0.01691327 -0.33407457 0.26515152
+v 0.27346969 -0.04667517 0.39734437
+v 0.19228390 -0.34717043 0.29509509
+v 0.27201468 -0.15069663 0.39595656
+v 0.22364904 -0.24641570 0.36780215
+v 0.17976601 -0.38337982 0.25690552
+v 0.01341400 -0.01237500 0.30260599
+v 0.01494369 -0.32569485 0.36004649
+v 0.24418417 -0.01644595 0.39757963
+v 0.22154727 -0.34746384 0.28154044
+v 0.23814485 -0.26109860 0.35323017
+v 0.26747105 -0.14790081 0.39847182
+v 0.17749962 -0.37666443 0.26715694
+v 0.01075458 -0.10077923 0.35588342
+v 0.13386256 -0.36555984 0.29683858
+v 0.04322339 -0.30673606 0.36768617
+v 0.14506783 -0.09473195 0.39917073
+v 0.23767907 -0.34997933 0.26978552
+v 0.19272505 -0.33278564 0.30956961
+v 0.25271904 -0.17550498 0.39602919
+v 0.25655969 -0.03366511 0.39904026
+v 0.01418855 -0.30914271 0.37170075
+v 0.13547109 -0.38573908 0.27305019
+v 0.14764722 -0.36255371 0.29539970
+v 0.13361232 -0.31995997 0.33793163
+v 0.14072876 -0.19453264 0.39750950
+v 0.01267622 -0.15904367 0.38659625
+v 0.27001840 -0.04829830 0.39837443
+v 0.21632517 -0.03519371 0.39906855
+v 0.14818429 -0.34888444 0.30896274
+v 0.05870549 -0.32182831 0.35421539
+v 0.20844452 -0.27524876 0.35235645
+v 0.17887216 -0.30476645 0.33821519
+v 0.15951193 -0.06866901 0.39628604
+v 0.17500866 -0.02146076 0.38382219
+f 9 2 5
+f 11 2 9
+f 12 3 6
+f 13 8 5
+f 13 5 2
+f 13 1 8
+f 14 4 5
+f 14 5 8
+f 15 8 1
+f 16 9 5
+f 16 5 4
+f 18 2 11
+f 19 11 9
+f 20 1 13
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+f 21 4 14
+f 21 14 8
+f 23 12 6
+f 24 3 19
+f 25 7 17
+f 25 18 7
+f 25 2 18
+f 25 17 20
+f 25 20 13
+f 25 13 2
+f 26 17 7
+f 26 10 17
+f 27 18 11
+f 27 3 12
+f 27 12 18
+f 27 19 3
+f 27 11 19
+f 28 9 16
+f 28 24 19
+f 29 6 21
+f 29 23 6
+f 29 21 8
+f 29 8 15
+f 30 22 15
+f 30 15 1
+f 30 1 20
+f 31 20 10
+f 31 10 26
+f 31 30 20
+f 31 22 30
+f 33 24 6
+f 33 6 3
+f 33 3 24
+f 34 21 6
+f 34 6 24
+f 34 4 21
+f 35 28 19
+f 35 19 9
+f 35 9 28
+f 36 28 16
+f 36 24 28
+f 37 31 26
+f 37 22 31
+f 38 37 32
+f 38 15 22
+f 38 22 37
+f 38 29 15
+f 38 23 29
+f 39 7 18
+f 39 18 12
+f 39 12 23
+f 39 23 38
+f 40 26 7
+f 40 7 39
+f 40 39 38
+f 40 38 32
+f 40 37 26
+f 40 32 37
+f 41 34 24
+f 41 24 36
+f 42 36 16
+f 42 16 4
+f 42 41 36
+f 42 4 34
+f 42 34 41
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_12.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9af79324d36d03a626665067e6e6f6fd91e8416b
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.39662320 0.21885859 0.25653612
+v 0.42712336 0.22025269 -0.07973270
+v 0.36538561 0.33291891 0.12591011
+v 0.24317072 0.36101664 0.26385522
+v 0.24418600 0.22653149 -0.23484848
+v 0.33625820 0.33052801 0.21048326
+v 0.44218446 0.22060334 0.12702993
+v 0.36822108 0.22014975 -0.21149602
+v 0.25139312 0.23503452 0.37283676
+v 0.25298807 0.32898855 -0.24389444
+v 0.39290809 0.27520048 0.19702838
+v 0.30291031 0.36013593 0.20332442
+v 0.41246882 0.21934002 0.22781820
+v 0.42328800 0.26158638 0.03934042
+v 0.41370798 0.21981990 -0.12435483
+v 0.29640256 0.21914985 0.35744074
+v 0.23745937 0.29063797 0.34134879
+v 0.23694589 0.34906267 0.28379945
+v 0.35597858 0.22173661 -0.22814201
+v 0.36359272 0.27280682 0.25324307
+v 0.36447508 0.31652117 0.18268705
+v 0.40700936 0.27466265 0.15463992
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_13.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e303566fab8005b13a47c885c134d86b1227e1
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.24418600 0.34774361 0.12878788
+v 0.25428047 0.41343741 0.13356642
+v 0.25796127 0.37251211 0.23339890
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+v -0.23265165 0.42046552 0.13172109
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+f 13 4 11
+f 13 10 7
+f 13 11 5
+f 13 5 10
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_14.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f37f5b0f0f6cdde5cd6058cc101eeef0f582e98e
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_14.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.12072713 0.39973650 0.27425670
+v 0.15003601 0.45403446 0.13983086
+v 0.04479469 0.45008350 0.21149412
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_15.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2933a1fe60f7e1900937bbfcb13de580bd5b61f2
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22435373 -0.36282782 -0.21862569
+v -0.21627189 -0.23485646 -0.36022463
+v -0.21646611 -0.35247808 -0.24089029
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+v -0.21721587 -0.25080138 -0.34673618
+v -0.40987186 -0.10291758 -0.21154455
+v -0.21826904 0.06978968 -0.44743709
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+v -0.30541309 -0.29435329 -0.21122264
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+v -0.22636586 0.33207261 -0.26661203
+v -0.26987727 0.27383152 -0.28045382
+v -0.29985010 -0.26128401 -0.25109354
+v -0.25610604 -0.14246434 -0.38556391
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+v -0.40446187 -0.04367625 -0.23809710
+v -0.37966640 0.19026390 -0.21118165
+v -0.21626616 -0.19074426 -0.38970546
+v -0.28489073 0.05478774 -0.40104423
+v -0.28499914 0.30265034 -0.23588537
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+v -0.22757207 -0.34715570 -0.23681572
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+f 64 8 38
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+f 64 48 61
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_16.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaf5ff993107c3ac432dbf80df470136c32d2cfb
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_16.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.14975339 0.34774361 0.21969697
+v -0.14392526 0.40865412 -0.22645563
+v -0.14407013 0.40907546 0.25637342
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+v -0.14568604 0.46961708 -0.00671610
+v -0.21445426 0.40470347 -0.16627164
+v -0.15768006 0.40516248 0.25399236
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+v -0.14574628 0.46977021 0.05233627
+v -0.15749246 0.40461810 -0.22417413
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+v -0.21630930 0.43419522 -0.06473843
+v -0.21390615 0.37446724 -0.22264203
+v -0.21418945 0.37544969 0.25304042
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+v -0.15752308 0.44947605 0.15393069
+v -0.15753570 0.43459533 0.19648426
+v -0.18764894 0.45045389 0.09606422
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+v -0.21516093 0.42066653 -0.12313887
+v -0.18653322 0.45046146 -0.05046859
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+v -0.15799089 0.46559101 -0.00642799
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+f 38 31 36
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_17.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c8804a57e8faab1250fdfe926f7997c8b1cafb5
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.13812539 -0.01589275 -0.35606061
+v 0.15958840 -0.00898598 -0.46612469
+v 0.13812539 0.19622846 -0.35606061
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+v -0.22551097 0.07501634 -0.35606061
+v -0.15523936 0.20081215 -0.42722614
+v -0.22551097 -0.01589275 -0.35606061
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+f 9 7 5
+f 9 5 1
+f 9 1 7
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_18.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3977ce906243b1460a9805e6207f1fc4706c8a8
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24053925 -0.35643533 0.25918689
+v 0.42981402 -0.14919023 0.25894322
+v 0.23970605 -0.20615338 0.38686363
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+v 0.35075070 -0.23033473 0.30945234
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+v 0.34693787 0.28430687 0.26249812
+v 0.23767907 -0.34997933 0.26978552
+v 0.23907493 0.26455671 0.36011284
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+v 0.39357535 -0.20445084 0.28140823
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+v 0.25179997 0.21742304 0.38148385
+v 0.25221596 0.26165988 0.35594292
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_19.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed0c784e99720b09cd683085696a835eb8dcaed
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_19.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.38592091 -0.23895443 0.21618407
+v -0.34252439 -0.24041875 -0.21650270
+v -0.34672309 -0.13710487 0.00757576
+v -0.44089626 -0.13234841 0.21498874
+v -0.43479578 -0.21845882 -0.00612498
+v -0.42349391 -0.15022018 0.23683723
+v -0.34672309 -0.24316548 0.00757576
+v -0.41893285 -0.23309995 -0.06428509
+v -0.43304259 -0.20371025 0.13981850
+v -0.40989213 -0.13311523 -0.19694375
+v -0.41797087 -0.23231789 0.13946685
+v -0.46846610 -0.13284279 0.08226540
+v -0.41800435 -0.18802570 0.21122814
+v -0.37448870 -0.14816278 -0.24009935
+v -0.45445412 -0.13323290 -0.09469962
+v -0.40276477 -0.23229064 -0.12135211
+v -0.43461088 -0.21827290 0.08164313
+v -0.45492812 -0.13314274 0.17071165
+v -0.43636043 -0.14560407 0.21303763
+v -0.40271077 -0.21649859 0.21053092
+v -0.41862832 -0.21736899 0.16810702
+v -0.39861621 -0.13368885 -0.21392928
+v -0.38878688 -0.18892639 -0.19287383
+v -0.44867689 -0.17545934 -0.05024710
+v -0.43629505 -0.14602460 -0.13710032
+v -0.46514400 -0.14607230 0.00837884
+v -0.44862637 -0.17531873 0.12584267
+v -0.45079984 -0.14564090 0.16943420
+v -0.40487058 -0.23319933 0.18266102
+v -0.36153256 -0.21927104 -0.20888834
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+v -0.43360374 -0.20420084 -0.06443138
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+v -0.41821805 -0.16000750 -0.16474787
+v -0.46469503 -0.14550508 0.08192087
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+v -0.43317006 -0.18847722 0.16838148
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+v -0.39201860 -0.23296880 0.21228438
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+v -0.37364467 -0.21758821 -0.19255619
+v -0.44896857 -0.16037093 -0.07892113
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+f 47 41 24
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+f 47 36 15
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_2.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91a130a5baa81416faae6270d47ff4f357325f32
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36001906 0.31201621 0.20184649
+v 0.36964139 0.30884234 -0.08010376
+v 0.27876619 0.40564222 0.09611226
+v 0.08961901 0.46795146 0.13997220
+v 0.13812539 0.34774361 -0.15909091
+v 0.21966822 0.40364643 0.21034600
+v 0.35162702 0.34679779 0.12584992
+v 0.24418600 0.31744058 0.20454545
+v 0.13459779 0.44160331 -0.15448114
+v 0.20597899 0.43444653 0.13919164
+v 0.38039825 0.31732080 0.00759352
+v 0.30752906 0.35993220 0.19661003
+v 0.28481537 0.31211402 -0.23060766
+v 0.32475028 0.30782332 -0.18290594
+v 0.24760118 0.35413693 0.27002583
+v 0.09327623 0.41130250 0.26720152
+v 0.26194253 0.40438223 -0.07853720
+v 0.09267085 0.40834967 -0.03787879
+v 0.13330096 0.45030530 0.16797695
+v 0.14798834 0.46521712 -0.03619119
+v 0.32147328 0.37618240 0.00919952
+v 0.34936296 0.33163081 0.18257805
+v 0.29239920 0.38989768 0.13939963
+v 0.25298807 0.32898855 -0.24389444
+v 0.28441869 0.33971145 0.25936151
+v 0.13812539 0.34774361 0.12878788
+v 0.19204962 0.39079066 0.25377584
+v 0.31957277 0.34592881 -0.12190219
+v 0.09167862 0.47919987 -0.03730585
+v 0.08923659 0.43627889 0.22617528
+v 0.13307635 0.46477815 0.11052784
+v 0.17687244 0.45077532 -0.06515414
+v 0.19101045 0.45066382 0.08132083
+v 0.32246507 0.37576881 0.09641951
+v 0.27837948 0.40602198 -0.00568286
+v 0.34885814 0.34735552 -0.01962835
+v 0.35328423 0.32037617 0.19846727
+v 0.24987691 0.41998510 0.11092550
+v 0.26298997 0.40383252 0.15307598
+v 0.32103342 0.36120726 0.16874500
+v 0.23347686 0.40427189 -0.13671784
+v 0.27829128 0.37323840 0.21009596
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+v 0.35456920 0.30886652 -0.12454285
+v 0.26171112 0.37383316 -0.16533086
+v 0.13337497 0.45227501 -0.12407380
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+v 0.21967239 0.43442860 -0.05016929
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+v 0.24718050 0.35943739 -0.20794366
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_21.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c877a199e7d662d2dd46f7684ac66289ba888b
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08963586 -0.41164288 -0.22756026
+v 0.33922144 -0.23058521 -0.23786700
+v 0.32405636 -0.26492492 -0.22627919
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+v -0.18820960 -0.38103621 -0.22621118
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+v 0.25001270 -0.33706501 -0.22595169
+v -0.07109936 -0.37698685 -0.29826378
+v -0.17179316 -0.22012388 -0.40367653
+v 0.32737485 -0.22326670 -0.25878199
+v 0.21691843 -0.25900668 -0.33988538
+v 0.05758408 -0.34767305 -0.32544759
+v -0.10123392 -0.41410975 -0.22874775
+v -0.22007044 -0.22361973 -0.36507162
+v -0.14070227 -0.33242496 -0.32620966
+v 0.19195046 -0.21883358 -0.38948535
+v 0.31869909 -0.24568660 -0.25162506
+v -0.01663515 -0.24627405 -0.42993970
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+v 0.16003106 -0.36098328 -0.26609110
+v -0.22044078 -0.35760508 -0.22996556
+v -0.16746217 -0.28851128 -0.35447646
+v -0.14234360 -0.37628094 -0.26811360
+v 0.23478892 -0.21876713 -0.35951984
+v -0.11377023 -0.22099922 -0.43420584
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+v 0.24626854 -0.33209040 -0.23657276
+v 0.02869827 -0.37770440 -0.29725579
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+v -0.11143543 -0.27393775 -0.39889976
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+v -0.12737750 -0.39162180 -0.25380840
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+v 0.31865940 -0.26082529 -0.23738091
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_22.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ed29111517072cbaccbe58e542fcb4968198644
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_22.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.22563973 0.22084180 0.38897793
+v 0.24418600 0.22653149 0.21969697
+v 0.23743390 0.39403648 0.21295590
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+v -0.22551097 0.22653149 0.21969697
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+v -0.22959726 0.38458549 0.22363764
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+v -0.11355491 0.33334323 0.35368076
+v 0.06088635 0.41326924 0.27325327
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+v -0.09930900 0.40532994 0.28229905
+v -0.21378077 0.29023345 0.33818121
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_24.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b659bae92a810222f8649d331fed1d0c043bb615
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22307254 0.19444697 0.38083062
+v -0.22551097 0.19622846 -0.21969697
+v -0.21708681 0.37936814 -0.21140577
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+v -0.40815642 0.18947744 -0.16608049
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+v -0.36100691 0.31777750 -0.07881027
+v -0.21811194 0.41122358 0.18435800
+v -0.25900410 0.21733668 0.35217292
+v -0.27187384 0.28871768 0.29435933
+v -0.42222895 0.18904547 -0.13737194
+v -0.29263572 0.18974001 0.34364076
+v -0.36008984 0.31713728 0.12389758
+v -0.24536349 0.42031826 -0.05040994
+v -0.32923259 0.30197154 -0.17835759
+v -0.23058837 0.21859665 0.36832564
+v -0.24173792 0.33215395 0.28078893
+v -0.25737304 0.24547596 0.33746704
+v -0.41963437 0.24677651 -0.03602815
+v -0.31664435 0.21535446 0.30906500
+v -0.24490836 0.20309552 0.36712750
+v -0.28742029 0.37652575 0.15234359
+v -0.40287996 0.22971327 0.18129459
+v -0.21864661 0.42663311 -0.09523728
+v -0.27389894 0.40573445 0.06642496
+v -0.38808963 0.24466786 -0.14893517
+v -0.30263621 0.36084968 -0.12235839
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\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_26.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc83c4dbefe9f0431848289795dd64bf7666601e
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_26.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01069596 -0.03116831 0.48212208
+v 0.01714324 -0.00763973 0.34098178
+v 0.01636950 -0.00673050 0.49501199
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+v -0.01283879 -0.00449446 0.44682232
+v -0.00721452 -0.02908368 0.48351826
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+f 18 12 5
+f 18 5 16
+f 19 16 13
+f 19 13 1
+f 19 1 7
+f 19 7 16
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_27.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed4e7cf4c2b5c2652061cab69cafc67cfe1f711
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_27.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.07475668 -0.41362788 0.25773607
+v 0.13470267 -0.39829620 0.25668654
+v 0.00048929 -0.32676584 0.36144693
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+f 35 31 34
+f 35 34 22
+f 35 22 33
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_28.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d63a73d42f3ad605831aaf3d47efe1bec8cafd
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_28.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.46550938 0.08900181 -0.09681957
+v 0.45731442 0.08746607 -0.12393053
+v 0.42406598 0.21887458 -0.09405473
+v 0.27448903 0.22653149 -0.09848485
+v 0.27448903 0.09016786 -0.09848485
+v 0.30857593 0.25254278 -0.26439098
+v 0.45285883 0.13050940 -0.10835475
+v 0.45656837 0.13151683 -0.09427890
+v 0.27448903 0.09016786 -0.23484848
+v 0.45239964 0.11530693 -0.12222927
+v 0.40020554 0.08852498 -0.22728814
+v 0.43936592 0.08712736 -0.16502823
+v 0.42150997 0.15919196 -0.16471402
+v 0.41199522 0.08790189 -0.21039235
+v 0.43720498 0.10188180 -0.16413269
+v 0.42069730 0.21737946 -0.10748683
+v 0.43720490 0.13058628 -0.14998606
+v 0.37647260 0.18842908 -0.22137799
+v 0.40821616 0.11628182 -0.20790862
+v 0.42231292 0.13087250 -0.17902129
+v 0.39177918 0.14476964 -0.22157010
+v 0.36255066 0.21736937 -0.22203366
+v 0.39207236 0.17342649 -0.20718210
+f 5 2 1
+f 5 3 4
+f 6 4 3
+f 8 5 1
+f 8 3 5
+f 8 7 3
+f 8 1 7
+f 9 5 4
+f 9 4 6
+f 10 7 1
+f 10 1 2
+f 11 9 6
+f 12 2 5
+f 12 5 9
+f 14 12 9
+f 14 9 11
+f 15 10 2
+f 15 2 12
+f 15 12 14
+f 16 3 7
+f 16 7 13
+f 16 6 3
+f 17 13 7
+f 17 7 10
+f 17 10 15
+f 19 15 14
+f 19 14 11
+f 20 17 15
+f 20 13 17
+f 20 15 19
+f 21 11 6
+f 21 6 18
+f 21 19 11
+f 21 20 19
+f 22 16 13
+f 22 18 6
+f 22 6 16
+f 23 21 18
+f 23 13 20
+f 23 20 21
+f 23 22 13
+f 23 18 22
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_3.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81aef62f0ce765ce4f8f03e10e1a62cf44530c6d
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.33431280 -0.24267801 -0.23427623
+v 0.40072741 -0.07493082 -0.22776569
+v 0.35337849 -0.22173143 -0.22624741
+v 0.19677891 0.37446893 -0.23235475
+v 0.22047663 0.13247675 -0.42158440
+v 0.22054355 0.36497985 -0.22591493
+v 0.22903448 -0.22801396 -0.23484848
+v 0.22133615 -0.11908124 -0.42258636
+v 0.30866145 0.29178789 -0.22563567
+v 0.19120798 0.24698195 -0.37398559
+v 0.34165122 -0.23775597 -0.22845529
+v 0.19873145 0.19622846 -0.23484848
+v 0.36406169 -0.00038374 -0.28191313
+v 0.33250079 -0.14577116 -0.29593134
+v 0.22397650 -0.22301196 -0.36467916
+v 0.40020554 0.08852498 -0.22728814
+v 0.23188993 0.30079610 -0.29536142
+v 0.19192524 0.20400956 -0.40590739
+v 0.19168618 0.34972596 -0.26987284
+v 0.22932159 0.12997090 -0.41484838
+v 0.38428045 -0.14874223 -0.22691355
+v 0.30232421 -0.18965112 -0.31073406
+v 0.33315118 -0.08860944 -0.31122283
+v 0.36854240 -0.19186765 -0.22621212
+v 0.27477133 0.31617778 -0.23693150
+v 0.19551991 0.19268956 -0.41114812
+v 0.22033484 -0.19079777 -0.39030776
+v 0.25915001 0.24365215 -0.32463457
+v 0.19354872 0.36854650 -0.24338280
+v 0.24655368 0.31568929 -0.26625410
+v 0.22929159 -0.11820397 -0.41591345
+v 0.34836496 0.07291975 -0.29662769
+v 0.37826422 -0.10305272 -0.25157681
+v 0.33222263 -0.20415064 -0.26617310
+v 0.27389680 -0.21602242 -0.32502160
+v 0.34886893 -0.05932984 -0.29682018
+v 0.36240968 -0.16036664 -0.25177924
+v 0.27922139 0.32107463 -0.22570801
+v 0.22045579 -0.16258447 -0.40649504
+v 0.21605932 0.21324557 -0.38360963
+v 0.23095240 0.27169373 -0.32449904
+v 0.36425356 0.18977627 -0.23795510
+v 0.30307012 0.27414157 -0.25134460
+v 0.21719258 0.35971822 -0.23652286
+v 0.20315588 0.34600282 -0.26622543
+v 0.28843757 -0.11836750 -0.35613469
+v 0.36399563 0.01408063 -0.28185887
+v 0.31800935 -0.10394133 -0.32604433
+v 0.34715340 -0.21885810 -0.23704496
+v 0.32850541 -0.23910694 -0.24489257
+v 0.23478892 -0.21876713 -0.35951984
+v 0.39391380 -0.07392012 -0.23730879
+v 0.36207526 -0.18940433 -0.23687013
+v 0.37797700 -0.14686225 -0.23673971
+v 0.30201789 -0.16133549 -0.32570639
+v 0.23005741 -0.15945364 -0.39988764
+v 0.20285261 0.24300335 -0.36990702
+v 0.20383343 0.20049737 -0.40078033
+v 0.24404419 0.17237364 -0.38497031
+v 0.37047448 0.19214183 -0.22779037
+v 0.36265027 0.13049551 -0.26638026
+v 0.30376073 0.28727223 -0.23673096
+v 0.31800842 0.21624685 -0.28086176
+v 0.39329225 0.08748417 -0.23703953
+f 7 3 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 7 6
+f 12 6 4
+f 15 1 7
+f 16 2 13
+f 18 12 10
+f 19 10 12
+f 19 17 10
+f 20 8 5
+f 21 2 16
+f 24 16 9
+f 24 9 3
+f 24 21 16
+f 26 5 8
+f 26 8 18
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+f 38 9 25
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+f 38 3 9
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+f 39 18 8
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+f 46 36 23
+f 46 31 36
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+f 47 20 32
+f 48 33 14
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+f 48 46 23
+f 48 14 46
+f 49 3 1
+f 49 24 3
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+f 50 35 34
+f 50 49 1
+f 50 34 49
+f 51 15 27
+f 51 27 35
+f 51 50 15
+f 51 35 50
+f 52 36 13
+f 52 13 2
+f 52 2 33
+f 52 33 23
+f 52 23 36
+f 53 37 21
+f 53 21 24
+f 53 34 37
+f 53 49 34
+f 53 24 49
+f 54 33 21
+f 54 21 37
+f 54 37 14
+f 54 14 33
+f 55 37 22
+f 55 14 37
+f 55 46 14
+f 56 39 8
+f 56 8 31
+f 56 31 46
+f 56 46 55
+f 56 55 22
+f 56 22 35
+f 56 35 27
+f 56 27 39
+f 57 40 18
+f 57 18 10
+f 57 41 40
+f 57 10 41
+f 58 26 18
+f 58 18 40
+f 59 40 28
+f 59 20 5
+f 59 58 40
+f 59 5 26
+f 59 26 58
+f 60 9 16
+f 60 43 9
+f 61 32 20
+f 61 20 59
+f 61 60 16
+f 61 42 60
+f 62 43 25
+f 62 25 9
+f 62 9 43
+f 63 28 43
+f 63 59 28
+f 63 61 59
+f 63 42 61
+f 63 60 42
+f 63 43 60
+f 64 47 32
+f 64 16 47
+f 64 61 16
+f 64 32 61
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_30.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..effcd0ab4c8da66693e2620b4d9a54c91ca84cc9
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.22551097 -0.24316548 0.21969697
+v -0.22551097 -0.24316548 -0.21969697
+v -0.22551097 0.19622846 0.21969697
+v -0.37719299 0.21599900 0.24091305
+v -0.36439679 -0.25673662 0.23189277
+v -0.35978032 0.20359752 -0.22937742
+v -0.22551097 0.19622846 -0.21969697
+v -0.34252439 -0.24041875 -0.21650270
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_8.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6010521967268b8d71dbbb7defb2fcf2ef10b823
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_8.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.13812539 0.34774361 0.00757576
+v 0.25998241 0.37174981 -0.17156891
+v 0.15811848 0.46471978 0.00601020
+v -0.08626980 0.48444194 0.00788198
+v -0.16635681 0.37973437 -0.25714241
+v 0.08934988 0.48229201 0.00778220
+v 0.24239681 0.34541015 -0.23314009
+v -0.14975339 0.34774361 0.00757576
+v 0.04469592 0.45034164 -0.18148954
+v -0.14585789 0.47022433 0.00791174
+v -0.10043942 0.44881767 -0.16726183
+v 0.01614841 0.48195528 -0.08007028
+v 0.08865447 0.42102217 -0.22507808
+v -0.07066876 0.43602343 -0.21121230
+v -0.12931905 0.46530151 -0.07958603
+v 0.11746249 0.46458829 -0.09388713
+v 0.14584935 0.40385868 -0.22319154
+v -0.14192143 0.41849234 -0.20923295
+v -0.11409411 0.41974939 -0.22470189
+v 0.05963013 0.43492178 -0.21043218
+v -0.05678460 0.46541650 -0.13836609
+v -0.08571232 0.48164605 -0.03627009
+v 0.06012006 0.48071747 -0.06536907
+v 0.13393731 0.46914897 -0.03621294
+v 0.23351969 0.39212026 -0.16583391
+v 0.14571017 0.43348402 -0.16530369
+v -0.14456020 0.45077897 -0.12382283
+v -0.14392526 0.40865412 -0.22645563
+v -0.11377762 0.43379241 -0.19562384
+v 0.04494162 0.46586825 -0.13836013
+v -0.05689458 0.45030347 -0.18221013
+v -0.14458250 0.46570241 -0.05065791
+v -0.08550879 0.46530223 -0.12377879
+v -0.02795596 0.48176673 -0.08001645
+v 0.08903448 0.48107359 -0.02128360
+v 0.23230941 0.35976964 -0.22235280
+v 0.23659774 0.39583109 -0.15351130
+v 0.08851331 0.44913076 -0.16620299
+v 0.10386187 0.46438392 -0.10909622
+v -0.05685982 0.48175456 -0.06543946
+v 0.13289152 0.46558504 -0.06532573
+v 0.13224294 0.44843656 -0.13718295
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 10 8 1
+f 10 5 8
+f 10 6 4
+f 10 1 6
+f 12 4 6
+f 13 7 5
+f 17 7 13
+f 19 14 13
+f 19 13 5
+f 20 14 9
+f 20 13 14
+f 22 10 4
+f 23 12 6
+f 24 6 3
+f 26 17 13
+f 26 25 17
+f 27 18 5
+f 28 19 5
+f 28 5 18
+f 28 18 19
+f 29 19 18
+f 29 11 14
+f 29 14 19
+f 29 27 11
+f 29 18 27
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+f 30 12 23
+f 31 9 14
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+f 31 30 9
+f 31 21 30
+f 32 22 15
+f 32 10 22
+f 32 15 27
+f 32 27 5
+f 32 5 10
+f 33 27 15
+f 33 21 11
+f 33 11 27
+f 34 4 12
+f 34 12 21
+f 35 23 6
+f 35 6 24
+f 36 25 2
+f 36 2 7
+f 36 7 17
+f 36 17 25
+f 37 3 2
+f 37 2 25
+f 37 25 26
+f 38 26 13
+f 38 13 20
+f 38 20 9
+f 38 9 30
+f 39 30 23
+f 39 23 16
+f 39 38 30
+f 40 33 15
+f 40 15 22
+f 40 22 4
+f 40 4 34
+f 40 34 21
+f 40 21 33
+f 41 35 24
+f 41 16 23
+f 41 23 35
+f 41 24 3
+f 41 3 37
+f 42 39 16
+f 42 26 38
+f 42 38 39
+f 42 16 41
+f 42 41 37
+f 42 37 26
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/collision/model_normalized_collision_9.obj b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d66a38efeb1f846f05c5ac19e167903d6260f9ef
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/collision/model_normalized_collision_9.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.24418417 -0.01644595 0.39757963
+v 0.24418600 -0.01589275 0.26515152
+v 0.24418600 0.22653149 0.26515152
+v -0.08863674 0.22566866 0.41154587
+v -0.03469300 -0.01348925 0.31792514
+v 0.23827553 0.21934625 0.38567840
+v 0.25873399 0.06020342 0.39816329
+v 0.18814091 -0.01856956 0.38791769
+v -0.08914733 0.22653149 0.26515152
+v 0.25758853 0.16493974 0.39692381
+v 0.25611738 0.06167143 0.39878273
+v -0.08893525 0.14300473 0.40065092
+v -0.08914733 0.09016786 0.26515152
+v 0.18124889 0.21960694 0.39816401
+v 0.25280096 0.16228089 0.39933320
+v -0.09642545 0.04376187 0.35988095
+v -0.01064550 -0.00758900 0.30260599
+v 0.23781146 0.19046664 0.39705811
+v -0.00818849 -0.01099209 0.34094626
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 3 2
+f 9 4 3
+f 10 7 3
+f 10 3 6
+f 11 4 1
+f 11 1 7
+f 12 8 1
+f 12 1 4
+f 13 9 2
+f 14 6 4
+f 15 4 11
+f 15 14 4
+f 15 11 7
+f 15 7 10
+f 16 8 12
+f 16 13 5
+f 16 9 13
+f 16 12 4
+f 16 4 9
+f 17 13 2
+f 17 2 5
+f 17 5 13
+f 18 15 10
+f 18 10 6
+f 18 6 14
+f 18 14 15
+f 19 16 5
+f 19 5 8
+f 19 8 16
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/visual/material.mtl b/objects/objaverse/apple/apple_14/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/apple/apple_14/visual/model_normalized_0.obj b/objects/objaverse/apple/apple_14/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b54dc1bbfad37ba1d682cc5bc717daf04cce242
--- /dev/null
+++ b/objects/objaverse/apple/apple_14/visual/model_normalized_0.obj
@@ -0,0 +1,71996 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.15677450 0.12037550 -0.46907100
+v 0.14733050 0.13257300 -0.46810000
+v 0.15498800 0.14024500 -0.46151900
+v 0.16492150 0.12732050 -0.46248500
+v 0.13696400 0.14397150 -0.46567150
+v 0.14408350 0.15232300 -0.45910350
+v 0.15126700 0.16095500 -0.45190650
+v 0.16271400 0.14817500 -0.45431000
+v 0.17314200 0.13449850 -0.45527100
+v 0.12575200 0.15451350 -0.46227250
+v 0.13229000 0.16349350 -0.45572150
+v 0.11377150 0.16414200 -0.45838750
+v 0.11968800 0.17369600 -0.45185650
+v 0.12565750 0.18357100 -0.44469650
+v 0.13888650 0.17277500 -0.44854200
+v 0.14554650 0.18230200 -0.44073550
+v 0.15851950 0.16981550 -0.44408100
+v 0.13168450 0.19370700 -0.43691250
+v 0.13777300 0.20404450 -0.42850950
+v 0.15227450 0.19201900 -0.43230500
+v 0.16584600 0.17885200 -0.43562600
+v 0.17051400 0.15631400 -0.44647000
+v 0.18144100 0.14186650 -0.44742600
+v 0.17839400 0.16461550 -0.43799750
+v 0.18982550 0.14938100 -0.43894650
+v 0.10110050 0.17279950 -0.45450250
+v 0.10635950 0.18286950 -0.44799150
+v 0.08781550 0.18042850 -0.45110300
+v 0.09238550 0.19095350 -0.44461000
+v 0.09699650 0.20183200 -0.43748700
+v 0.11166600 0.19327800 -0.44085100
+v 0.07399450 0.18697200 -0.44867500
+v 0.07784750 0.19788750 -0.44219400
+v 0.05971400 0.19237300 -0.44770400
+v 0.06282600 0.20361000 -0.44122800
+v 0.06596600 0.21522450 -0.43412200
+v 0.08173450 0.20916900 -0.43508350
+v 0.08565950 0.22074900 -0.42735550
+v 0.10165150 0.21299800 -0.42974450
+v 0.06913600 0.22714600 -0.42639950
+v 0.07233850 0.23930450 -0.41807300
+v 0.08962400 0.23255900 -0.41902150
+v 0.10635450 0.22438600 -0.42139350
+v 0.11702300 0.20396150 -0.43309000
+v 0.12243500 0.21485750 -0.42471450
+v 0.12790550 0.22590350 -0.41573350
+v 0.14392750 0.21452400 -0.41949250
+v 0.11110800 0.23593100 -0.41244400
+v 0.11591650 0.24756650 -0.40290600
+v 0.13343900 0.23703600 -0.40615400
+v 0.15015250 0.22508650 -0.40986600
+v 0.09363200 0.24453150 -0.41009450
+v 0.07557550 0.25163050 -0.40915500
+v 0.07885000 0.26405300 -0.39965800
+v 0.09768600 0.25659850 -0.40058600
+v 0.10178850 0.26869150 -0.39050800
+v 0.12078250 0.25922750 -0.39278950
+v 0.08216350 0.27650300 -0.38959500
+v 0.08551900 0.28890950 -0.37897900
+v 0.10594250 0.28074250 -0.37987250
+v 0.12570950 0.27084750 -0.38210550
+v 0.13903900 0.24819300 -0.39598400
+v 0.15645250 0.23567150 -0.39963500
+v 0.14470950 0.25931100 -0.38523150
+v 0.16283150 0.24622000 -0.38880450
+v 0.18635950 0.17303100 -0.42889050
+v 0.19830050 0.15699850 -0.42983050
+v 0.17325200 0.18801250 -0.42654100
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\ No newline at end of file
diff --git a/objects/objaverse/canned_food/.DS_Store b/objects/objaverse/canned_food/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..a9345871fbff5b9dad91505ef2052875692f5a66
Binary files /dev/null and b/objects/objaverse/canned_food/.DS_Store differ
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_0.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d64fbe2019191c2c8b111c3e4f42be265ef5913
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_0.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.46363322 0.09617385 0.00494166
+v 0.46179310 0.09578020 -0.36855549
+v 0.36795463 0.21506059 -0.35869470
+v 0.25000000 0.22762940 0.00494166
+v 0.25000000 0.09909180 0.00494166
+v 0.40754263 0.19046614 0.00494166
+v 0.25000000 0.09909180 -0.28293713
+v 0.35291947 0.21847135 0.00494166
+v 0.44432543 0.14690915 -0.36625785
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+v 0.25000000 0.22762932 -0.28293713
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+v 0.35291945 0.21847126 -0.28293712
+v 0.46053366 0.11066227 0.00494166
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+v 0.41554677 0.17830764 -0.38083180
+v 0.41146291 0.18162481 -0.38083180
+v 0.42462709 0.13937855 -0.39270548
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+f 21 3 20
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_1.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d3bd68b2a38e0e7e62fa5efb5b46f4b56233ed
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.25000000 -0.12818093 -0.28293713
+v 0.37121212 0.09909180 -0.36942322
+v 0.39512144 0.19818287 -0.28293714
+v -0.14393939 0.15969786 -0.28293713
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+v 0.37121212 0.09909180 -0.28293713
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+v 0.00757576 -0.12818093 -0.28293713
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+v -0.14393939 -0.00696881 -0.28293713
+v 0.00757576 -0.12818093 -0.36942318
+v 0.27245108 -0.00376215 -0.38566663
+f 6 4 3
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+f 14 5 10
+f 14 11 8
+f 14 10 2
+f 14 2 11
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_10.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b687d59e494013144a4b48b526169c356bb500d7
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_10.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.36849887 -0.21472270 0.21706287
+v 0.45116709 -0.12583747 -0.38083165
+v 0.40808683 -0.19012818 0.21706287
+v 0.45701940 -0.12708948 0.21706287
+v 0.37121212 -0.12818093 0.08069923
+v 0.44483927 -0.14606451 -0.36647696
+v 0.43832729 -0.12342000 -0.39130318
+v 0.44583791 -0.14678217 0.21706287
+v 0.36562761 -0.21010106 -0.38083165
+v 0.44987843 -0.14115970 0.21706287
+v 0.40521557 -0.18550653 -0.38083165
+v 0.36563601 -0.19496308 -0.39216658
+v 0.42846255 -0.16033555 -0.38083165
+v 0.37121214 -0.12818093 -0.36942319
+v 0.43013986 -0.12697480 -0.39418188
+v 0.44798309 -0.13317226 -0.38083165
+v 0.37001454 -0.18685933 -0.39454527
+f 5 1 4
+f 6 2 4
+f 7 5 4
+f 7 4 2
+f 8 3 6
+f 9 3 1
+f 10 8 6
+f 10 6 4
+f 10 3 8
+f 10 1 3
+f 10 4 1
+f 11 6 3
+f 11 3 9
+f 12 9 1
+f 12 1 5
+f 12 11 9
+f 13 6 11
+f 14 12 5
+f 14 5 7
+f 15 13 11
+f 15 7 13
+f 15 14 7
+f 16 2 6
+f 16 6 13
+f 16 13 7
+f 16 7 2
+f 17 15 11
+f 17 11 12
+f 17 12 14
+f 17 14 15
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_11.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807170b071605e88d669222cb1b78a718e3ffc2b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.33848616 -0.22114082 0.21706287
+v -0.33848619 -0.22114101 -0.35869471
+v -0.34090909 0.09909181 -0.36942321
+v -0.46363312 0.09617380 0.21706287
+v -0.46078188 -0.10950143 0.21706287
+v -0.34090909 0.09909180 0.21706287
+v -0.40808675 -0.19012808 0.21706287
+v -0.45802924 -0.09376111 -0.38083170
+v -0.42081744 0.09997982 -0.39389244
+v -0.35313659 -0.21843147 -0.35869471
+v -0.44483909 -0.14606438 -0.36647716
+v -0.45922829 -0.10916905 -0.36767913
+v -0.45778081 0.09492189 -0.38083175
+v -0.38229853 -0.18224368 -0.39393991
+v -0.35313656 -0.21843128 0.21706287
+v -0.44583775 -0.14678205 0.21706287
+v -0.40521557 -0.18550655 -0.38083165
+v -0.44798311 -0.13317228 -0.38083165
+v -0.44913280 -0.09509922 -0.38758178
+v -0.44903576 0.09629239 -0.38745778
+v -0.34090909 -0.08272638 -0.36942318
+v -0.42846257 -0.16033556 -0.38083165
+v -0.43625203 -0.13563030 -0.38709323
+v -0.40809191 -0.17618626 -0.38647432
+f 1 2 3
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 7 1 5
+f 9 6 3
+f 9 4 6
+f 10 2 1
+f 12 5 4
+f 12 11 5
+f 13 12 4
+f 13 8 12
+f 14 9 3
+f 14 2 10
+f 15 10 1
+f 15 1 7
+f 15 7 10
+f 16 11 7
+f 16 7 5
+f 16 5 11
+f 17 10 7
+f 17 7 11
+f 17 14 10
+f 18 12 8
+f 18 11 12
+f 19 8 13
+f 19 9 14
+f 19 18 8
+f 20 13 4
+f 20 4 9
+f 20 19 13
+f 20 9 19
+f 21 14 3
+f 21 3 2
+f 21 2 14
+f 22 17 11
+f 22 11 18
+f 23 19 14
+f 23 18 19
+f 23 22 18
+f 24 14 17
+f 24 17 22
+f 24 23 14
+f 24 22 23
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_12.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce3f1c804175bcb49898eea998bce28a1e633269
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_12.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.40151770 0.11425115 0.38269521
+v 0.48348524 0.15327397 0.37460233
+v 0.38297938 0.23230830 0.39274838
+v -0.38297937 0.23230828 0.39274825
+v -0.42260217 0.17911485 0.32312347
+v 0.48176875 0.15204043 0.39170004
+v 0.44616338 0.14632919 0.32312347
+v -0.35606061 0.11424332 0.38267904
+v 0.36651084 0.21595778 0.32312348
+v 0.43752675 0.20510432 0.39047460
+v -0.42260213 0.17911483 0.39080394
+v -0.36651066 0.21595777 0.32312348
+v 0.32243276 0.23262977 0.34813494
+v 0.43669671 0.20376828 0.36861740
+v 0.47624334 0.16322119 0.38797633
+v -0.40857307 0.22242775 0.39167590
+v -0.36826460 0.23466972 0.36861739
+v 0.38325073 0.23377549 0.37421912
+v 0.46130489 0.17852583 0.36861741
+v 0.38981889 0.20147735 0.32312348
+v -0.40804089 0.22157115 0.36861740
+v -0.32243276 0.23262976 0.34813495
+v 0.36826458 0.23466967 0.36861739
+v 0.40804085 0.22157112 0.36861740
+v 0.44010260 0.15476291 0.32312348
+v 0.47659656 0.16347503 0.37525843
+v -0.40754260 0.19046611 0.32312348
+v -0.38325071 0.23377541 0.37421895
+f 6 3 4
+f 6 1 2
+f 7 2 1
+f 8 1 6
+f 8 7 1
+f 8 5 7
+f 10 3 6
+f 11 5 8
+f 11 8 6
+f 11 6 4
+f 12 9 7
+f 12 7 5
+f 15 10 6
+f 15 6 2
+f 16 11 4
+f 16 5 11
+f 17 4 3
+f 18 3 10
+f 19 2 7
+f 19 14 10
+f 20 7 9
+f 21 5 16
+f 22 17 13
+f 22 12 17
+f 22 13 9
+f 22 9 12
+f 23 18 9
+f 23 9 13
+f 23 13 17
+f 23 17 3
+f 23 3 18
+f 24 9 18
+f 24 20 9
+f 24 14 20
+f 24 18 10
+f 24 10 14
+f 25 19 7
+f 25 14 19
+f 25 20 14
+f 25 7 20
+f 26 15 2
+f 26 2 19
+f 26 19 10
+f 26 10 15
+f 27 21 12
+f 27 12 5
+f 27 5 21
+f 28 17 12
+f 28 12 21
+f 28 4 17
+f 28 21 16
+f 28 16 4
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_13.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f5e27cad16a2f2101d399da0828ac42acccf59
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.37017114 0.15802228 -0.36942333
+v 0.39512144 0.19818287 -0.28293714
+v -0.34090908 0.15969784 -0.36942331
+v -0.35181672 0.21867516 -0.28293715
+v 0.32290055 0.22000753 -0.38083180
+v 0.36795463 0.21506059 -0.35869470
+v -0.34278855 0.19302612 -0.39632512
+v 0.32364825 0.20889876 -0.39394006
+v 0.35291945 0.21847126 -0.28293712
+v -0.33755095 0.21729799 -0.38083180
+v 0.32689695 0.19616151 -0.39416083
+v 0.35291945 0.21847123 -0.35869470
+v -0.33826904 0.22118075 -0.28293712
+v 0.36795464 0.21506060 -0.28293713
+v -0.33844171 0.20696288 -0.39298392
+v 0.29434744 0.21431780 -0.39394006
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 1 3
+f 7 3 4
+f 8 6 1
+f 8 5 6
+f 10 7 4
+f 11 8 1
+f 11 1 7
+f 12 9 6
+f 12 6 5
+f 12 5 9
+f 13 9 5
+f 13 4 2
+f 13 2 9
+f 13 10 4
+f 13 5 10
+f 14 9 2
+f 14 2 6
+f 14 6 9
+f 15 7 10
+f 16 10 5
+f 16 5 8
+f 16 15 10
+f 16 7 15
+f 16 11 7
+f 16 8 11
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_14.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c9241aceb043c09d7126e4538b9ba4a202ca4b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.12818093 -0.19202804
+v 0.00757576 -0.12818093 -0.36942318
+v 0.00757576 -0.00583150 -0.37384622
+v -0.09848485 -0.00696881 -0.19202804
+v -0.14393939 -0.12818093 -0.28293713
+v 0.00757576 -0.00696881 -0.19202804
+v -0.09848485 -0.12818093 -0.19202804
+v -0.14393939 -0.00583150 -0.37384622
+v -0.14393939 -0.12818093 -0.36942318
+v -0.14393939 -0.00696881 -0.28293713
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 4 3
+f 9 8 2
+f 9 2 5
+f 9 5 8
+f 10 8 5
+f 10 5 4
+f 10 4 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_15.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f784e66f141d7bef800d739b139d0fb68e8e78
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.35313659 -0.21843146 -0.19202804
+v 0.36849896 -0.21472284 -0.32839168
+v 0.37121212 -0.12818093 -0.19202804
+v -0.09848485 -0.12818093 -0.19202804
+v -0.14393939 -0.22762974 -0.32839168
+v -0.14393939 -0.12818093 -0.36942318
+v 0.36849893 -0.21472281 -0.19202804
+v 0.35313660 -0.21843150 -0.32839168
+v -0.09848485 -0.22762970 -0.19202804
+v 0.37121218 -0.12818094 -0.36942319
+v -0.14393939 -0.12818093 -0.28293713
+v -0.14393939 -0.22762973 -0.28293713
+f 6 4 3
+f 7 3 4
+f 8 7 1
+f 8 2 7
+f 9 7 4
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 6 3
+f 10 2 8
+f 10 8 5
+f 10 5 6
+f 10 7 2
+f 10 3 7
+f 11 6 5
+f 11 4 6
+f 12 11 5
+f 12 5 9
+f 12 9 4
+f 12 4 11
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_16.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8c234ec5b76f7a65b9765a683ad485c6d9e5e0
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_16.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.37529047 -0.21050311 0.39080406
+v -0.35855563 -0.21742901 0.32312348
+v -0.35606974 0.17485551 0.38285985
+v -0.41483257 0.21735171 0.39382252
+v -0.49245920 -0.12494697 0.37525852
+v -0.37739770 0.20919405 0.32312346
+v -0.35606120 -0.20394170 0.38317844
+v -0.44953995 -0.19489715 0.36861752
+v -0.49108490 -0.12465297 0.38978809
+v -0.49221096 0.12610781 0.37525844
+v -0.45768229 -0.12398983 0.32312347
+v -0.45070962 -0.19573771 0.39119061
+v -0.43669677 0.20376834 0.36861740
+v -0.49089260 0.12582577 0.38968187
+v -0.45743395 0.12515061 0.32312348
+v -0.49205723 -0.10970946 0.36861750
+v -0.48140072 -0.15056206 0.36861751
+v -0.41901881 -0.18333635 0.32312347
+v -0.41026755 0.21000375 0.35605731
+v -0.47624347 0.16322126 0.38797622
+v -0.41433431 0.18624667 0.32312348
+v -0.48082549 0.15136258 0.36861742
+v -0.49180891 0.11087025 0.36861743
+v -0.47717179 -0.16267454 0.37525853
+v -0.43752679 0.20510438 0.39047448
+v -0.46130496 0.17852588 0.36861741
+v -0.47659664 0.16347507 0.37525843
+v -0.47668596 -0.16232536 0.38827482
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 12 8 2
+f 12 2 1
+f 12 1 4
+f 12 4 9
+f 14 9 4
+f 14 10 5
+f 14 5 9
+f 15 6 11
+f 16 5 10
+f 16 15 11
+f 17 16 11
+f 17 5 16
+f 18 2 8
+f 18 17 11
+f 18 8 17
+f 18 11 6
+f 18 6 2
+f 19 13 4
+f 19 4 6
+f 19 6 13
+f 20 10 14
+f 20 14 4
+f 21 13 6
+f 21 6 15
+f 22 15 10
+f 22 21 15
+f 23 16 10
+f 23 10 15
+f 23 15 16
+f 24 17 8
+f 24 8 12
+f 24 5 17
+f 25 20 4
+f 25 4 13
+f 26 13 21
+f 26 21 22
+f 26 25 13
+f 27 22 10
+f 27 10 20
+f 27 26 22
+f 27 20 25
+f 27 25 26
+f 28 24 12
+f 28 12 9
+f 28 9 5
+f 28 5 24
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_17.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7617afe3ffc4fa13f18bdd67a9345d0701e362
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.14393939 -0.12818093 -0.36942318
+v -0.14393939 -0.00375403 -0.38569946
+v -0.14393939 0.15969787 -0.36942328
+v -0.26515152 0.15969787 -0.36942328
+v -0.28241325 -0.07722981 -0.38352851
+v -0.25676177 0.10345588 -0.38352851
+v -0.19476992 -0.11341048 -0.38352851
+v -0.29545454 -0.12818093 -0.36942318
+v -0.17340926 0.08732714 -0.38352851
+v -0.29545455 0.09909181 -0.36942319
+v -0.27955385 0.07566487 -0.38352851
+v -0.27021181 -0.10005424 -0.38352851
+v -0.16935135 -0.08944739 -0.38352851
+f 1 2 3
+f 6 4 3
+f 8 7 1
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 5 8
+f 10 3 4
+f 10 8 1
+f 10 1 3
+f 11 6 2
+f 11 2 5
+f 11 5 10
+f 11 10 4
+f 11 4 6
+f 12 5 2
+f 12 2 7
+f 12 8 5
+f 12 7 8
+f 13 7 2
+f 13 2 1
+f 13 1 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_18.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23849befffddc3d9e9e4ce555c6e83112e3dabe4
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.26515151 0.09909180 -0.28293713
+v -0.26410433 0.09774534 -0.37384622
+v -0.26515151 0.15969786 -0.28293713
+v -0.35181672 0.21867516 -0.28293715
+v -0.34090909 0.09909181 -0.36942321
+v -0.32689697 0.19616146 -0.39416109
+v -0.34090909 0.09909180 -0.28293713
+v -0.26515152 0.15969787 -0.36942328
+v -0.34503369 0.18148845 -0.39240333
+v -0.29545455 0.19000090 -0.36942333
+v -0.34278855 0.19302612 -0.39632512
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 8 3 2
+f 8 2 6
+f 9 5 4
+f 10 8 6
+f 10 6 4
+f 10 4 3
+f 10 3 8
+f 11 9 4
+f 11 4 6
+f 11 6 2
+f 11 2 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_19.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..984128e4af7c69defd5d7581c3f680aa4f322a6f
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.14393939 -0.22762973 -0.28293713
+v -0.14393939 -0.22762974 -0.32839168
+v -0.14393939 0.15969786 -0.28293713
+v -0.26515151 0.15969786 -0.28293713
+v -0.33848619 -0.22114100 -0.32839168
+v -0.33848619 -0.22114098 -0.28293713
+v -0.14393939 0.15969780 -0.36942328
+v -0.34090909 0.09909180 -0.28293713
+v -0.34090907 0.09909172 -0.36942321
+v -0.26515150 0.15969780 -0.36942328
+f 6 5 2
+f 6 2 1
+f 7 1 2
+f 7 3 1
+f 7 4 3
+f 8 5 6
+f 8 6 1
+f 8 1 3
+f 8 3 4
+f 9 7 2
+f 9 2 5
+f 9 5 8
+f 10 4 7
+f 10 7 9
+f 10 9 8
+f 10 8 4
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_2.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a272af543139857e84fe799a79b13770b17a94ae
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_2.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.32383581 -0.22385057 -0.32839168
+v 0.38208236 -0.20628398 -0.35869470
+v 0.32575758 -0.12818092 -0.36942322
+v -0.29545454 -0.12818093 -0.36942318
+v -0.29239751 -0.21771213 -0.39031558
+v 0.29239751 -0.21771214 -0.39031557
+v -0.29545454 -0.22762974 -0.32839168
+v 0.37001454 -0.18685933 -0.39454527
+v 0.35285454 -0.21690639 -0.36995875
+v -0.29730373 -0.19878547 -0.39240318
+v 0.36849896 -0.21472285 -0.35869471
+v 0.33776811 -0.21725827 -0.38083165
+v 0.36266502 -0.20533244 -0.38578213
+v 0.35313660 -0.21843151 -0.35869471
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 7 6 1
+f 7 5 6
+f 8 4 3
+f 8 6 5
+f 8 3 2
+f 10 7 4
+f 10 5 7
+f 10 8 5
+f 10 4 8
+f 11 2 1
+f 12 1 6
+f 13 8 2
+f 13 11 9
+f 13 2 11
+f 13 9 12
+f 13 12 6
+f 13 6 8
+f 14 11 1
+f 14 9 11
+f 14 12 9
+f 14 1 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_20.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..959a00280555dec0f8b31644f50677205ec61316
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_20.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.39765291 -0.22802477 0.39382265
+v 0.49245922 -0.12494699 0.37525852
+v 0.43611241 0.16278385 0.39189429
+v 0.42462258 0.17630371 0.32312347
+v 0.39715473 -0.19691985 0.32312347
+v 0.49221090 0.12610778 0.37525844
+v 0.40151793 0.15970234 0.38303653
+v 0.49108496 -0.12465300 0.38978799
+v 0.43724083 -0.20343020 0.36861752
+v 0.45768249 -0.12398993 0.32312348
+v 0.48176875 0.15204043 0.39170004
+v 0.39308795 -0.22067690 0.35605744
+v 0.49089253 0.12582573 0.38968192
+v 0.47668609 -0.16232546 0.38827458
+v 0.41901891 -0.18333646 0.32312347
+v 0.48140068 -0.15056201 0.36861751
+v 0.49205717 -0.10970946 0.36861750
+v 0.45743413 0.12515069 0.32312348
+v 0.48082542 0.15136253 0.36861742
+v 0.42116349 -0.21709148 0.37525855
+v 0.46188014 -0.17772530 0.36861752
+v 0.47717182 -0.16267452 0.37525853
+v 0.49180884 0.11087025 0.36861743
+v 0.44526260 0.14758264 0.32312348
+v 0.40858497 -0.22123303 0.36861753
+v 0.42071381 -0.21636766 0.38899549
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 11 4 3
+f 11 3 1
+f 11 1 8
+f 12 7 5
+f 12 1 7
+f 13 8 2
+f 13 2 6
+f 13 11 8
+f 13 6 11
+f 14 8 1
+f 14 2 8
+f 15 5 4
+f 15 4 10
+f 16 15 10
+f 17 6 2
+f 17 16 10
+f 17 2 16
+f 18 10 4
+f 18 17 10
+f 19 11 6
+f 19 4 11
+f 19 6 18
+f 21 9 15
+f 21 15 16
+f 22 16 2
+f 22 2 14
+f 22 21 16
+f 22 14 9
+f 22 9 21
+f 23 18 6
+f 23 6 17
+f 23 17 18
+f 24 19 18
+f 24 18 4
+f 24 4 19
+f 25 20 1
+f 25 1 12
+f 25 12 5
+f 25 9 20
+f 25 15 9
+f 25 5 15
+f 26 14 1
+f 26 1 20
+f 26 20 9
+f 26 9 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_21.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b52480c8b7cbd1172ac09b546960afbd8b98a393
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.38317520 -0.23215317 0.39310314
+v 0.43237814 -0.16551174 0.21706288
+v 0.40151515 -0.14333244 0.38267911
+v 0.34090909 -0.14333244 0.38267911
+v 0.33848617 -0.22114086 0.21706287
+v 0.34090909 -0.14333244 0.21706287
+v 0.40469292 -0.19390200 0.39205135
+v 0.37943096 -0.20793100 0.21706287
+v 0.33918087 -0.24004858 0.39382266
+v 0.39765291 -0.22802477 0.39382265
+v 0.38344653 -0.23362030 0.37386436
+v 0.33807729 -0.23408154 0.35605744
+v 0.39715474 -0.19691988 0.21706287
+v 0.35313656 -0.21843132 0.21706286
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 2 3
+f 9 7 4
+f 10 2 7
+f 10 9 1
+f 10 7 9
+f 11 9 5
+f 11 1 9
+f 11 10 1
+f 12 9 4
+f 12 5 9
+f 12 6 5
+f 12 4 6
+f 13 2 10
+f 13 6 2
+f 13 11 8
+f 13 10 11
+f 14 11 5
+f 14 8 11
+f 14 5 6
+f 14 13 8
+f 14 6 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_22.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d908f5da10339e090c12dce6c9d2db33fb3887a1
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_22.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.39715473 -0.19691985 0.32312347
+v 0.46078204 -0.10950151 0.21706287
+v 0.46078204 -0.10950151 0.32312348
+v 0.44616338 0.14632919 0.32312347
+v 0.44616336 0.14632917 0.21706286
+v 0.46053368 0.11066227 0.32312348
+v 0.44583791 -0.14678217 0.21706287
+v 0.46053368 0.11066227 0.21706287
+v 0.44583790 -0.14678216 0.32312347
+v 0.39715474 -0.19691988 0.21706287
+v 0.40808682 -0.19012816 0.32312347
+v 0.40808683 -0.19012818 0.21706287
+f 5 1 4
+f 6 3 2
+f 6 1 3
+f 6 4 1
+f 7 2 3
+f 7 5 2
+f 8 6 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
+f 9 7 3
+f 9 3 1
+f 10 1 5
+f 11 9 1
+f 11 1 10
+f 12 11 10
+f 12 7 9
+f 12 9 11
+f 12 10 5
+f 12 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_23.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4466e04e99fc5b6d00b0698205f04177b0bd1217
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_23.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.45987058 0.11376183 0.32312348
+v 0.45987058 0.11376183 0.21706287
+v 0.33826909 0.22118094 0.21706287
+v -0.35291947 0.21847141 0.32312348
+v -0.44616322 0.14632908 0.21706286
+v 0.35291949 0.21847144 0.32312348
+v -0.44616323 0.14632909 0.32312347
+v -0.35291947 0.21847137 0.21706288
+v 0.40754267 0.19046621 0.32312348
+v -0.39661053 0.19725781 0.32312348
+v 0.44526260 0.14758264 0.32312348
+v 0.40754266 0.19046619 0.21706288
+v -0.39661051 0.19725779 0.21706287
+v 0.35291949 0.21847141 0.21706288
+v 0.44526259 0.14758263 0.21706287
+v -0.37888675 0.20826895 0.32312348
+v -0.37888673 0.20826893 0.21706287
+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 6 4
+f 10 5 7
+f 10 7 1
+f 10 1 4
+f 11 1 2
+f 11 9 4
+f 11 4 1
+f 12 2 3
+f 12 6 9
+f 13 5 10
+f 14 12 3
+f 14 3 6
+f 14 6 12
+f 15 11 2
+f 15 2 12
+f 15 12 9
+f 15 9 11
+f 16 13 10
+f 16 10 4
+f 17 13 16
+f 17 8 5
+f 17 5 13
+f 17 16 4
+f 17 4 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_24.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4bd55d648220b6af7c6eb1cfd8012f537ca0495
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.35584609 -0.21793013 0.32312348
+v -0.35584609 -0.21793016 0.21706287
+v -0.35606061 0.11424332 0.21706287
+v -0.46053354 0.11066220 0.32312348
+v -0.46078187 -0.10950143 0.32312348
+v -0.35606061 0.11424333 0.38267904
+v -0.40808675 -0.19012808 0.21706287
+v -0.40808674 -0.19012805 0.32312347
+v -0.46078188 -0.10950143 0.21706287
+v -0.44583773 -0.14678204 0.32312347
+v -0.37943088 -0.20793089 0.32312347
+v -0.46053353 0.11066220 0.21706287
+v -0.44583775 -0.14678205 0.21706287
+v -0.37943089 -0.20793092 0.21706287
+f 1 2 3
+f 6 1 3
+f 6 4 5
+f 9 5 4
+f 10 8 6
+f 10 6 5
+f 10 7 8
+f 11 1 6
+f 11 6 8
+f 11 2 1
+f 12 9 4
+f 12 6 3
+f 12 4 6
+f 13 7 10
+f 13 9 12
+f 13 12 3
+f 13 3 7
+f 13 10 5
+f 13 5 9
+f 14 2 11
+f 14 7 3
+f 14 3 2
+f 14 11 8
+f 14 8 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_25.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6b496a44e29ab475e1d0d86e295e43c814db6a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_25.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.25000000 -0.00696881 0.00494166
+v 0.25000000 -0.00696881 -0.19202804
+v 0.25000000 0.22762940 0.00494166
+v -0.33826906 0.22118084 0.00494166
+v -0.34090909 -0.00696881 -0.19202804
+v -0.34090909 -0.00696881 0.00494166
+v 0.00757576 0.22762935 -0.19202804
+v 0.25000000 0.22762935 -0.19202804
+v -0.33826905 0.22118078 -0.19202803
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
+f 9 7 5
+f 9 5 4
+f 9 4 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_26.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2be466bf93bba26c711004c0dcd4bc24162971e
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.33848616 -0.22114082 0.32312347
+v 0.33848617 -0.22114086 0.21706287
+v 0.34090909 -0.14333244 0.21706287
+v -0.35602584 -0.14296577 0.38280494
+v -0.35313655 -0.21843125 0.32312347
+v 0.34090909 -0.14333242 0.38267911
+v -0.35606061 -0.14333244 0.21706287
+v -0.35313656 -0.21843128 0.21706287
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 4
+f 7 4 3
+f 8 2 5
+f 8 5 7
+f 8 7 3
+f 8 3 2
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_27.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..add7670888a6a1ff8e7dd7b6587394fb423ea07b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.22762970 -0.19202804
+v -0.09848485 -0.22762973 -0.28293713
+v -0.09848485 0.22762932 -0.28293713
+v -0.33826905 0.22118078 -0.19202803
+v -0.33848619 -0.22114098 -0.28293713
+v -0.09848485 0.22762935 -0.19202804
+v -0.33848618 -0.22114095 -0.19202804
+v -0.33826904 0.22118075 -0.28293712
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 1 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_28.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2707857fb50e5478b2b0bbebd30e16b074a63ddf
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.35313658 -0.21843139 0.00494165
+v 0.36849893 -0.21472281 -0.19202804
+v 0.37121212 -0.00696881 0.00494166
+v -0.34090909 -0.00696881 0.00494166
+v -0.33848618 -0.22114095 -0.19202804
+v 0.25000000 -0.00696881 -0.19202804
+v 0.36849890 -0.21472276 0.00494166
+v 0.35313659 -0.21843146 -0.19202804
+v -0.33848617 -0.22114089 0.00494165
+v 0.37121212 -0.00696881 -0.19202804
+v -0.34090909 -0.00696881 -0.19202804
+f 6 4 3
+f 7 2 3
+f 7 3 4
+f 8 7 1
+f 8 2 7
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 9 8 1
+f 9 5 8
+f 10 6 3
+f 10 3 2
+f 10 8 6
+f 10 2 8
+f 11 5 4
+f 11 4 6
+f 11 8 5
+f 11 6 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_29.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1cc815a0ec2fc0c742b0af2e316b159644e8157
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.14333244 0.38267911
+v 0.43237814 -0.16551174 0.21706288
+v 0.44616336 0.14632917 0.21706286
+v -0.35606061 0.11424332 0.38267904
+v -0.35606114 -0.14333811 0.38280725
+v -0.35606061 0.11424332 0.21706287
+v 0.40151770 0.11425115 0.38269521
+v -0.35606061 -0.14333244 0.21706287
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_3.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f1e360e2437a70419469de015b80539b406481
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.25000000 -0.12818093 -0.19202804
+v 0.25000000 -0.12818093 -0.28293713
+v 0.25000000 0.22762935 -0.19202804
+v -0.09848485 0.22762935 -0.19202804
+v 0.00757576 -0.12818093 -0.28293713
+v -0.09848485 0.22762932 -0.28293713
+v 0.00757576 -0.12818093 -0.19202804
+v 0.25000000 0.22762932 -0.28293713
+v -0.09848485 -0.00696881 -0.19202804
+v -0.09848485 -0.00696881 -0.28293713
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 6 3
+f 8 3 2
+f 9 5 7
+f 9 7 4
+f 10 5 9
+f 10 2 5
+f 10 8 2
+f 10 6 8
+f 10 9 4
+f 10 4 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_30.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7aeb2fafd842802366ad3da9f9070cb694e563f
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.45701941 -0.12708948 0.00494166
+v 0.46078207 -0.10950152 -0.19202804
+v 0.46831341 -0.00696881 0.00494166
+v 0.37121212 -0.00696881 0.00494166
+v 0.37121212 -0.12818093 -0.19202804
+v 0.46831341 -0.00696881 -0.19202804
+v 0.46078205 -0.10950151 0.00494166
+v 0.45701942 -0.12708949 -0.19202804
+v 0.37121212 -0.12818093 0.00494166
+v 0.37121212 -0.00696881 -0.19202804
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 8 7 1
+f 8 2 7
+f 9 4 5
+f 9 1 3
+f 9 3 4
+f 9 8 1
+f 9 5 8
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_31.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4e4275a1ed71c77ef9e0d6a5376f58d8f2e40ac
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46831341 -0.00696881 0.00494166
+v 0.46831341 -0.00696881 -0.19202804
+v 0.46363322 0.09617385 0.00494166
+v 0.25000000 0.09909180 0.00494166
+v 0.25000000 -0.00696881 -0.19202804
+v 0.25000000 0.09909180 -0.19202804
+v 0.25000000 -0.00696881 0.00494166
+v 0.46363321 0.09617385 -0.19202804
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_4.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c96c8cba3f42a41291183b43a5318ccc6233099
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_4.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.45701942 -0.12708949 -0.19202804
+v 0.46078207 -0.10950152 -0.32839168
+v 0.46363321 0.09617385 -0.19202804
+v 0.25000000 0.09909180 -0.19202804
+v 0.25000000 -0.12818093 -0.36942318
+v 0.46078207 -0.10950152 -0.19202804
+v 0.45701943 -0.12708949 -0.32839168
+v 0.25000000 -0.12818093 -0.19202804
+v 0.37121212 0.09909180 -0.36942322
+v 0.37121211 -0.12818093 -0.36942319
+v 0.46363320 0.09617385 -0.32839167
+v 0.25000000 0.09909174 -0.36942319
+v 0.25000000 -0.00583150 -0.37384622
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 1
+f 8 4 5
+f 8 1 3
+f 8 3 4
+f 9 4 3
+f 10 7 1
+f 10 1 8
+f 10 8 5
+f 10 2 7
+f 11 9 3
+f 11 3 2
+f 11 10 9
+f 11 2 10
+f 12 4 9
+f 13 10 5
+f 13 9 10
+f 13 12 9
+f 13 5 4
+f 13 4 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_5.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d75e73a5c976dfc30805dbd069aef319c187823a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.33918087 -0.24004858 0.39382266
+v 0.33848616 -0.22114082 0.32312347
+v 0.34090909 -0.14333242 0.38267911
+v -0.35602584 -0.14296577 0.38280494
+v -0.38344652 -0.23362026 0.37386428
+v -0.39715466 -0.19691975 0.32312347
+v -0.44403256 -0.19921081 0.39382264
+v 0.34180026 -0.22390856 0.39498233
+v -0.33736423 -0.23022606 0.34878750
+v -0.38317520 -0.23215319 0.39310294
+v -0.43724089 -0.20343026 0.36861752
+v 0.33736424 -0.23022607 0.34878750
+v -0.36651066 -0.21595776 0.32312347
+v -0.42071377 -0.21636759 0.38899558
+v -0.43918459 -0.19203867 0.35605743
+v -0.42116351 -0.21709145 0.37525855
+v -0.43797249 -0.20460789 0.39087148
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 9 1 5
+f 10 5 1
+f 10 8 7
+f 10 1 8
+f 12 9 2
+f 12 2 1
+f 12 1 9
+f 13 6 2
+f 13 2 9
+f 13 9 5
+f 13 11 6
+f 14 10 7
+f 14 5 10
+f 15 11 7
+f 15 7 4
+f 15 4 6
+f 15 6 11
+f 16 13 5
+f 16 11 13
+f 16 5 14
+f 17 16 14
+f 17 14 7
+f 17 7 11
+f 17 11 16
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_6.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53737b7027f85e9d6c205f5da8c68c51e0acf77c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_6.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.34090909 0.09909180 0.21706287
+v -0.34090909 0.09909181 -0.36942321
+v -0.33826907 0.22118091 0.21706287
+v -0.39661053 0.19725781 0.32312348
+v -0.46363312 0.09617380 0.21706287
+v -0.40467123 0.18584427 -0.38083180
+v -0.33797381 0.21958445 -0.37028714
+v -0.46179300 0.09578014 -0.36855542
+v -0.45987043 0.11376179 0.32312348
+v -0.33844171 0.20696288 -0.39298392
+v -0.35264744 0.21700055 -0.36970770
+v -0.44526246 0.14758254 0.32312348
+v -0.45900487 0.11033518 -0.36760246
+v -0.44046594 0.09770044 -0.39394003
+v -0.37601537 0.20364710 -0.38083180
+v -0.35291947 0.21847137 0.21706288
+v -0.35069830 0.20729065 -0.38988377
+v -0.40754260 0.19046611 0.32312348
+v -0.46053353 0.11066220 0.21706287
+v -0.44432527 0.14690903 -0.36625805
+v -0.44740763 0.13397262 -0.38083180
+v -0.41663548 0.10232667 -0.39240326
+v -0.40828621 0.17651152 -0.38614009
+v -0.44616323 0.14632909 0.32312347
+v -0.42788709 0.16113590 -0.38083180
+v -0.35182537 0.17726904 -0.39240333
+v -0.43603658 0.13668940 -0.38675028
+f 1 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 10 7 2
+f 11 3 7
+f 13 8 5
+f 14 2 8
+f 15 6 4
+f 15 4 11
+f 16 11 4
+f 16 4 3
+f 16 3 11
+f 17 11 7
+f 17 7 10
+f 17 15 11
+f 18 4 6
+f 18 12 9
+f 18 9 4
+f 19 13 5
+f 19 5 9
+f 19 9 13
+f 20 13 9
+f 20 18 6
+f 20 12 18
+f 21 14 8
+f 21 8 13
+f 21 13 20
+f 22 2 14
+f 23 6 15
+f 23 15 17
+f 23 17 10
+f 23 10 14
+f 24 20 9
+f 24 9 12
+f 24 12 20
+f 25 21 20
+f 25 20 6
+f 25 6 23
+f 26 22 14
+f 26 14 10
+f 26 10 2
+f 26 2 22
+f 27 23 14
+f 27 14 21
+f 27 25 23
+f 27 21 25
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_7.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78afee4ef8f5b586016ad7ea51cd8bd3998c1472
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.35313660 -0.21843150 -0.32839168
+v 0.45922845 -0.10916914 -0.36767893
+v 0.46363320 0.09617385 -0.32839167
+v 0.32361865 0.22389030 -0.35869470
+v 0.32845473 -0.19312840 -0.39292082
+v 0.44903568 0.09629241 -0.38745787
+v 0.38832973 0.20240229 -0.32839168
+v 0.46078207 -0.10950152 -0.32839168
+v 0.41612227 -0.17750733 -0.38083165
+v 0.32383581 -0.22385057 -0.32839168
+v 0.45778087 0.09492185 -0.38083175
+v 0.32364825 0.20889876 -0.39394006
+v 0.35313660 -0.21843151 -0.35869471
+v 0.42115744 -0.18112578 -0.35869471
+v 0.44913285 -0.09509923 -0.38758179
+v 0.45802930 -0.09376108 -0.38083170
+v 0.42776222 0.17193461 -0.32839167
+v 0.37601535 0.20364709 -0.38083180
+v 0.32290055 0.22000753 -0.38083180
+v 0.32383581 -0.22385058 -0.35869471
+v 0.40809189 -0.17618625 -0.38647434
+v 0.41946425 -0.16475742 -0.38448922
+v 0.35291945 0.21847123 -0.35869470
+v 0.40754257 0.19046605 -0.35869470
+v 0.40828617 0.17651149 -0.38614013
+v 0.35069830 0.20729060 -0.38988394
+v 0.35264746 0.21700059 -0.36970765
+v 0.40467121 0.18584425 -0.38083180
+v 0.33755095 0.21729800 -0.38083180
+f 8 2 3
+f 10 7 4
+f 10 8 3
+f 10 1 8
+f 13 1 10
+f 14 8 1
+f 14 13 9
+f 14 1 13
+f 14 9 2
+f 14 2 8
+f 15 6 11
+f 15 12 6
+f 15 5 12
+f 16 11 3
+f 16 3 2
+f 16 15 11
+f 16 2 9
+f 17 3 11
+f 17 10 3
+f 17 7 10
+f 19 10 4
+f 20 12 5
+f 20 19 12
+f 20 10 19
+f 20 13 10
+f 20 5 13
+f 21 13 5
+f 21 9 13
+f 21 5 15
+f 22 16 9
+f 22 15 16
+f 22 21 15
+f 22 9 21
+f 23 4 7
+f 24 7 17
+f 24 23 7
+f 24 18 23
+f 25 11 6
+f 25 6 12
+f 26 12 19
+f 26 25 12
+f 27 19 4
+f 27 4 23
+f 27 23 18
+f 28 18 24
+f 28 24 17
+f 28 17 11
+f 28 11 25
+f 28 26 18
+f 28 25 26
+f 29 26 19
+f 29 19 27
+f 29 27 18
+f 29 18 26
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_8.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96e19cf6bfe9350b3f9507304f39b43c25842e15
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_8.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.29545454 -0.22762974 -0.32839168
+v -0.29456459 -0.21427807 -0.39393991
+v -0.29545455 0.09909181 -0.36942319
+v -0.34090909 0.09909181 -0.36942321
+v -0.39009968 -0.14601726 -0.39263137
+v -0.33848619 -0.22114100 -0.32839168
+v -0.38636365 -0.12818093 -0.36942320
+v -0.37655971 -0.20330938 -0.38083165
+v -0.29545454 -0.22366053 -0.38237653
+v -0.37894180 -0.19199213 -0.38820008
+v -0.37943098 -0.20793106 -0.35869471
+v -0.35313659 -0.21843147 -0.35869471
+v -0.33776812 -0.21725827 -0.38083165
+v -0.38447586 -0.15286417 -0.39240319
+v -0.36266508 -0.20533249 -0.38578205
+v -0.35285454 -0.21690634 -0.36995881
+f 1 2 3
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 7 6 4
+f 7 4 5
+f 9 2 1
+f 11 7 5
+f 11 10 8
+f 11 5 10
+f 11 6 7
+f 12 9 1
+f 12 1 6
+f 12 6 11
+f 13 2 9
+f 14 10 5
+f 14 5 2
+f 14 2 10
+f 15 10 2
+f 15 8 10
+f 15 13 8
+f 15 2 13
+f 16 12 11
+f 16 11 8
+f 16 8 13
+f 16 13 9
+f 16 9 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_9.obj b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12ef6560d6951640c2b02aee3bf06222c58d677f
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/collision/model_normalized_collision_9.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.35313656 -0.21843132 0.21706286
+v 0.46078205 -0.10950151 0.00494166
+v 0.40754266 0.19046619 0.21706288
+v -0.33826907 0.22118091 0.21706287
+v -0.33848617 -0.22114089 0.00494165
+v 0.35291947 0.21847135 0.00494166
+v 0.46078204 -0.10950151 0.21706287
+v 0.35313658 -0.21843139 0.00494165
+v -0.33848616 -0.22114082 0.21706287
+v 0.46053366 0.11066227 0.00494166
+v 0.35291949 0.21847141 0.21706288
+v -0.33826906 0.22118084 0.00494166
+v 0.42115736 -0.18112572 0.21706287
+v 0.40754263 0.19046614 0.00494166
+v 0.46053368 0.11066227 0.21706287
+v 0.42115738 -0.18112573 0.08069923
+v 0.44526255 0.14758260 0.00494166
+v 0.44526259 0.14758263 0.21706287
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 10 2 8
+f 11 6 4
+f 11 4 3
+f 12 5 4
+f 12 4 6
+f 12 6 10
+f 12 10 8
+f 12 8 5
+f 13 1 8
+f 13 9 1
+f 13 4 9
+f 13 3 4
+f 14 10 6
+f 14 11 3
+f 14 6 11
+f 15 7 2
+f 15 2 10
+f 16 13 8
+f 16 8 2
+f 16 2 7
+f 16 7 13
+f 17 14 3
+f 17 10 14
+f 18 17 3
+f 18 15 10
+f 18 10 17
+f 18 7 15
+f 18 13 7
+f 18 3 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_10/model.xml b/objects/objaverse/canned_food/canned_food_10/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..de6dff48d7e40c612ce5eabbfedddcb090703879
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="more_canned_food_18">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10499999999999994 0.10499999999999994 0.10499999999999994" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.004" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material.004"/>
+        <geom solimp="0.998 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"/>
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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_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="-0.0002823901500000005 -1.0499999994473258e-09 -0.041614137599999976" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0002823901500000005 -1.0499999994473258e-09 0.04147314464999997" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.024640320599999987 0.05170821599999997 -7.049647499999905e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/canned_food/canned_food_10/visual/material.mtl b/objects/objaverse/canned_food/canned_food_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_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/canned_food/canned_food_10/visual/model_normalized_0.obj b/objects/objaverse/canned_food/canned_food_10/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d240508e07672e3c6bd480d04275ddb0483b5bd6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_10/visual/model_normalized_0.obj
@@ -0,0 +1,3553 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_0.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e922ceafc7271142c52a86b22954c93f6416960a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_0.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
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+f 10 4 6
+f 11 4 10
+f 11 10 6
+f 11 6 2
+f 13 1 9
+f 14 11 2
+f 14 2 8
+f 15 9 4
+f 15 4 11
+f 16 15 11
+f 16 9 15
+f 17 7 3
+f 17 9 1
+f 17 3 9
+f 18 12 1
+f 18 1 13
+f 18 14 8
+f 19 2 7
+f 20 5 11
+f 20 11 14
+f 21 16 11
+f 21 11 5
+f 22 9 16
+f 22 21 5
+f 22 16 21
+f 23 17 1
+f 23 1 12
+f 23 12 17
+f 24 18 13
+f 24 14 18
+f 24 20 14
+f 25 19 12
+f 25 8 2
+f 25 2 19
+f 25 18 8
+f 25 12 18
+f 26 17 12
+f 26 12 19
+f 26 19 7
+f 28 9 22
+f 28 22 5
+f 28 5 20
+f 29 24 13
+f 29 20 24
+f 29 13 27
+f 29 28 20
+f 29 9 28
+f 30 26 7
+f 30 7 17
+f 30 17 26
+f 31 29 27
+f 31 9 29
+f 31 27 13
+f 31 13 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_1.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5bb30211f76f35f9e22b8c06b526dbc7e93bbd7
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_1.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.09396732 -0.45982563 0.49609697
+v 0.31819555 -0.33415167 0.46212123
+v 0.31485629 -0.33046732 0.50000001
+v -0.21989346 -0.24980351 0.49482163
+v -0.09606158 -0.45146596 0.26515152
+v 0.24980349 -0.24980350 0.26515153
+v -0.21334312 -0.41777214 0.49609697
+v 0.26799957 -0.38499426 0.49609697
+v 0.24980350 -0.24980350 0.49482162
+v -0.09868136 -0.24980350 0.26515153
+v -0.09433709 -0.45973313 0.49609697
+v -0.23531577 -0.39674632 0.40151517
+v 0.30068181 -0.36028269 0.49609697
+v 0.15229983 -0.44349406 0.49609697
+v 0.22612995 -0.40225200 0.26515153
+v -0.15279981 -0.44379298 0.47999214
+v 0.09407662 -0.46026202 0.47999214
+v -0.21989348 -0.24980350 0.40151516
+v 0.24395812 -0.39156622 0.26515153
+v 0.24105415 -0.40187275 0.47929550
+v -0.15264826 -0.44336938 0.49609697
+v -0.09444643 -0.46016938 0.47999214
+v 0.12420578 -0.44441624 0.26515152
+v 0.26826753 -0.38535560 0.47999214
+v 0.15245137 -0.44391761 0.47999214
+v 0.28499773 -0.37233269 0.47950267
+v 0.16797727 -0.42981242 0.26515152
+f 7 3 4
+f 9 3 2
+f 9 2 6
+f 9 4 3
+f 11 1 3
+f 12 7 4
+f 12 5 7
+f 12 10 5
+f 13 2 3
+f 13 3 8
+f 14 8 3
+f 14 3 1
+f 16 7 5
+f 17 1 11
+f 17 14 1
+f 18 12 4
+f 18 10 12
+f 18 4 9
+f 18 9 6
+f 18 6 10
+f 19 6 2
+f 19 2 13
+f 20 8 14
+f 20 15 19
+f 21 7 16
+f 21 11 3
+f 21 3 7
+f 22 16 5
+f 22 21 16
+f 22 11 21
+f 22 17 11
+f 22 5 17
+f 23 17 5
+f 24 13 8
+f 24 20 19
+f 24 8 20
+f 25 20 14
+f 25 15 20
+f 25 14 17
+f 25 17 23
+f 26 24 19
+f 26 19 13
+f 26 13 24
+f 27 25 23
+f 27 15 25
+f 27 19 15
+f 27 6 19
+f 27 10 6
+f 27 23 5
+f 27 5 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_10.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1315ccf31b955337006080911e450a6fdfda8407
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_10.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.46147198 -0.00735701 -0.23484848
+v 0.46147198 -0.00735701 -0.41666667
+v 0.39674621 0.23531590 -0.41666667
+v 0.24980349 0.21989348 -0.23484848
+v 0.24980349 -0.00737925 -0.35606060
+v 0.40813179 0.21594977 -0.23484848
+v 0.24980349 -0.00737925 -0.23484848
+v 0.42796799 0.17313161 -0.46212121
+v 0.24980349 0.21989348 -0.35606060
+v 0.37101562 -0.00737925 -0.41666667
+v 0.40813178 0.21594976 -0.41666666
+v 0.44432358 0.12457550 -0.23484848
+v 0.45146600 0.09606156 -0.46212121
+v 0.41675759 0.19771185 -0.23484848
+v 0.44432357 0.12457549 -0.46212121
+v 0.41675758 0.19771185 -0.41666666
+v 0.42968764 0.16832558 -0.23484848
+v 0.42968763 0.16832557 -0.46212121
+f 6 3 4
+f 7 4 5
+f 9 5 4
+f 9 4 3
+f 9 8 5
+f 9 3 8
+f 10 5 8
+f 10 7 5
+f 10 2 1
+f 10 1 7
+f 11 8 3
+f 11 3 6
+f 13 10 8
+f 13 2 10
+f 13 12 1
+f 13 1 2
+f 14 11 6
+f 14 6 4
+f 14 4 7
+f 15 13 8
+f 15 12 13
+f 16 14 8
+f 16 8 11
+f 16 11 14
+f 17 8 14
+f 17 12 15
+f 17 1 12
+f 17 14 7
+f 17 7 1
+f 18 17 15
+f 18 15 8
+f 18 8 17
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_11.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3cf93b6075250df0f9c065c211522dc2a6d0f6c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.24395812 -0.39156622 0.46212123
+v 0.40828357 -0.21562847 -0.46212121
+v 0.40828354 -0.21562846 0.46212123
+v 0.24980350 -0.21950047 0.49482161
+v 0.24980349 -0.21950047 -0.49482159
+v 0.30617139 -0.35118798 0.49925026
+v 0.24629637 -0.39546737 -0.49925011
+v 0.34064624 -0.21946070 0.49469780
+v 0.24975730 -0.32549879 0.49466651
+v 0.37236815 -0.28502403 -0.49609685
+v 0.26826759 -0.38535570 -0.47999199
+v 0.33194554 -0.33194693 0.49609697
+v 0.37817814 -0.27418149 -0.49794852
+v 0.31653941 -0.34591022 0.49609697
+v 0.26799960 -0.38499430 -0.49609685
+v 0.38488499 -0.25510503 0.46212123
+v 0.38609958 -0.21945996 -0.49446358
+v 0.25510507 -0.38488500 0.46212123
+v 0.40225203 -0.22612994 0.46212123
+f 5 1 4
+f 5 3 2
+f 5 4 3
+f 7 1 5
+f 8 3 4
+f 8 4 6
+f 9 6 4
+f 9 4 1
+f 9 1 6
+f 11 1 7
+f 12 8 6
+f 12 3 8
+f 12 11 10
+f 13 2 3
+f 13 3 10
+f 13 7 5
+f 14 6 1
+f 14 12 6
+f 14 11 12
+f 15 11 7
+f 15 10 11
+f 15 13 10
+f 15 7 13
+f 16 12 10
+f 17 13 5
+f 17 5 2
+f 17 2 13
+f 18 14 1
+f 18 1 11
+f 18 11 14
+f 19 16 10
+f 19 10 3
+f 19 3 12
+f 19 12 16
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_12.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2756e055d46bd9cc9e39f265a4983c377776ca2e
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_12.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.34103924 -0.21946071 0.49469577
+v -0.34103924 -0.21946067 -0.49469575
+v -0.32595409 -0.12859137 0.26515153
+v -0.44354495 -0.12768429 0.46212123
+v -0.41799595 -0.21287014 -0.49609691
+v -0.34110560 -0.12859137 0.49482159
+v -0.32595409 -0.21950047 -0.35606060
+v -0.38649258 -0.21945999 0.49446158
+v -0.34110560 -0.12859137 -0.49482159
+v -0.32595409 -0.21950047 0.26515153
+v -0.40835555 -0.21547666 0.46212123
+v -0.38648724 -0.12856529 0.49468457
+v -0.42694896 -0.18680152 -0.49925018
+v -0.32595409 -0.12859137 -0.35606060
+v -0.42985702 -0.16785255 0.46212123
+v -0.44354498 -0.12768430 -0.44696970
+v -0.41698142 -0.19723875 0.46212123
+v -0.38648724 -0.12856529 -0.49468458
+f 6 1 3
+f 6 3 4
+f 8 5 2
+f 8 2 7
+f 10 7 3
+f 10 3 1
+f 10 8 7
+f 10 1 8
+f 11 5 8
+f 12 6 4
+f 12 4 8
+f 12 8 1
+f 12 1 6
+f 13 9 2
+f 13 2 5
+f 14 3 7
+f 14 7 2
+f 14 2 9
+f 14 4 3
+f 15 8 4
+f 15 13 5
+f 15 4 13
+f 16 13 4
+f 16 14 9
+f 16 4 14
+f 17 11 8
+f 17 8 15
+f 17 15 5
+f 17 5 11
+f 18 16 9
+f 18 9 13
+f 18 13 16
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_13.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810277aa1c7ef28864f9b2697ea2e19e8f655675
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.09606157 -0.45146593 0.46212123
+v -0.09606158 -0.45146596 0.26515152
+v -0.09868136 -0.24980350 0.26515153
+v -0.21989348 -0.24980350 0.40151516
+v -0.23531576 -0.39674632 0.46212123
+v -0.21989348 -0.24980350 0.26515153
+v -0.09868136 -0.24980350 0.40151516
+v -0.16832569 -0.42968775 0.46212123
+v -0.21594970 -0.40813176 0.26515152
+v -0.09868136 -0.37101562 0.49482165
+v -0.12457554 -0.44432357 0.46212123
+v -0.21594969 -0.40813174 0.46212123
+v -0.16832569 -0.42968775 0.26515153
+v -0.19771178 -0.41675765 0.46212123
+v -0.12457555 -0.44432359 0.26515152
+v -0.19771179 -0.41675768 0.26515152
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 9 5 6
+f 10 1 7
+f 10 7 4
+f 10 4 5
+f 11 2 1
+f 11 10 8
+f 11 1 10
+f 12 5 9
+f 12 10 5
+f 14 12 9
+f 14 8 10
+f 14 10 12
+f 15 2 11
+f 15 11 8
+f 15 8 13
+f 15 3 2
+f 15 6 3
+f 16 14 9
+f 16 13 8
+f 16 8 14
+f 16 15 13
+f 16 9 6
+f 16 6 15
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_14.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdeab1a767f1d46bfd16f0a03d95d3534ea08a2b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_14.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.21950046 0.32595409 0.26515153
+v 0.21945996 0.38649258 -0.49446164
+v 0.21547669 0.40835560 0.26515153
+v 0.12768432 0.44354501 0.26515153
+v 0.12859137 0.32595409 -0.35606060
+v 0.21287010 0.41799598 -0.49609698
+v 0.21950046 0.32595409 -0.35606060
+v 0.12859137 0.32595409 0.26515153
+v 0.16785259 0.42985710 0.26515153
+v 0.12768430 0.44354493 -0.35606060
+v 0.18916397 0.38648939 -0.49454616
+v 0.19723878 0.41698148 0.26515153
+v 0.18680156 0.42694902 -0.49925025
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 4 8
+f 9 8 1
+f 9 1 3
+f 10 8 4
+f 10 5 8
+f 11 7 5
+f 11 2 7
+f 12 9 3
+f 12 3 6
+f 12 6 9
+f 13 10 4
+f 13 6 2
+f 13 2 11
+f 13 11 5
+f 13 5 10
+f 13 9 6
+f 13 4 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_15.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e835da5f6244cb22a7ac84b2177e8b1899aefe32
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_15.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.35619010 0.23500482 0.49456965
+v -0.14413590 0.34110560 0.49482152
+v -0.40772910 0.22957027 0.49726840
+v -0.14286948 0.44362679 0.49925014
+v -0.14133724 0.43934447 0.46212123
+v -0.40218261 0.22624585 0.46212123
+v -0.28522846 0.37250700 0.47977749
+v -0.26806511 0.38494580 0.49609685
+v -0.37250680 0.28522839 0.47977728
+v -0.18238801 0.43193792 0.47912069
+v -0.40203647 0.24130976 0.47956483
+v -0.38494586 0.26806515 0.49609685
+v -0.18257163 0.43232618 0.49609685
+v -0.24130986 0.40203676 0.47956495
+v -0.38530702 0.26833304 0.47999202
+v -0.40202049 0.24130021 0.49609688
+v -0.26833303 0.38530713 0.47999202
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 6 1 3
+f 7 5 6
+f 8 3 4
+f 9 7 6
+f 10 4 5
+f 11 6 3
+f 12 3 8
+f 12 8 7
+f 12 7 9
+f 13 8 4
+f 13 4 10
+f 14 10 5
+f 14 13 10
+f 14 8 13
+f 15 9 6
+f 15 6 11
+f 15 12 9
+f 16 11 3
+f 16 3 12
+f 16 15 11
+f 16 12 15
+f 17 14 5
+f 17 5 7
+f 17 7 8
+f 17 8 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_16.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9987757552311029b54677cc935b10b159573e59
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_16.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.37997904 -0.27551712 -0.47999199
+v 0.45982585 -0.09396731 -0.49609691
+v 0.44441612 -0.12420556 -0.41666667
+v 0.36069883 0.28799967 -0.46212121
+v 0.36435196 0.29070899 -0.49925025
+v 0.45146600 0.09606156 -0.41666667
+v 0.41168656 -0.20843349 -0.41666667
+v 0.37817814 -0.27418149 -0.49794852
+v 0.46026220 -0.09407655 -0.47999206
+v 0.40813178 0.21594976 -0.41666666
+v 0.45973310 0.09433718 -0.49609691
+v 0.38076265 -0.26094676 -0.46212121
+v 0.41792404 -0.21302188 -0.49609691
+v 0.37094847 -0.21946020 -0.49454163
+v 0.38516762 0.26852112 -0.47999212
+v 0.39674621 0.23531590 -0.41666667
+v 0.44379299 0.15279975 -0.47999206
+v 0.46016938 0.09444645 -0.47999206
+v 0.40187269 -0.24105408 -0.47929532
+v 0.44391762 -0.15245130 -0.47999206
+v 0.44349424 -0.15229979 -0.49609691
+v 0.38499432 -0.26799960 -0.49609685
+v 0.37223956 0.28532166 -0.47961969
+v 0.40178686 0.24139565 -0.47939641
+v 0.41675758 0.19771185 -0.41666666
+v 0.44336954 0.15264821 -0.49609691
+v 0.38535566 -0.26826758 -0.47999199
+v 0.42981229 -0.16797717 -0.41666667
+v 0.42276567 -0.18500883 -0.41666667
+v 0.37218013 0.28527769 -0.49609698
+v 0.38480622 0.26825321 -0.49609698
+f 8 5 2
+f 9 6 3
+f 11 2 5
+f 12 7 4
+f 12 1 7
+f 14 4 5
+f 14 5 8
+f 14 12 4
+f 14 8 1
+f 14 1 12
+f 16 4 7
+f 16 7 10
+f 18 6 9
+f 18 9 2
+f 18 2 11
+f 18 17 6
+f 19 13 7
+f 20 9 3
+f 21 13 8
+f 21 8 2
+f 21 20 13
+f 21 2 9
+f 21 9 20
+f 22 1 8
+f 22 8 13
+f 22 13 19
+f 23 5 4
+f 23 16 15
+f 23 4 16
+f 24 16 10
+f 24 15 16
+f 24 10 17
+f 25 17 10
+f 25 6 17
+f 25 10 7
+f 26 11 5
+f 26 24 17
+f 26 18 11
+f 26 17 18
+f 27 19 7
+f 27 7 1
+f 27 22 19
+f 27 1 22
+f 28 20 3
+f 29 7 13
+f 29 13 20
+f 29 20 28
+f 29 28 3
+f 29 3 6
+f 29 25 7
+f 29 6 25
+f 30 23 15
+f 30 5 23
+f 31 30 15
+f 31 15 24
+f 31 24 26
+f 31 26 5
+f 31 5 30
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_17.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08e33f39a638ab5818d67d6343c5376ff5b70159
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.41452836 -0.20242542 -0.44696969
+v -0.34110560 -0.12859137 -0.49482159
+v -0.34110560 -0.12859137 -0.41666667
+v -0.45411441 0.08231301 -0.41666667
+v -0.46195868 0.08122911 -0.49609691
+v -0.34110560 0.08352984 -0.41666667
+v -0.44354498 -0.12768430 -0.41666667
+v -0.38648940 -0.18916397 -0.49454609
+v -0.34110560 0.08352984 -0.49482159
+v -0.46201584 -0.08084457 -0.49609691
+v -0.43247789 -0.18225043 -0.49609691
+v -0.46246076 -0.08091053 -0.47999206
+v -0.43201328 -0.18203060 -0.47903680
+v -0.44801073 -0.10985612 -0.41666667
+v -0.46240360 0.08129506 -0.47999206
+v -0.44834475 -0.13874324 -0.49609691
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 11 9 2
+f 11 5 9
+f 11 10 5
+f 11 2 8
+f 11 8 1
+f 13 11 1
+f 13 1 7
+f 14 12 7
+f 14 7 4
+f 14 4 12
+f 15 12 4
+f 15 4 5
+f 15 5 10
+f 15 10 12
+f 16 12 10
+f 16 10 11
+f 16 11 13
+f 16 13 7
+f 16 7 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_18.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d08cf105af59840ecc43853e7d1b935c8cb10d6f
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_18.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.38649258 -0.21945999 0.49446158
+v -0.40102800 -0.22817226 0.46212123
+v -0.39417354 0.23960826 0.46212123
+v -0.38990858 0.23705195 0.49999992
+v -0.46201582 -0.08084457 0.49609691
+v -0.41799590 -0.21287012 0.49609691
+v -0.45663972 0.06528860 0.46212123
+v -0.43201323 -0.18203057 0.47903681
+v -0.44834471 -0.13874322 0.49609691
+v -0.46195870 0.08122911 0.49609691
+v -0.45669685 -0.06490406 0.46212123
+v -0.43247783 -0.18225041 0.49609691
+v -0.43232620 0.18257157 0.49609691
+v -0.44118874 -0.13618276 0.46212123
+v -0.46240362 0.08129507 0.47999208
+v -0.44822012 0.13909174 0.49609691
+v -0.40772910 0.22957027 0.49726840
+v -0.41112529 -0.20962053 0.46212123
+v -0.46246074 -0.08091053 0.47999208
+v -0.44106386 0.13653123 0.46212123
+v -0.43193800 0.18238803 0.47912084
+v -0.41784405 0.21319120 0.49609691
+v -0.41097336 0.20994165 0.46212123
+v -0.40218261 0.22624585 0.46212123
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 4
+f 7 3 2
+f 8 2 6
+f 9 4 5
+f 10 5 4
+f 11 7 2
+f 12 9 8
+f 12 8 6
+f 12 6 4
+f 12 4 9
+f 14 11 2
+f 15 7 11
+f 15 5 10
+f 16 10 4
+f 16 4 13
+f 16 15 10
+f 17 13 4
+f 17 4 3
+f 18 14 2
+f 18 2 8
+f 18 8 14
+f 19 14 8
+f 19 8 9
+f 19 9 5
+f 19 11 14
+f 19 15 11
+f 19 5 15
+f 20 3 7
+f 20 7 15
+f 21 16 13
+f 21 20 15
+f 21 15 16
+f 22 17 3
+f 22 21 13
+f 22 13 17
+f 23 3 20
+f 23 20 21
+f 24 22 3
+f 24 21 22
+f 24 23 21
+f 24 3 23
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_19.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9cc1247c23802127957703b19518b18f952830
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.46147198 -0.00735701 0.26515153
+v 0.46147198 -0.00735701 -0.23484848
+v 0.40813182 0.21594978 0.26515153
+v 0.00737925 0.21989348 0.26515153
+v 0.00737925 -0.00737925 -0.23484848
+v 0.00737925 0.21989348 -0.23484848
+v 0.44432359 0.12457550 0.26515153
+v 0.00737925 -0.00737925 0.26515153
+v 0.40813179 0.21594977 -0.23484848
+v 0.44432358 0.12457550 -0.23484848
+v 0.42968764 0.16832558 -0.23484848
+v 0.41675762 0.19771186 0.26515153
+v 0.41675759 0.19771185 -0.23484848
+v 0.42968766 0.16832559 0.26515153
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 8 4 5
+f 8 5 2
+f 8 2 1
+f 9 6 3
+f 9 2 6
+f 10 7 2
+f 10 2 9
+f 11 10 9
+f 12 9 3
+f 12 3 4
+f 12 4 8
+f 13 12 11
+f 13 11 9
+f 13 9 12
+f 14 11 12
+f 14 7 10
+f 14 10 11
+f 14 1 7
+f 14 12 8
+f 14 8 1
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_2.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcbd01dbd944094c36b72f322a9e22fb4e6ad59e
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_2.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.34110560 -0.12859137 0.49482159
+v -0.32595409 -0.12859137 -0.35606060
+v -0.32595409 0.18959045 0.26515153
+v -0.38648939 0.18955698 0.49454508
+v -0.44801073 -0.10985612 -0.41666667
+v -0.34103971 0.18955095 0.49478812
+v -0.32595409 -0.12859137 0.26515153
+v -0.44354498 -0.12768430 -0.41666667
+v -0.44801070 -0.10985611 0.46212123
+v -0.34103973 0.18955096 -0.49478814
+v -0.40163645 0.08351100 0.49466845
+v -0.40163827 -0.12856511 0.49459888
+v -0.44822008 0.13909172 -0.49609691
+v -0.32595409 0.18959045 -0.35606060
+v -0.34110560 -0.12859137 -0.41666667
+v -0.44791794 0.11022588 0.46212123
+v -0.44354495 -0.12768429 0.46212123
+v -0.45861345 0.08298038 -0.49925018
+v -0.43232615 0.18257155 -0.49609691
+v -0.34110560 0.08352984 -0.49482159
+v -0.42268565 0.18517813 0.46212123
+v -0.42973233 0.16820106 0.46212123
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 9 5 8
+f 11 6 4
+f 11 1 6
+f 12 11 9
+f 12 1 11
+f 14 3 2
+f 14 2 10
+f 14 10 4
+f 14 4 3
+f 15 12 8
+f 15 2 1
+f 15 1 12
+f 16 11 4
+f 16 9 11
+f 17 12 9
+f 17 9 8
+f 17 8 12
+f 18 5 9
+f 18 16 13
+f 18 9 16
+f 18 8 5
+f 18 15 8
+f 19 4 10
+f 19 18 13
+f 19 10 18
+f 20 10 2
+f 20 2 15
+f 20 18 10
+f 20 15 18
+f 21 4 19
+f 22 16 4
+f 22 4 21
+f 22 13 16
+f 22 21 19
+f 22 19 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_20.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4adb72f0efd9aec08ffecbf311815d9e2d1535a6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21989348 -0.21950047 0.26515153
+v -0.21989348 -0.21950047 -0.35606060
+v -0.21989348 0.18959045 0.26515153
+v -0.32595409 0.18959045 0.26515153
+v -0.32595409 -0.21950047 -0.35606060
+v -0.32595409 0.18959045 -0.35606060
+v -0.32595409 -0.21950047 0.26515153
+v -0.21989348 0.18959045 -0.35606060
+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/canned_food/canned_food_17/collision/model_normalized_collision_21.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4718b2b2f949e0b24a532e7973312fe6c25b9e1a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_21.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21989349 -0.21950047 0.49482159
+v -0.21989348 -0.21950047 0.26515153
+v -0.21989348 0.18959045 0.49482159
+v -0.34103971 0.18955095 0.49478812
+v -0.38901411 -0.24821603 0.26515153
+v -0.21989348 0.18959045 0.26515153
+v -0.34103924 -0.21946071 0.49469577
+v -0.34110560 0.18959045 0.26515153
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_22.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38aaae48268a087f9c7d039753035a6a3585b1b3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.39691955 -0.23502670 -0.35606060
+v 0.37094847 -0.21946020 -0.49454163
+v 0.39674622 0.23531591 -0.35606061
+v 0.24980349 0.21989348 -0.35606060
+v 0.24980349 -0.21950047 -0.35606060
+v 0.24980348 0.21989350 -0.49482161
+v 0.37094845 0.21985325 -0.49454046
+v 0.24980349 -0.21950047 -0.49482159
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_23.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f483ffd9c8552819707d671a20357b2a73f3bac
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12859137 0.32595409 0.26515153
+v 0.12859137 0.32595409 -0.23484848
+v 0.12768432 0.44354501 0.26515153
+v 0.00733775 0.46147304 0.26515153
+v 0.00737925 0.32595409 -0.23484848
+v 0.10985614 0.44801063 -0.23484848
+v 0.00737925 0.32595409 0.26515153
+v 0.12768430 0.44354495 -0.23484848
+v 0.10985616 0.44801070 0.26515153
+v 0.00733775 0.46147297 -0.23484848
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 8 6 3
+f 8 3 2
+f 9 6 4
+f 9 3 6
+f 9 4 7
+f 9 7 1
+f 9 1 3
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 10 6 8
+f 10 8 2
+f 10 2 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_24.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2ffbe3fc69815834d4c67b917c3749bc946dbe9
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25842134 -0.38263546 -0.35606060
+v 0.25545937 -0.37864169 -0.49999987
+v 0.24980349 -0.24980350 -0.35606060
+v -0.21989348 -0.24980350 -0.35606060
+v -0.23531581 -0.39674640 -0.35606060
+v -0.21989347 -0.24980349 -0.49482157
+v 0.24980350 -0.24980347 -0.49482155
+v -0.21985323 -0.37094846 -0.49454038
+f 5 2 1
+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 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_25.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ea5cc8b5db4a37af70ce0ce655a987a74f6014e
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21950046 0.21989348 0.26515153
+v 0.21950046 0.21989348 -0.23484848
+v 0.21950046 0.32595409 0.26515153
+v 0.00737925 0.32595409 0.26515153
+v 0.00737925 0.21989348 0.26515153
+v 0.00737925 0.32595409 -0.23484848
+v 0.21950046 0.32595409 -0.23484848
+v 0.00737925 0.21989348 -0.23484848
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_26.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8001f8a23e330a312efa5cc374ec40eb2841cf8c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21989348 -0.21950047 -0.35606060
+v -0.21989347 -0.21950046 -0.49482159
+v -0.21989348 0.18959045 -0.35606060
+v -0.34110560 0.18959045 -0.35606060
+v -0.38901415 -0.24821605 -0.35606060
+v -0.21989348 0.18959045 -0.49482159
+v -0.34103973 0.18955096 -0.49478814
+v -0.34103924 -0.21946067 -0.49469575
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 4 6
+f 7 6 2
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_27.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70af75dcc3079560a930b90167c25ef1df2865cf
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.39691951 -0.23502670 0.40151517
+v 0.39691955 -0.23502670 -0.35606060
+v 0.37101562 -0.00737925 0.40151516
+v 0.24980349 -0.00737925 0.40151516
+v 0.24980349 -0.21950047 -0.35606060
+v 0.24980349 -0.21950047 0.40151516
+v 0.37101562 -0.00737925 -0.35606060
+v 0.24980349 -0.00737925 -0.35606060
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_28.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57cf0127c2e8cf787fd5d510bc51006b322c7520
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_28.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.12420578 -0.44441624 0.26515152
+v 0.24395812 -0.39156622 0.00757576
+v 0.24980349 -0.00737925 0.26515153
+v -0.21989348 -0.00737925 0.26515153
+v -0.21594972 -0.40813178 0.00757576
+v 0.24980349 -0.00737925 0.00757576
+v 0.24395812 -0.39156622 0.26515153
+v 0.12420579 -0.44441628 0.00757576
+v -0.21594970 -0.40813176 0.26515152
+v -0.21989348 -0.00737925 0.00757576
+v 0.19739065 -0.41690955 0.26515152
+v -0.12457555 -0.44432362 0.00757576
+v 0.16797728 -0.42981247 0.00757576
+v 0.22612995 -0.40225200 0.00757576
+v -0.12457555 -0.44432359 0.26515152
+v -0.16832569 -0.42968775 0.26515153
+v 0.16797727 -0.42981242 0.26515152
+v 0.22612995 -0.40225200 0.26515153
+v 0.19739063 -0.41690957 0.00757576
+v -0.19771179 -0.41675768 0.25000001
+v -0.16832567 -0.42968776 0.00757576
+v -0.19771179 -0.41675768 0.26515152
+v -0.19771181 -0.41675767 0.00757576
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 9 4 5
+f 10 5 4
+f 10 4 6
+f 12 8 1
+f 13 1 8
+f 13 6 2
+f 13 8 12
+f 13 10 6
+f 14 2 7
+f 14 13 2
+f 15 12 1
+f 16 12 15
+f 16 4 9
+f 16 3 4
+f 16 15 1
+f 17 13 11
+f 17 1 13
+f 18 14 7
+f 18 17 11
+f 18 1 17
+f 18 16 1
+f 18 7 3
+f 18 3 16
+f 19 11 13
+f 19 13 14
+f 19 18 11
+f 19 14 18
+f 20 9 5
+f 21 12 16
+f 21 5 10
+f 21 13 12
+f 21 10 13
+f 21 16 20
+f 22 20 16
+f 22 16 9
+f 22 9 20
+f 23 21 20
+f 23 20 5
+f 23 5 21
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_29.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a1e120db7946ede0b5b95044c3ee1de5d17999c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_29.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00735701 -0.46147205 0.00757576
+v 0.00735701 -0.46147208 -0.23484848
+v 0.00733775 0.46147300 0.00757576
+v -0.11022593 0.44791805 0.00757577
+v -0.21594972 -0.40813182 -0.23484848
+v -0.12457556 -0.44432366 -0.23484848
+v -0.21594972 -0.40813178 0.00757576
+v 0.00733775 0.46147297 -0.23484848
+v -0.21579781 0.40820363 0.00757577
+v -0.12457555 -0.44432362 0.00757576
+v -0.21579779 0.40820360 -0.23484848
+v -0.16832571 -0.42968780 -0.23484849
+v -0.16820102 0.42973240 0.00757577
+v -0.11022592 0.44791802 -0.23484848
+v -0.16832567 -0.42968776 0.00757576
+v -0.19771182 -0.41675773 -0.23484848
+v -0.19755990 0.41682955 0.00757577
+v -0.16820101 0.42973237 -0.23484848
+v -0.19771181 -0.41675767 0.00757576
+v -0.19755989 0.41682952 -0.23484848
+f 1 2 3
+f 1 3 4
+f 8 3 2
+f 9 5 7
+f 10 6 2
+f 10 2 1
+f 11 5 9
+f 12 6 10
+f 12 5 11
+f 12 11 8
+f 12 8 2
+f 12 2 6
+f 13 1 4
+f 14 8 11
+f 14 4 3
+f 14 3 8
+f 15 12 10
+f 16 7 5
+f 16 5 12
+f 16 12 15
+f 17 11 9
+f 17 9 7
+f 17 7 13
+f 18 14 11
+f 18 13 4
+f 18 4 14
+f 19 16 15
+f 19 7 16
+f 19 15 10
+f 19 10 1
+f 19 13 7
+f 19 1 13
+f 20 18 11
+f 20 11 17
+f 20 17 13
+f 20 13 18
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_3.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23a4c92c43f6efa95a7405101a4c3064ed4f368
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_3.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.24980349 -0.24980350 -0.23484848
+v 0.24980350 -0.24980347 -0.49482155
+v 0.22817220 0.40102804 -0.35606061
+v -0.11022592 0.44791802 -0.23484848
+v -0.21989347 -0.24980349 -0.49482157
+v 0.21950046 0.32595409 -0.23484848
+v 0.24980349 0.21989348 -0.23484848
+v -0.21989348 -0.24980350 -0.23484848
+v 0.08084455 0.46201586 -0.49609698
+v 0.12768430 0.44354495 -0.23484848
+v 0.24980348 0.21989350 -0.49482161
+v -0.21579779 0.40820360 -0.23484848
+v 0.10985614 0.44801063 -0.23484848
+v 0.18225043 0.43247803 -0.49609698
+v -0.21319124 0.41784403 -0.49609698
+v 0.08091053 0.46246075 -0.47999212
+v 0.18203058 0.43201311 -0.47903686
+v 0.21945996 0.38649258 -0.49446164
+v -0.16820101 0.42973237 -0.23484848
+v -0.08122908 0.46195877 -0.49609698
+v 0.13874330 0.44834477 -0.49609698
+v 0.18485697 0.42283752 -0.35606060
+v -0.18238798 0.43193785 -0.47912083
+v -0.08129507 0.46240371 -0.47999212
+v -0.19755989 0.41682952 -0.23484848
+v -0.13909169 0.44822012 -0.49609698
+v -0.18257158 0.43232608 -0.49609698
+f 5 2 1
+f 7 1 2
+f 7 3 6
+f 8 5 1
+f 10 6 3
+f 11 7 2
+f 11 3 7
+f 12 5 8
+f 13 7 6
+f 13 6 10
+f 13 1 7
+f 14 11 2
+f 15 5 12
+f 15 9 14
+f 15 14 2
+f 15 2 5
+f 16 13 10
+f 17 3 14
+f 18 14 3
+f 18 3 11
+f 18 11 14
+f 19 8 1
+f 19 13 4
+f 19 1 13
+f 20 9 15
+f 21 14 9
+f 21 9 16
+f 21 16 10
+f 21 17 14
+f 21 10 17
+f 22 17 10
+f 22 10 3
+f 22 3 17
+f 23 15 12
+f 24 16 9
+f 24 9 20
+f 24 4 13
+f 24 13 16
+f 25 23 12
+f 25 19 23
+f 25 12 8
+f 25 8 19
+f 26 20 15
+f 26 24 20
+f 26 4 24
+f 26 23 19
+f 26 19 4
+f 27 26 15
+f 27 15 23
+f 27 23 26
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_30.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..711805a832571998934ac8500833a13cae92f307
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_30.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00737925 -0.00737925 0.26515153
+v 0.00737925 -0.00737925 0.00757576
+v 0.00733775 0.46147304 0.26515153
+v -0.11022594 0.44791808 0.26515153
+v -0.21989348 -0.00737925 0.26515153
+v -0.00772982 0.46145374 0.00757576
+v 0.00733775 0.46147300 0.00757576
+v -0.21579781 0.40820363 0.00757577
+v -0.21579782 0.40820366 0.26515153
+v -0.11022593 0.44791805 0.00757577
+v -0.21989348 -0.00737925 0.00757576
+v -0.16820103 0.42973243 0.26515153
+v -0.19755990 0.41682955 0.00757577
+v -0.19755992 0.41682957 0.26515153
+v -0.16820102 0.42973240 0.00757577
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 10 4 6
+f 10 6 8
+f 11 2 5
+f 11 9 8
+f 11 5 9
+f 11 8 6
+f 11 7 2
+f 11 6 7
+f 12 5 1
+f 12 1 4
+f 13 8 9
+f 14 13 9
+f 14 12 13
+f 14 9 5
+f 14 5 12
+f 15 13 12
+f 15 10 8
+f 15 8 13
+f 15 12 4
+f 15 4 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_31.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a36566e5b863894017d4545bf70843c516dc8c3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_31.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12420579 -0.44441628 0.00757576
+v 0.24395815 -0.39156626 -0.23484848
+v 0.24980349 -0.00737925 0.00757576
+v 0.00737925 -0.00737925 0.00757576
+v 0.00735701 -0.46147208 -0.23484848
+v 0.00737925 -0.00737925 -0.23484848
+v 0.24395812 -0.39156622 0.00757576
+v 0.12420580 -0.44441631 -0.23484848
+v 0.00735701 -0.46147205 0.00757576
+v 0.24980349 -0.00737925 -0.23484848
+v 0.19739068 -0.41690962 -0.23484848
+v 0.19739063 -0.41690957 0.00757576
+v 0.22612997 -0.40225206 -0.23484849
+v 0.16797728 -0.42981247 0.00757576
+v 0.22612995 -0.40225200 0.00757576
+v 0.16797729 -0.42981250 -0.23484848
+f 6 4 3
+f 7 2 3
+f 8 1 5
+f 9 5 1
+f 9 6 5
+f 9 4 6
+f 10 6 3
+f 10 3 2
+f 12 9 1
+f 12 4 9
+f 12 7 3
+f 12 3 4
+f 13 2 7
+f 13 10 2
+f 13 6 10
+f 13 8 5
+f 13 5 6
+f 14 1 8
+f 14 12 1
+f 14 11 12
+f 15 13 7
+f 15 7 12
+f 15 12 11
+f 15 11 13
+f 16 14 8
+f 16 11 14
+f 16 13 11
+f 16 8 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_4.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..612c8a6c5a8ba7f2b417d9aa5e7507ea4ff54458
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_4.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.41224323 0.21789428 0.49925020
+v 0.40813178 0.21594976 -0.46212121
+v 0.36008735 0.30089767 -0.49609698
+v 0.21742130 0.41246715 0.49925014
+v 0.21950046 0.21989347 0.49482159
+v 0.33194627 0.33194639 0.49609685
+v 0.38422758 0.26390957 -0.49925025
+v 0.21742125 0.41246704 -0.49925025
+v 0.38516769 0.26852117 0.47999202
+v 0.40191657 0.24147343 0.49609688
+v 0.26781156 0.38513385 -0.49609698
+v 0.21950047 0.21989349 -0.49482160
+v 0.38480628 0.26825325 0.49609685
+v 0.24101108 0.40219393 0.49609685
+v 0.38609957 0.21985300 -0.49446240
+v 0.24101101 0.40219383 -0.49609698
+v 0.26781163 0.38513395 0.49609685
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 8 5 4
+f 9 3 6
+f 9 7 3
+f 10 1 2
+f 10 2 7
+f 10 7 9
+f 11 3 7
+f 11 7 8
+f 11 6 3
+f 12 8 7
+f 12 2 5
+f 12 5 8
+f 13 10 9
+f 13 9 6
+f 13 6 1
+f 13 1 10
+f 14 8 4
+f 15 12 7
+f 15 7 2
+f 15 2 12
+f 16 11 8
+f 16 8 14
+f 17 14 4
+f 17 4 6
+f 17 6 11
+f 17 16 14
+f 17 11 16
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_5.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24341024f888bfffcf29cc2746b72eaf6303eaa7
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_5.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.33681553 -0.32202898 0.49925026
+v 0.46147198 -0.00735701 0.26515153
+v 0.45973314 0.09433719 0.49609691
+v 0.24980349 0.21989347 0.49482157
+v 0.24980349 -0.00737925 0.26515153
+v 0.40813182 0.21594978 0.26515153
+v 0.41777214 0.21334309 0.49609691
+v 0.44349420 -0.15229978 0.49609691
+v 0.33344556 -0.31897460 0.46212123
+v 0.24980350 -0.21950047 0.49482161
+v 0.44432359 0.12457550 0.26515153
+v 0.24980349 0.21989348 0.26515153
+v 0.45982582 -0.09396730 0.49609691
+v 0.38535564 -0.26826753 0.47999214
+v 0.24980349 -0.21950047 0.40151516
+v 0.46016941 0.09444645 0.47999208
+v 0.42968766 0.16832559 0.26515153
+v 0.44441609 -0.12420555 0.40151516
+v 0.38499429 -0.26799956 0.49609697
+v 0.34591027 -0.31653937 0.49609697
+v 0.34027879 -0.31143532 0.46212123
+v 0.46026217 -0.09407654 0.47999208
+v 0.44379303 0.15279977 0.47999208
+v 0.41675762 0.19771186 0.26515153
+v 0.40187265 -0.24105401 0.47929540
+v 0.37233265 -0.28499767 0.47950260
+v 0.44391758 -0.15245129 0.47999208
+v 0.44336958 0.15264822 0.49609691
+f 7 4 1
+f 7 6 4
+f 9 5 2
+f 10 1 4
+f 10 9 1
+f 11 2 6
+f 12 5 4
+f 12 4 6
+f 12 6 2
+f 12 2 5
+f 13 3 1
+f 13 1 8
+f 15 5 9
+f 15 9 10
+f 15 10 4
+f 15 4 5
+f 16 2 11
+f 16 3 13
+f 17 11 6
+f 18 14 2
+f 19 8 1
+f 20 1 9
+f 20 19 1
+f 21 9 2
+f 22 16 13
+f 22 2 16
+f 22 18 2
+f 22 13 8
+f 23 17 7
+f 23 16 11
+f 23 11 17
+f 24 17 6
+f 24 6 7
+f 24 7 17
+f 25 14 18
+f 25 19 14
+f 25 8 19
+f 26 20 9
+f 26 14 19
+f 26 19 20
+f 26 9 21
+f 26 21 2
+f 26 2 14
+f 27 22 8
+f 27 18 22
+f 27 25 18
+f 27 8 25
+f 28 23 7
+f 28 3 16
+f 28 16 23
+f 28 7 1
+f 28 1 3
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_6.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02ab773811deb88b27be6c598023f118afcbb98
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_6.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.24980350 -0.24980350 0.49482162
+v 0.24980349 -0.24980350 0.26515153
+v 0.21287014 0.41799609 0.49609685
+v -0.08122910 0.46195890 0.49609685
+v -0.21989348 -0.24980350 0.26515153
+v 0.10985616 0.44801070 0.26515153
+v -0.21989346 -0.24980351 0.49482163
+v 0.24980349 0.21989348 0.26515153
+v 0.08084457 0.46201599 0.49609685
+v -0.21579782 0.40820366 0.26515153
+v 0.24980349 0.21989347 0.49482157
+v 0.21547669 0.40835560 0.26515153
+v -0.08129510 0.46240386 0.47999202
+v 0.13874334 0.44834488 0.49609685
+v -0.21985370 0.34103923 0.49469448
+v 0.08091056 0.46246089 0.47999202
+v -0.13909173 0.44822023 0.49609685
+v -0.11022594 0.44791808 0.26515153
+v 0.16785259 0.42985710 0.26515153
+v -0.21579783 0.40820368 0.46212123
+v -0.16820103 0.42973243 0.26515153
+v 0.18225048 0.43247814 0.49609685
+v -0.19755992 0.41682957 0.26515153
+v 0.19723878 0.41698148 0.26515153
+v 0.18203061 0.43201320 0.47903670
+f 7 1 3
+f 7 5 2
+f 7 2 1
+f 8 1 2
+f 8 2 5
+f 9 4 3
+f 10 8 5
+f 11 3 1
+f 11 1 8
+f 12 11 8
+f 12 3 11
+f 12 10 6
+f 12 8 10
+f 13 4 9
+f 14 9 3
+f 15 10 5
+f 15 5 7
+f 16 13 9
+f 16 6 13
+f 16 14 6
+f 16 9 14
+f 17 4 13
+f 17 15 7
+f 17 7 3
+f 17 3 4
+f 18 13 6
+f 18 6 10
+f 18 17 13
+f 19 6 14
+f 20 17 10
+f 20 10 15
+f 20 15 17
+f 21 18 10
+f 21 17 18
+f 22 14 3
+f 23 21 10
+f 23 10 17
+f 23 17 21
+f 24 12 6
+f 24 6 19
+f 25 24 19
+f 25 12 24
+f 25 22 3
+f 25 3 12
+f 25 19 14
+f 25 14 22
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_7.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8d66c72f469891a6cef481cd1b09c2bd62880b3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.39691951 -0.23502670 0.46212123
+v 0.44441612 -0.12420556 -0.41666667
+v 0.46147198 -0.00735701 0.40151516
+v 0.37101562 -0.00737925 0.40151516
+v 0.39691956 -0.23502670 -0.44696969
+v 0.37101562 -0.00737925 -0.41666667
+v 0.37120028 -0.12865745 0.49477084
+v 0.44352150 -0.12777684 0.46212123
+v 0.46147198 -0.00735701 -0.41666667
+v 0.44441609 -0.12420555 0.40151516
+v 0.42981225 -0.16797716 0.46212123
+v 0.42276567 -0.18500883 -0.44696970
+v 0.40828354 -0.21562846 0.46212123
+v 0.42981229 -0.16797717 -0.41666667
+v 0.41690947 -0.19739056 0.46212123
+v 0.40828357 -0.21562847 -0.44696970
+f 6 4 3
+f 7 3 4
+f 7 4 6
+f 7 6 5
+f 7 5 1
+f 8 3 7
+f 9 6 3
+f 9 3 2
+f 10 8 2
+f 10 2 3
+f 10 3 8
+f 11 8 7
+f 12 9 2
+f 12 5 6
+f 12 6 9
+f 13 7 1
+f 13 1 5
+f 14 2 8
+f 14 8 11
+f 14 12 2
+f 14 11 12
+f 15 11 7
+f 15 7 13
+f 15 13 12
+f 15 12 11
+f 16 13 5
+f 16 5 12
+f 16 12 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_8.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..567c10443962460eb7fc62620a9c98a020fc8a80
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_8.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.21989348 0.18959045 0.49482159
+v -0.21989348 0.18959045 -0.49482159
+v -0.21579783 0.40820368 0.46212123
+v -0.21774239 0.41231510 -0.49925025
+v -0.42679719 0.18712275 -0.49925018
+v -0.42268565 0.18517813 0.46212123
+v -0.35607647 0.29548733 0.49981236
+v -0.26833299 0.38530704 -0.47999212
+v -0.38530700 0.26833300 -0.47999212
+v -0.38648939 0.18955698 0.49454508
+v -0.21985370 0.34103923 0.49469448
+v -0.25522090 0.38481563 0.46212123
+v -0.24130982 0.40203669 -0.47956509
+v -0.41784400 0.21319117 -0.49609691
+v -0.38481567 0.25522101 0.46212123
+v -0.32656565 0.32656558 0.46212123
+v -0.38494584 0.26806510 -0.49609698
+v -0.38990858 0.23705195 0.49999992
+v -0.28044672 0.34104732 0.49448130
+v -0.22624582 0.40218269 0.46212123
+v -0.24130010 0.40202047 -0.49609698
+v -0.41682951 0.19755989 0.46212123
+v -0.26806505 0.38494572 -0.49609698
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 10 6 1
+f 11 7 1
+f 11 1 3
+f 13 3 4
+f 13 8 12
+f 14 5 6
+f 15 7 9
+f 15 9 14
+f 16 9 7
+f 16 8 9
+f 16 12 8
+f 16 7 12
+f 17 9 8
+f 17 14 9
+f 17 4 5
+f 17 5 14
+f 18 6 10
+f 18 7 15
+f 18 10 1
+f 18 1 7
+f 19 11 3
+f 19 3 7
+f 19 7 11
+f 20 12 7
+f 20 7 3
+f 20 13 12
+f 20 3 13
+f 21 13 4
+f 21 8 13
+f 22 15 14
+f 22 14 6
+f 22 18 15
+f 22 6 18
+f 23 17 8
+f 23 8 21
+f 23 21 4
+f 23 4 17
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_9.obj b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7034568e431575d42cd54ca3ddf9e092ab78b1e6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.21789430 -0.41224326 0.49925026
+v -0.21594973 -0.40813184 -0.46212121
+v -0.21989349 -0.21950047 0.49482159
+v -0.41246689 -0.21742118 0.49925020
+v -0.31675532 -0.34571479 -0.49609685
+v -0.30089771 -0.36008724 -0.49609685
+v -0.26852105 -0.38516766 0.47999214
+v -0.21989347 -0.21950046 -0.49482159
+v -0.38513378 -0.26781150 0.49609697
+v -0.24147345 -0.40191656 0.49609697
+v -0.25007246 -0.38596017 -0.49989598
+v -0.41246692 -0.21742119 -0.49925018
+v -0.26825316 -0.38480629 0.49609697
+v -0.21985298 -0.38609957 -0.49446232
+v -0.40219386 -0.24101097 -0.49609688
+v -0.40219379 -0.24101096 0.49609694
+v -0.38513385 -0.26781153 -0.49609685
+f 1 2 3
+f 1 3 4
+f 7 5 6
+f 8 3 2
+f 8 4 3
+f 9 1 4
+f 9 5 7
+f 10 7 6
+f 10 6 2
+f 10 2 1
+f 11 6 5
+f 11 2 6
+f 12 4 8
+f 12 11 5
+f 12 8 11
+f 13 9 7
+f 13 7 10
+f 13 10 1
+f 13 1 9
+f 14 11 8
+f 14 8 2
+f 14 2 11
+f 15 4 12
+f 16 9 4
+f 16 4 15
+f 17 15 12
+f 17 12 5
+f 17 5 9
+f 17 16 15
+f 17 9 16
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/model.xml b/objects/objaverse/canned_food/canned_food_17/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7a355c99bbf08a93a96b5c9bbb1bad944dc3fdc4
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="canned_food_7">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.06999999999999995 0.06999999999999995 0.06999999999999995" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="01___Default" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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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_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"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.460730000000076e-05 3.4608350000000205e-05 -0.03499999089999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.460730000000076e-05 3.4608350000000205e-05 0.03500000069999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03230303859999998 0.032372262299999975 4.9000000013066336e-09" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/canned_food/canned_food_17/visual/material.mtl b/objects/objaverse/canned_food/canned_food_17/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_17/visual/model_normalized_0.obj b/objects/objaverse/canned_food/canned_food_17/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ca7a4154b0d39809240d3c2dfc3b2129cf8635
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_17/visual/model_normalized_0.obj
@@ -0,0 +1,15909 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.46638704 0.00000007 0.49925018
+v 0.46944292 0.00000007 0.49609691
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\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_1.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adf831243c2b9d530eb261804d9551952cb2a605
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_1.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.07989496 -0.49233042 0.13295976
+v 0.28228843 -0.38947693 0.14393209
+v -0.18988973 -0.44827179 0.15068201
+v -0.09847750 -0.40148554 0.13490206
+v 0.20058803 -0.45181394 0.09929954
+v 0.28287264 -0.39039194 0.14887515
+v 0.24998169 -0.38633517 0.13490207
+v -0.09643755 -0.48420027 0.09929954
+v 0.02132812 -0.49205438 0.14548654
+v 0.27652464 -0.41070764 0.14140469
+v 0.02136148 -0.49243271 0.09929954
+v -0.18787791 -0.44299016 0.14567871
+v 0.26134690 -0.40413565 0.14887515
+v -0.09423629 -0.49044575 0.13295976
+v 0.18428847 -0.46401841 0.13295976
+v 0.12516184 -0.47641731 0.09929953
+v -0.18773320 -0.45779518 0.14259384
+v 0.27479551 -0.40800031 0.14646538
+v -0.12487456 -0.47672404 0.14548652
+v -0.03681653 -0.49187233 0.09929953
+v 0.24210588 -0.43454146 0.13785322
+v 0.12507721 -0.47604742 0.14548652
+v 0.15449692 -0.47549323 0.13295976
+v -0.17002930 -0.46633284 0.13917683
+v -0.03679208 -0.49149411 0.14548654
+v -0.16897376 -0.46353883 0.14548651
+v 0.24018321 -0.43151546 0.14548651
+v 0.07950383 -0.49065838 0.13660278
+v 0.21366007 -0.44639422 0.14548651
+v 0.16910908 -0.46389434 0.09929954
+v -0.09391058 -0.48913306 0.13583717
+v -0.18610923 -0.45356239 0.14790396
+v 0.15408355 -0.47422100 0.13576022
+f 6 4 3
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+f 33 23 29
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_10.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1989a4ee5a4f40799da7ff266bc7fc1a70cd381d
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_10.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.42057221 -0.23744517 0.14887507
+v -0.43063851 -0.24407197 0.09929955
+v -0.41663587 0.20453039 0.13490177
+v -0.44436276 0.21586837 0.09929953
+v -0.49149410 -0.03679219 0.14548632
+v -0.47549335 -0.15449665 0.13295961
+v -0.43551568 0.20604589 0.14892913
+v -0.44703203 -0.22908662 0.13295964
+v -0.47672399 -0.12487470 0.14548636
+v -0.49187230 -0.03681664 0.09929954
+v -0.43498262 -0.21145040 0.14887505
+v -0.47549305 0.15449772 0.13295945
+v -0.44691683 -0.21391271 0.09929954
+v -0.49044563 -0.09423641 0.13295958
+v -0.44656428 -0.21378011 0.14548641
+v -0.45052382 0.19980290 0.14548621
+v -0.49233049 0.07989490 0.13295948
+v -0.43983128 -0.23014210 0.09929954
+v -0.47709209 -0.12496750 0.09929954
+v -0.48912311 -0.09388823 0.13583096
+v -0.47422105 -0.15408326 0.13576024
+v -0.43833823 -0.22913604 0.14658501
+v -0.46349962 0.18374689 0.13295944
+v -0.47604748 0.12507713 0.14548624
+v -0.49205444 0.02132802 0.14548631
+v -0.47641733 0.12516176 0.09929954
+v -0.44551176 -0.22850653 0.13642834
+v -0.46330752 0.16853450 0.14548622
+v -0.49243274 0.02136138 0.09929954
+v -0.49065710 0.07951722 0.13660330
+v -0.46365985 0.16867750 0.09929954
+v -0.47422066 0.15408430 0.13576026
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+f 32 28 16
+f 32 16 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_11.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..932e02312a6e73a0583e591abdaab3c8c4254351
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.17556620 -0.45043942 0.14956662
+v -0.17455594 -0.44779455 0.14454905
+v -0.23483107 -0.23483116 0.13490199
+v -0.40148547 -0.23483118 0.13490199
+v -0.28648331 -0.40254890 0.09929954
+v -0.40895381 -0.25494104 0.14887507
+v -0.17422949 -0.43178636 0.13490207
+v -0.26489529 -0.41626355 0.09929954
+v -0.42604212 -0.25103690 0.09929955
+v -0.28627780 -0.40222763 0.14548651
+v -0.40431734 -0.26192298 0.14887508
+v -0.24212978 -0.43455005 0.13786205
+v -0.40150753 -0.29723944 0.13295967
+v -0.24018309 -0.43151564 0.14548651
+v -0.29723936 -0.40150766 0.13295976
+v -0.39069701 -0.30108091 0.09929954
+v -0.39041129 -0.30083025 0.14548645
+v -0.40743561 -0.28937797 0.13295967
+v -0.27182901 -0.41845062 0.13295976
+v -0.29667539 -0.40086828 0.13475258
+v -0.40531368 -0.28798151 0.13828329
+v -0.40085986 -0.29668938 0.13475328
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
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+f 8 3 7
+f 9 4 3
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+f 9 3 8
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+f 11 10 1
+f 11 1 6
+f 12 8 1
+f 14 12 1
+f 14 1 10
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+f 17 13 15
+f 18 6 9
+f 18 16 13
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+f 19 14 10
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+f 19 8 12
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+f 19 5 8
+f 20 17 15
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+f 21 17 6
+f 21 6 18
+f 22 13 17
+f 22 17 21
+f 22 21 18
+f 22 18 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_12.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d19234091ff5b388330e9ec7e1fb63bbe05e5807
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_12.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.23053706 -0.44016258 0.14098338
+v -0.22951649 -0.43860189 -0.14519265
+v -0.23483107 -0.23483116 0.13490199
+v -0.42604212 -0.25103690 0.09929955
+v -0.32867885 -0.37248915 -0.14157180
+v -0.28123281 -0.40297740 0.14707386
+v -0.29653550 -0.40056130 -0.14178894
+v -0.23483108 -0.23483117 -0.14403278
+v -0.39069701 -0.30108091 0.09929954
+v -0.24273534 -0.43552426 -0.14181168
+v -0.25417038 -0.42964408 0.13295976
+v -0.40148546 -0.23483116 -0.14403277
+v -0.40648872 -0.28868453 -0.14178399
+v -0.27118606 -0.41746002 -0.14181170
+v -0.25372251 -0.42893752 0.13474073
+v -0.37248916 -0.32867905 -0.14157181
+v -0.39288909 -0.30297181 -0.14289317
+v -0.40056124 -0.29653566 -0.14178898
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 8 3 2
+f 9 6 4
+f 10 2 1
+f 11 5 7
+f 11 9 5
+f 11 6 9
+f 11 10 1
+f 12 8 2
+f 12 4 3
+f 12 3 8
+f 13 9 4
+f 13 4 12
+f 14 7 2
+f 14 2 10
+f 14 11 7
+f 14 10 11
+f 15 11 1
+f 15 1 6
+f 15 6 11
+f 16 5 9
+f 17 13 12
+f 17 12 2
+f 17 2 5
+f 17 5 16
+f 18 16 9
+f 18 9 13
+f 18 17 16
+f 18 13 17
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_13.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76537d3813c72e168c0751ac0202f3a7338e2e50
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_13.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.42146297 -0.25909229 0.13906556
+v 0.46934962 -0.14214400 -0.14743042
+v 0.46467009 -0.14451629 0.15068190
+v 0.28028248 -0.14392878 0.13490196
+v 0.28028249 -0.26513196 -0.14403275
+v 0.47241462 -0.14283657 0.09929954
+v 0.28028248 -0.26513198 0.13490202
+v 0.42175991 -0.25930031 -0.14274403
+v 0.28028249 -0.14392877 -0.14403281
+v 0.44484823 -0.22476118 0.13295964
+v 0.43858442 -0.21606459 0.14809639
+v 0.43359942 -0.24220187 -0.14151944
+v 0.46206164 -0.18277587 -0.14164817
+v 0.44409799 -0.21187328 0.14548641
+v 0.44405353 -0.22429697 0.13491361
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 8 7 5
+f 8 1 7
+f 9 4 2
+f 9 2 5
+f 9 7 4
+f 9 5 7
+f 10 6 3
+f 11 7 1
+f 11 3 7
+f 12 10 1
+f 12 1 8
+f 12 8 2
+f 13 2 6
+f 13 6 10
+f 13 12 2
+f 13 10 12
+f 14 10 3
+f 14 3 11
+f 14 11 1
+f 15 14 1
+f 15 1 10
+f 15 10 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_14.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad2800aad7491613e7b6e6f050e45f093145905e
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.43622438 0.22856456 0.09929955
+v 0.43759355 0.22936752 -0.14390967
+v 0.35789026 0.34400947 -0.14136044
+v 0.24736348 0.42771108 0.09929954
+v 0.24998169 0.23483120 -0.14403299
+v 0.37632886 0.31667861 0.09929955
+v 0.24998168 0.23483121 0.13490177
+v 0.24553192 0.42488826 -0.14759712
+v 0.28642537 0.40261555 0.09929955
+v 0.41632756 0.27124252 -0.14181202
+v 0.40208649 0.28692152 0.09929955
+v 0.38642365 0.31221516 -0.14167525
+v 0.34372453 0.35771522 -0.14148032
+v 0.27125769 0.41770956 -0.14167977
+v 0.43339199 0.24206099 -0.14181201
+v 0.37219398 0.32808169 -0.14156133
+v 0.31205791 0.38639677 -0.14168812
+f 5 2 1
+f 7 5 1
+f 8 2 5
+f 8 7 4
+f 8 5 7
+f 9 7 6
+f 9 4 7
+f 11 7 1
+f 11 6 7
+f 11 1 10
+f 12 2 8
+f 12 10 2
+f 12 11 10
+f 12 6 11
+f 13 9 6
+f 13 6 3
+f 13 3 8
+f 14 8 4
+f 14 4 9
+f 15 10 1
+f 15 1 2
+f 15 2 10
+f 16 12 8
+f 16 8 3
+f 16 3 6
+f 16 6 12
+f 17 13 8
+f 17 8 14
+f 17 14 9
+f 17 9 13
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_15.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b58d873298b0fbb48e3a6fa49d7cdda0414d564f
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_15.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.23052533 -0.44015985 0.14097964
+v 0.42175991 -0.25930031 -0.14274403
+v 0.42146297 -0.25909229 0.13906556
+v 0.23483129 -0.26513197 0.13490200
+v 0.22912647 -0.43763626 -0.14559349
+v 0.23483128 -0.26513196 -0.14403276
+v 0.29953097 -0.37583348 0.14887513
+v 0.32858836 -0.37243947 -0.14157929
+v 0.29100582 -0.38334888 0.14887514
+v 0.40053837 -0.29657739 -0.14178800
+v 0.27125271 -0.41754592 -0.14168599
+v 0.29665367 -0.40088114 0.13475139
+v 0.37254282 -0.32877551 -0.14156382
+v 0.41641627 -0.27130138 -0.14168637
+v 0.24289019 -0.43571979 -0.14152327
+v 0.29649672 -0.40058331 -0.14178985
+v 0.28627795 -0.40222750 0.14548651
+v 0.40084615 -0.29671249 0.13475443
+v 0.25417051 -0.42964395 0.13295976
+v 0.27479551 -0.40800031 0.14646538
+v 0.41604165 -0.27108521 0.13616218
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 9 7 4
+f 9 4 1
+f 10 5 2
+f 13 8 5
+f 13 5 10
+f 13 12 8
+f 14 10 2
+f 14 2 3
+f 15 1 5
+f 15 5 11
+f 16 11 5
+f 16 5 8
+f 16 8 12
+f 17 7 9
+f 17 3 7
+f 18 13 10
+f 18 12 13
+f 18 17 12
+f 18 3 17
+f 18 10 14
+f 19 1 15
+f 19 17 1
+f 19 12 17
+f 19 15 11
+f 19 16 12
+f 19 11 16
+f 20 17 9
+f 20 9 1
+f 20 1 17
+f 21 18 14
+f 21 14 3
+f 21 3 18
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_16.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..189e9239ff9b08038930787dd9a356f9cc07c8c6
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.35603427 -0.23483118 0.13490199
+v -0.35603428 -0.23483117 -0.06735485
+v -0.35603428 0.20453040 -0.06735485
+v -0.41663587 0.20453039 0.13490177
+v -0.47266472 -0.14273775 -0.06735484
+v -0.35603428 0.20453039 0.13490177
+v -0.42604216 -0.25103692 -0.06735484
+v -0.41968061 -0.23685502 0.14396152
+v -0.44436273 0.21586835 -0.06735485
+v -0.43063851 -0.24407197 0.09929955
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 5 4
+f 9 3 2
+f 9 2 5
+f 9 6 3
+f 9 4 6
+f 10 7 1
+f 10 1 8
+f 10 8 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_19.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcc98e83d1837c10c0910602708df79a3b450b0d
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.12516184 -0.47641731 0.09929953
+v 0.14054275 -0.47742240 -0.14181167
+v 0.14392890 -0.40148554 0.13490205
+v -0.09847750 -0.40148554 0.13490206
+v -0.07967832 -0.49287810 -0.14181167
+v -0.09847749 -0.40148555 -0.14403269
+v 0.02136148 -0.49243271 0.09929954
+v 0.14283673 -0.47241472 0.09929954
+v 0.14392889 -0.40148555 -0.14403268
+v -0.09643755 -0.48420027 0.09929954
+v 0.05180763 -0.49407128 -0.14181167
+v -0.09618946 -0.48326646 -0.14581947
+v -0.03681653 -0.49187233 0.09929953
+v 0.07963152 -0.49120433 -0.14181167
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 6 3
+f 9 8 2
+f 9 3 8
+f 10 4 6
+f 11 7 5
+f 12 10 6
+f 12 5 10
+f 12 11 5
+f 12 6 9
+f 12 9 2
+f 13 7 4
+f 13 4 10
+f 13 10 5
+f 13 5 7
+f 14 2 1
+f 14 1 7
+f 14 7 11
+f 14 12 2
+f 14 11 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_2.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..addc12014cfda7df8aae09d17a351ce0746e22b0
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_2.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.46046633 -0.18867501 0.13287937
+v 0.49233030 -0.07989480 0.13295958
+v 0.45515639 -0.17122886 0.15010554
+v 0.41551342 0.26447520 0.14413813
+v 0.48146622 0.10286608 0.09929954
+v 0.49205428 0.02132800 0.14548631
+v 0.44693687 -0.14392878 0.13490195
+v 0.47422081 -0.15408369 0.13576015
+v 0.47641721 -0.12516168 0.09929954
+v 0.47604734 -0.12507707 0.14548636
+v 0.40998779 0.26123542 0.14990423
+v 0.46596790 0.16933841 0.13890901
+v 0.49243263 0.02136135 0.09929954
+v 0.45668089 -0.18703356 0.14197549
+v 0.46104570 -0.17377746 0.09929954
+v 0.47549306 -0.15449707 0.13295961
+v 0.49205427 -0.02132799 0.14548632
+v 0.46309891 -0.16809324 0.14548639
+v 0.43172194 0.21104980 0.14887485
+v 0.49233032 0.07989484 0.13295948
+v 0.43274310 0.24167763 0.13700550
+v 0.46309897 0.16809327 0.14548625
+v 0.49243262 -0.02136133 0.09929954
+v 0.41663607 0.20453039 0.13490177
+v 0.46344768 -0.16824380 0.09929954
+v 0.46301270 -0.18319337 0.13295962
+v 0.49065702 -0.07951715 0.13660314
+v 0.48294431 0.09633901 0.09929954
+v 0.42144058 0.25908855 0.13905584
+v 0.42929541 0.23966059 0.14548619
+v 0.47604737 0.12507709 0.14548626
+v 0.41882869 0.25755114 0.14548618
+v 0.49065819 0.07950368 0.13660271
+f 11 7 3
+f 14 3 7
+f 15 14 7
+f 15 1 14
+f 16 9 2
+f 16 10 8
+f 17 6 3
+f 17 3 10
+f 17 2 6
+f 18 10 3
+f 18 8 10
+f 18 3 14
+f 18 16 8
+f 18 14 16
+f 19 11 3
+f 19 3 6
+f 20 5 12
+f 20 6 2
+f 20 2 13
+f 21 12 5
+f 22 11 19
+f 23 13 2
+f 23 2 9
+f 23 9 5
+f 23 5 13
+f 24 15 7
+f 24 7 11
+f 24 11 4
+f 24 5 15
+f 25 16 15
+f 25 9 16
+f 25 15 5
+f 25 5 9
+f 26 1 15
+f 26 15 16
+f 26 16 14
+f 26 14 1
+f 27 17 10
+f 27 2 17
+f 27 16 2
+f 27 10 16
+f 28 20 13
+f 28 13 5
+f 28 5 20
+f 29 21 5
+f 29 24 4
+f 29 5 24
+f 30 11 22
+f 30 21 29
+f 30 22 12
+f 30 12 21
+f 31 22 19
+f 31 19 6
+f 31 20 12
+f 31 12 22
+f 32 4 11
+f 32 11 30
+f 32 30 29
+f 32 29 4
+f 33 31 6
+f 33 6 20
+f 33 20 31
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_20.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f445fbbe9ffb672e5d03ed93f264513918d7e27b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_20.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.41028627 0.26124839 0.15013882
+v -0.26513188 0.38633518 0.13490170
+v -0.26121657 0.41023450 0.15017899
+v -0.26468193 0.41589862 0.14436069
+v -0.40231625 0.28669585 0.09929955
+v -0.28649658 0.40199173 0.14548614
+v -0.31058307 0.31058319 0.13490173
+v -0.30852697 0.38401841 0.09929954
+v -0.40146632 0.29731524 0.13295939
+v -0.41578860 0.26461504 0.09929954
+v -0.28833460 0.40489971 0.13822238
+v -0.40199157 0.28649660 0.14548617
+v -0.35507432 0.34196644 0.11444995
+v -0.41790335 0.27182755 0.13295940
+v -0.31316126 0.38733733 0.13295934
+v -0.31700211 0.37649685 0.09929955
+v -0.42463382 0.26077608 0.13295941
+v -0.31242455 0.38650826 0.13531422
+v -0.42207570 0.25920645 0.13933448
+v -0.40082276 0.29675234 0.13475666
+f 3 2 4
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 8 4 2
+f 8 2 7
+f 10 7 1
+f 10 8 7
+f 10 5 8
+f 11 6 4
+f 11 4 8
+f 12 1 3
+f 12 3 6
+f 13 5 9
+f 14 9 5
+f 14 5 10
+f 14 12 9
+f 15 6 11
+f 15 13 9
+f 15 11 8
+f 16 8 5
+f 16 5 13
+f 16 15 8
+f 16 13 15
+f 17 14 10
+f 18 12 6
+f 18 6 15
+f 18 15 9
+f 19 17 10
+f 19 10 1
+f 19 1 12
+f 19 12 14
+f 19 14 17
+f 20 18 9
+f 20 9 12
+f 20 12 18
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_22.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ad61fe7bf2c9461b1c0d9105a0a564c860cbe0d
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.47048071 0.15614662 0.14124824
+v 0.46848623 0.15527862 -0.14548905
+v 0.44484829 0.22476124 0.13295942
+v 0.40148567 0.23483119 0.13490176
+v 0.40148567 0.15907920 0.13490180
+v 0.43759355 0.22936752 -0.14390967
+v 0.43858916 0.21605781 0.14809788
+v 0.46192870 0.18273160 -0.14181198
+v 0.40148567 0.15907921 -0.14403295
+v 0.44409804 0.21187330 0.14548621
+v 0.44406019 0.22428459 0.13491374
+v 0.44655495 0.18921464 0.15068170
+v 0.46142698 0.18250373 0.13663160
+v 0.44845364 0.21375997 -0.14181199
+v 0.40148567 0.23483120 -0.14403299
+v 0.45311227 0.18548476 0.14721093
+f 5 2 1
+f 6 4 3
+f 7 4 5
+f 8 1 2
+f 9 5 4
+f 9 2 5
+f 11 3 4
+f 11 4 7
+f 11 10 3
+f 11 7 10
+f 12 7 5
+f 12 5 1
+f 13 8 3
+f 13 1 8
+f 13 10 1
+f 13 3 10
+f 14 6 3
+f 14 3 8
+f 14 8 2
+f 14 2 6
+f 15 9 4
+f 15 4 6
+f 15 6 2
+f 15 2 9
+f 16 12 1
+f 16 1 10
+f 16 10 7
+f 16 7 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_23.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f8bc948124023727fa792db9464ecfb7d94c9b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.24998168 0.35603441 0.13490171
+v 0.24998169 0.35603440 -0.14403305
+v 0.24300758 0.43602193 -0.14150914
+v 0.14278657 0.47265263 0.09929954
+v 0.14392889 0.35603440 -0.14403306
+v 0.24047376 0.43213743 0.09929955
+v 0.14392890 0.35603441 0.13490169
+v 0.14201288 0.46945944 -0.14751636
+v 0.22728875 0.44621124 -0.14141420
+v 0.21360459 0.44648008 0.09929955
+v 0.18379117 0.46294217 -0.14165078
+v 0.16901384 0.46384055 0.09929955
+f 1 2 3
+f 6 1 3
+f 7 1 4
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
+f 9 6 3
+f 9 3 8
+f 10 1 6
+f 10 6 9
+f 11 9 8
+f 11 8 4
+f 12 4 1
+f 12 1 10
+f 12 11 4
+f 12 10 9
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_24.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b52bec72cdafbef671769aadb3ff8db40bd4f9
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.29305651 -0.39879781 0.14304487
+v 0.45304115 -0.16171717 0.14887503
+v 0.28967538 -0.39496272 0.14850516
+v 0.43178647 -0.15907918 0.13490196
+v 0.43274776 -0.24169317 0.13701080
+v 0.30704637 -0.36920823 0.14887513
+v 0.29543288 -0.35603437 0.13490206
+v 0.45197030 -0.16125439 0.14354958
+v 0.40175849 -0.28672876 0.14548645
+v 0.30278548 -0.39266600 0.13915310
+v 0.30079076 -0.39040992 0.14548650
+v 0.42929536 -0.23966056 0.14548642
+v 0.45065697 -0.16723414 0.14887504
+v 0.40474663 -0.28847695 0.13820320
+f 6 2 4
+f 7 1 3
+f 7 4 5
+f 7 6 4
+f 7 3 6
+f 8 5 4
+f 8 4 2
+f 8 2 5
+f 9 6 3
+f 10 1 7
+f 11 9 3
+f 11 3 1
+f 11 10 9
+f 11 1 10
+f 12 5 2
+f 13 2 6
+f 13 6 9
+f 13 12 2
+f 13 9 12
+f 14 10 7
+f 14 7 5
+f 14 9 10
+f 14 12 9
+f 14 5 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_25.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a16995e44e6085b31fdc54765baaa213881e0e65
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.39495317 -0.28969010 0.14850656
+v -0.39558366 -0.29020722 -0.14770910
+v -0.40148546 -0.23483116 -0.14403277
+v -0.43833823 -0.22913604 0.14658501
+v -0.40644535 -0.28874965 -0.14178439
+v -0.41593575 -0.24442711 0.14887507
+v -0.42972640 -0.25380570 0.13491990
+v -0.43814893 -0.22924244 -0.14618680
+v -0.40246108 -0.28607658 0.14548644
+v -0.43671951 -0.24328246 -0.14150230
+v -0.43255266 -0.24048730 0.14548642
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 7 5
+f 9 5 1
+f 9 1 4
+f 10 7 4
+f 10 4 8
+f 10 8 5
+f 10 5 7
+f 11 9 4
+f 11 4 7
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_26.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d267c5685792544197b11a1503348608cc18a263
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28028248 -0.26513198 0.13490202
+v 0.28028249 -0.26513196 -0.14403275
+v 0.28028248 0.23483119 0.13490178
+v -0.23483109 0.23483119 0.13490177
+v -0.23483109 -0.26513198 0.13490200
+v 0.28028249 0.23483120 -0.14403300
+v -0.23483108 -0.26513196 -0.14403277
+v -0.23483109 0.23483120 -0.14403299
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 6 2
+f 7 2 1
+f 7 1 5
+f 8 4 6
+f 8 6 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_28.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1881a1d7edfd2215ad02edba6f307abde1cb8937
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24998169 0.23483119 0.13490177
+v 0.24998169 0.23483120 -0.14403299
+v 0.24998169 0.35603438 0.13490171
+v -0.23483109 0.35603438 0.13490171
+v -0.23483109 0.23483120 -0.14403299
+v -0.23483109 0.23483119 0.13490177
+v 0.24998169 0.35603440 -0.14403305
+v -0.23483109 0.35603440 -0.14403305
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_29.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72c3d96bc07b58d04b98b8c85f9ae9bf825cf06a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40148568 -0.14392878 0.13490195
+v 0.40148566 -0.14392877 -0.14403282
+v 0.40148567 0.23483120 -0.14403299
+v 0.28028248 0.23483119 0.13490178
+v 0.28028248 -0.14392878 0.13490196
+v 0.28028249 0.23483120 -0.14403300
+v 0.40148567 0.23483119 0.13490176
+v 0.28028249 -0.14392877 -0.14403281
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 6 2
+f 8 5 6
+f 8 2 1
+f 8 1 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_31.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9fcf5add1796d69d90fb5d94489ea7623448e43
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23483109 -0.23483118 0.13490199
+v -0.23483108 -0.23483117 -0.14403278
+v -0.23483109 0.20453039 0.13490178
+v -0.35603428 0.20453039 0.13490177
+v -0.35603428 -0.23483117 -0.14403277
+v -0.23483109 0.20453041 -0.14403298
+v -0.35603427 -0.23483118 0.13490199
+v -0.35603427 0.20453041 -0.14403298
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 8 5 4
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_4.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4334fa6b061b795024426401c880479c975f4963
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_4.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.23483109 0.20453039 0.13490178
+v -0.23483109 0.20453041 -0.14403298
+v -0.22886480 0.43715937 0.14548608
+v -0.22901540 0.43705479 -0.14493168
+v -0.45216252 0.20046926 -0.14406755
+v -0.45052382 0.19980290 0.14548621
+v -0.37243184 0.32873833 -0.14181205
+v -0.24299536 0.41481097 0.14887476
+v -0.29661999 0.40090129 0.13474974
+v -0.44527552 0.22459278 0.13549082
+v -0.43323137 0.21127422 0.14887484
+v -0.24253179 0.43467996 -0.14152165
+v -0.23990447 0.43042283 0.14548609
+v -0.41690039 0.27120425 -0.14181202
+v -0.44961451 0.21457701 -0.14181199
+v -0.40231625 0.28669585 0.09929955
+v -0.43042278 0.23990455 0.14548619
+v -0.29638831 0.40064672 -0.14181209
+v -0.40056014 0.29653966 -0.14181203
+v -0.44531887 0.22460511 -0.14181200
+v -0.44521682 0.21278359 0.14548620
+v -0.27126771 0.41698920 -0.14168649
+v -0.32837747 0.37224774 -0.14181208
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 7 4 5
+f 8 1 3
+f 11 6 1
+f 11 1 8
+f 12 9 3
+f 12 3 4
+f 13 8 3
+f 13 3 9
+f 15 5 6
+f 15 6 10
+f 16 9 7
+f 17 16 10
+f 17 9 16
+f 17 13 9
+f 17 11 8
+f 17 8 13
+f 19 7 5
+f 19 5 14
+f 19 16 7
+f 19 14 10
+f 19 10 16
+f 20 14 5
+f 20 5 15
+f 20 15 10
+f 20 10 14
+f 21 17 10
+f 21 10 6
+f 21 6 11
+f 21 11 17
+f 22 12 4
+f 22 4 18
+f 22 18 9
+f 22 9 12
+f 23 18 4
+f 23 4 7
+f 23 7 9
+f 23 9 18
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_5.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3290e707e288b1fa9c6162b0910a23bc4d555f7f
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.35603428 -0.23483117 -0.06735485
+v -0.35603428 -0.23483117 -0.14403277
+v -0.35603427 0.20453041 -0.14403298
+v -0.44436273 0.21586835 -0.06735485
+v -0.49363610 -0.01073304 -0.06735485
+v -0.35603428 0.20453040 -0.06735485
+v -0.43063854 -0.24407199 -0.06735484
+v -0.44693667 0.08332721 -0.14403291
+v -0.42202684 -0.23841331 -0.14977401
+v -0.48399081 0.09171838 -0.06735485
+v -0.41663587 0.20453041 -0.14403298
+v -0.44693667 -0.00757518 -0.14403287
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 2 1
+f 7 6 5
+f 7 1 6
+f 9 3 2
+f 9 2 7
+f 9 7 5
+f 10 8 5
+f 10 5 4
+f 11 4 3
+f 11 9 8
+f 11 3 9
+f 11 10 4
+f 11 8 10
+f 12 9 5
+f 12 5 8
+f 12 8 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_6.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a1bc5d1bcc0d5144ac9c4e2845aaa1e53b9c47c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14392889 0.35603438 0.13490169
+v 0.14392889 0.35603440 -0.14403306
+v 0.14392889 0.41663598 0.13490166
+v -0.17692816 0.46028605 0.00839713
+v -0.15907909 0.35603439 0.00839715
+v 0.14392889 0.41663599 -0.14403309
+v -0.15907909 0.41663598 0.13490167
+v -0.09847749 0.35603440 -0.14403305
+v -0.15907909 0.35603438 0.13490169
+v -0.09847749 0.41663599 -0.14403308
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 5 4
+f 8 2 5
+f 8 6 2
+f 9 5 1
+f 9 1 7
+f 9 7 4
+f 9 4 5
+f 10 8 4
+f 10 4 6
+f 10 6 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_7.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb8ef0bbb67b7256f8f23d00385aa4561f6f4995
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_7.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.41663587 -0.08332716 0.13490192
+v -0.41663586 -0.08332717 -0.14403284
+v -0.41663587 0.20453041 -0.14403298
+v -0.44436276 0.21586837 0.09929953
+v -0.49449487 -0.06726276 -0.14146478
+v -0.48775424 -0.08217273 0.09929954
+v -0.48381138 -0.08133852 -0.14803237
+v -0.47747925 0.14057282 -0.14174192
+v -0.46208706 -0.00757519 0.13490188
+v -0.49321336 -0.07970495 -0.14142733
+v -0.45216252 0.20046926 -0.14406755
+v -0.49430460 0.05180150 -0.14154464
+v -0.46208708 -0.05302639 0.13490190
+v -0.44693667 -0.00757519 0.13490188
+v -0.49243274 0.02136138 0.09929954
+v -0.46240827 0.18331187 -0.14181198
+v -0.49154337 0.07964382 -0.14142706
+v -0.47641733 0.12516176 0.09929954
+v -0.49187230 -0.03681664 0.09929954
+v -0.46365985 0.16867750 0.09929954
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 3 2
+f 7 2 6
+f 10 7 6
+f 10 6 5
+f 10 5 7
+f 11 4 3
+f 11 3 7
+f 12 7 5
+f 13 6 1
+f 14 1 4
+f 14 4 9
+f 14 13 1
+f 14 9 13
+f 15 13 9
+f 15 12 5
+f 16 11 8
+f 16 4 11
+f 17 11 7
+f 17 8 11
+f 17 7 12
+f 17 12 15
+f 18 15 9
+f 18 17 15
+f 18 8 17
+f 19 6 13
+f 19 13 15
+f 19 15 5
+f 19 5 6
+f 20 18 9
+f 20 9 4
+f 20 4 16
+f 20 16 8
+f 20 8 18
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_8.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae1886865829c6de87ade96549671cdd54e36907
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_8.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.43814761 0.22968911 0.13995463
+v 0.43622438 0.22856456 0.09929955
+v 0.29692178 0.40169006 0.13295933
+v 0.14989468 0.47088167 0.09929953
+v 0.24998169 0.23483119 0.13490177
+v 0.28642537 0.40261555 0.09929955
+v 0.40164356 0.29700026 0.13295939
+v 0.17557516 0.45040776 0.14960694
+v 0.22765032 0.44691879 0.13295933
+v 0.43274310 0.24167763 0.13700550
+v 0.40208649 0.28692152 0.09929955
+v 0.41987601 0.23673270 0.14964280
+v 0.14392889 0.35603438 0.13490169
+v 0.21360459 0.44648008 0.09929955
+v 0.25421104 0.42989632 0.13295933
+v 0.20031211 0.45124973 0.14548609
+v 0.40175853 0.28672879 0.14548617
+v 0.14392889 0.44693678 0.13490165
+v 0.24047376 0.43213743 0.09929955
+v 0.20044837 0.45160218 0.09929955
+v 0.24026871 0.43182078 0.14548609
+v 0.40100930 0.29644342 0.13474189
+v 0.21346911 0.44612849 0.14548608
+v 0.28621813 0.40229536 0.14548613
+v 0.22697108 0.44558573 0.13613051
+v 0.29635201 0.40106671 0.13473852
+f 5 2 1
+f 5 4 2
+f 7 6 3
+f 10 1 2
+f 10 2 7
+f 11 7 2
+f 11 6 7
+f 11 2 4
+f 11 4 6
+f 12 8 5
+f 12 5 1
+f 13 4 5
+f 13 5 8
+f 15 3 6
+f 16 9 4
+f 16 4 8
+f 17 10 7
+f 17 1 10
+f 17 12 1
+f 18 13 8
+f 18 8 4
+f 18 4 13
+f 19 14 9
+f 19 6 4
+f 19 4 14
+f 19 15 6
+f 19 9 15
+f 20 14 4
+f 20 4 9
+f 20 9 14
+f 22 17 7
+f 22 7 3
+f 23 9 16
+f 23 16 8
+f 23 8 21
+f 24 3 15
+f 24 15 21
+f 24 17 22
+f 24 12 17
+f 24 21 8
+f 24 8 12
+f 25 23 21
+f 25 9 23
+f 25 21 15
+f 25 15 9
+f 26 24 22
+f 26 22 3
+f 26 3 24
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_9.obj b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64b5b9b0e3e3e898d809e0f0dee27755cdb95695
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.15907909 0.35603438 0.13490169
+v -0.09847749 0.35603440 -0.14403305
+v -0.09847749 0.35603439 0.00839715
+v -0.09679986 0.48565639 0.14149017
+v -0.22901540 0.43705479 -0.14493168
+v -0.09621013 0.48327801 -0.14583885
+v -0.09847749 0.41663598 0.13490167
+v -0.23483109 0.35603440 -0.14403305
+v -0.23686079 0.41994878 0.14930601
+v -0.15449646 0.47549356 0.13295930
+v -0.11489226 0.46711554 0.14887472
+v -0.23483109 0.35603438 0.13490171
+v -0.14029655 0.47779452 -0.14181213
+v -0.21278356 0.44521698 0.14548608
+v -0.22471907 0.44564605 -0.14141947
+v -0.12487460 0.47672419 0.14548608
+v -0.13272472 0.46263161 0.14887472
+v -0.18335214 0.46254823 -0.14164521
+v -0.22442330 0.44503117 0.13572850
+v -0.15408302 0.47422113 0.13576020
+v -0.11061016 0.48027914 0.14548608
+v -0.21127412 0.43323160 0.14887475
+v -0.21466331 0.44990197 -0.14146639
+v -0.22886480 0.43715937 0.14548608
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 6 2
+f 8 5 6
+f 9 5 8
+f 11 7 4
+f 11 9 1
+f 11 1 7
+f 12 9 8
+f 12 1 9
+f 12 8 3
+f 12 3 1
+f 13 10 4
+f 13 4 6
+f 17 9 11
+f 17 16 14
+f 17 11 16
+f 18 13 6
+f 18 6 5
+f 18 10 13
+f 19 14 10
+f 19 10 15
+f 20 10 14
+f 20 14 16
+f 21 16 11
+f 21 11 4
+f 21 4 10
+f 21 20 16
+f 21 10 20
+f 22 17 14
+f 22 14 9
+f 22 9 17
+f 23 18 5
+f 23 5 15
+f 23 15 10
+f 23 10 18
+f 24 9 14
+f 24 14 19
+f 24 5 9
+f 24 19 15
+f 24 15 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_19/model.xml b/objects/objaverse/canned_food/canned_food_19/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..90762d2793e646cde597d41985ca257b97006c18
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_19/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="canned_food_9">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.06999999999999997 0.06999999999999997 0.06999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="ConserveThon" texture="image0" specular="0.5" shininess="0.038399988999999995"/>
+  </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="ConserveThon"/>
+        <geom solimp="0.998 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="-1.4757049999998265e-05 1.4901949999999713e-05 -0.010547720399999995" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.4757049999998265e-05 1.4901949999999713e-05 0.010547740699999995" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.034585126799999984 0.034614793499999984 1.0150000000486154e-08" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_0.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79740c4fed615a71b92e953d69e47c36b45d52f0
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.30635256 0.16414476 -0.35606060
+v 0.30635256 0.16414476 -0.44696969
+v 0.15644529 0.32081076 -0.49796684
+v -0.06140418 0.34207674 -0.35606060
+v -0.16907618 0.16908033 -0.35606060
+v 0.14096010 0.31767899 -0.35606060
+v 0.27790364 0.22376529 -0.47746854
+v -0.10534400 0.34085356 -0.49796684
+v 0.07036016 0.34980169 -0.47746854
+v 0.24333148 0.24816795 -0.35606060
+v -0.19038138 0.29088272 -0.35606060
+v -0.17276875 0.17277586 -0.46936069
+v 0.12726340 0.33328709 -0.47746854
+v 0.09819230 0.33343330 -0.35606060
+v -0.06038120 0.35163180 -0.47746854
+v 0.07036016 0.34980169 -0.49796684
+v 0.27064535 0.21808863 -0.35606060
+v 0.17451791 0.31130096 -0.49796684
+v -0.10534400 0.34085356 -0.47746854
+v 0.24287239 0.17105051 -0.47064607
+v -0.16792455 0.25831879 -0.47202842
+v 0.15644529 0.32081076 -0.47746854
+v 0.08410155 0.34824617 -0.48136839
+v -0.07469378 0.34901674 -0.49796684
+v 0.30035843 0.17493207 -0.35606060
+v 0.17023384 0.30314531 -0.35606060
+v 0.18490331 0.28309038 -0.49776738
+v -0.07498401 0.35035628 -0.48080869
+v -0.11306414 0.31757093 -0.49680027
+v 0.08413417 0.34839252 -0.49138333
+v 0.12726340 0.33328709 -0.49796684
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 7 1 2
+f 10 6 1
+f 11 5 4
+f 12 2 5
+f 12 5 11
+f 14 9 4
+f 14 4 6
+f 14 6 13
+f 15 4 9
+f 16 3 8
+f 16 15 9
+f 17 10 1
+f 17 7 10
+f 18 10 7
+f 18 8 3
+f 19 11 4
+f 19 8 11
+f 20 7 2
+f 20 2 12
+f 21 12 11
+f 21 11 8
+f 22 13 6
+f 22 3 13
+f 22 18 3
+f 23 14 13
+f 23 9 14
+f 24 16 8
+f 24 15 16
+f 25 17 1
+f 25 1 7
+f 25 7 17
+f 26 6 10
+f 26 10 18
+f 26 22 6
+f 26 18 22
+f 27 8 18
+f 27 20 12
+f 27 18 7
+f 27 7 20
+f 28 19 4
+f 28 4 15
+f 28 15 24
+f 28 24 8
+f 28 8 19
+f 29 21 8
+f 29 12 21
+f 29 27 12
+f 29 8 27
+f 30 16 9
+f 30 9 23
+f 30 23 13
+f 31 3 16
+f 31 16 30
+f 31 30 13
+f 31 13 3
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_1.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed63c2cf221efef9bd25ec3301cdb5c61323598
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.18866612 -0.29205993 -0.23484848
+v 0.31364835 -0.17032170 -0.49772949
+v 0.34746588 -0.01190102 -0.23484848
+v 0.19456019 0.16908033 -0.23484848
+v 0.19368634 0.16830719 -0.47222702
+v 0.28500412 -0.19891223 -0.23484848
+v 0.18866612 -0.29205993 -0.46212121
+v 0.31777927 0.16219263 -0.49796684
+v 0.31354237 -0.17026598 -0.47746854
+v 0.21510315 -0.26205531 -0.49867647
+v 0.24469657 -0.25983246 -0.47746854
+v 0.34192356 0.06226135 -0.46212121
+v 0.29163854 0.17280240 -0.49871677
+v 0.30635256 0.16414476 -0.23484848
+v 0.19029742 -0.24971488 -0.46870143
+v 0.19894196 -0.28498168 -0.23484848
+v 0.20416559 -0.29257119 -0.47746854
+v 0.29873926 -0.19794056 -0.48155154
+v 0.24469657 -0.25983246 -0.49796684
+v 0.34746588 -0.01190102 -0.35606060
+v 0.23595158 -0.26572171 -0.49896549
+v 0.33162603 0.10398399 -0.23484848
+v 0.31777927 0.16219263 -0.47746854
+v 0.28602098 -0.21340723 -0.47746854
+v 0.29803170 -0.19743709 -0.49664464
+v 0.34453367 0.04585330 -0.35606060
+v 0.31505684 0.14679247 -0.23484848
+v 0.34453367 0.04585330 -0.23484848
+f 1 3 4
+f 5 1 4
+f 6 3 1
+f 7 1 5
+f 9 2 3
+f 9 3 6
+f 12 2 8
+f 13 5 4
+f 13 10 5
+f 13 8 2
+f 14 4 3
+f 14 13 4
+f 15 10 7
+f 15 7 5
+f 15 5 10
+f 16 11 6
+f 16 6 1
+f 17 1 7
+f 17 7 10
+f 17 16 1
+f 17 11 16
+f 18 9 6
+f 18 2 9
+f 19 11 17
+f 20 3 2
+f 20 2 12
+f 21 13 2
+f 21 10 13
+f 21 19 17
+f 21 17 10
+f 22 14 3
+f 23 8 13
+f 23 13 14
+f 23 22 12
+f 23 12 8
+f 24 18 6
+f 24 6 11
+f 24 11 19
+f 25 2 18
+f 25 24 19
+f 25 18 24
+f 25 21 2
+f 25 19 21
+f 26 20 12
+f 27 23 14
+f 27 14 22
+f 27 22 23
+f 28 22 3
+f 28 3 20
+f 28 20 26
+f 28 26 12
+f 28 12 22
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_10.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a71a70f933cfcbda3521a15f979cbfdb4f152958
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.34746588 -0.01190102 0.46212123
+v 0.34746588 -0.01190102 0.26515153
+v 0.29897332 0.17722781 0.40151517
+v -0.17276603 0.17277314 0.46936647
+v -0.16907618 -0.01273786 0.26515153
+v 0.19368774 0.16830843 0.47223492
+v 0.34192356 0.06226135 0.46212123
+v 0.19681287 -0.01287519 0.47144121
+v 0.29897332 0.17722781 0.26515153
+v 0.34453367 0.04585330 0.46212123
+v -0.16191297 -0.01231183 0.46834572
+v 0.34453367 0.04585330 0.26515153
+v -0.16907618 0.16908033 0.26515153
+f 6 3 4
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 8 6 4
+f 8 1 6
+f 9 3 7
+f 9 4 3
+f 10 1 2
+f 10 7 6
+f 10 6 1
+f 11 8 4
+f 11 4 5
+f 11 5 8
+f 12 9 7
+f 12 2 5
+f 12 10 2
+f 12 7 10
+f 13 5 4
+f 13 4 9
+f 13 12 5
+f 13 9 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_11.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e7a294296065f82ac433b9bebbbc85592f3675
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.16413269 -0.30636585 -0.23484848
+v -0.16217980 -0.31779708 -0.49796684
+v -0.17051017 -0.18102136 -0.47168868
+v -0.31513145 -0.14664822 -0.44696969
+v -0.27472633 -0.22782532 -0.47746854
+v -0.16907618 -0.17940452 -0.23484848
+v -0.21734994 -0.28488392 -0.48155154
+v -0.28606121 -0.19737883 -0.23484848
+v -0.32607579 -0.14475542 -0.49796684
+v -0.25098960 -0.14367403 -0.46463171
+v -0.17476545 -0.31291874 -0.48155154
+v -0.21807509 -0.27065575 -0.23484848
+v -0.29976609 -0.15407023 -0.49680027
+v -0.28815486 -0.21175764 -0.49664294
+v -0.32607579 -0.14475542 -0.47746854
+v -0.17431061 -0.31204920 -0.49686200
+v -0.16275905 -0.31890772 -0.48026276
+v -0.17491036 -0.30038670 -0.23484848
+v -0.24815010 -0.24334682 -0.23484848
+v -0.17852012 -0.28591180 -0.49680027
+v -0.21670503 -0.28407295 -0.49698082
+v -0.28885093 -0.21226981 -0.48155154
+v -0.23205011 -0.27105840 -0.47746854
+v -0.32080198 -0.15642405 -0.49796684
+v -0.30496806 -0.18512566 -0.47746854
+v -0.32080198 -0.15642405 -0.47746854
+f 6 1 2
+f 6 2 3
+f 8 6 4
+f 8 1 6
+f 10 6 3
+f 10 4 6
+f 10 3 9
+f 12 1 8
+f 13 9 3
+f 13 2 9
+f 15 8 4
+f 15 10 9
+f 15 4 10
+f 16 11 7
+f 17 2 1
+f 17 1 11
+f 17 16 2
+f 17 11 16
+f 18 11 1
+f 18 7 11
+f 18 12 7
+f 18 1 12
+f 19 12 8
+f 19 7 12
+f 20 13 3
+f 20 3 2
+f 20 2 13
+f 21 16 7
+f 21 2 16
+f 22 14 5
+f 22 19 8
+f 22 5 19
+f 23 19 5
+f 23 7 19
+f 23 21 7
+f 23 5 14
+f 23 14 21
+f 24 21 14
+f 24 9 2
+f 24 2 21
+f 24 14 22
+f 24 15 9
+f 25 24 22
+f 25 22 8
+f 26 25 8
+f 26 8 15
+f 26 15 24
+f 26 24 25
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_12.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e58ccbcfa1a2f21926a03666730c35b0363bb25a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.31777927 0.16219263 0.49797519
+v 0.30635256 0.16414476 0.40151517
+v 0.12726340 0.33328709 0.47747687
+v -0.07469378 0.34901674 0.49797519
+v -0.17276603 0.17277314 0.46936647
+v -0.06140418 0.34207674 0.40151517
+v 0.12726340 0.33328709 0.49797519
+v 0.22781376 0.27472779 0.47747687
+v -0.16907618 0.16908033 0.40151517
+v -0.10937118 0.32348968 0.49964273
+v 0.14096010 0.31767899 0.40151517
+v 0.07036016 0.34980169 0.47747687
+v 0.28486225 0.21736131 0.48155988
+v 0.18510487 0.30497306 0.47747687
+v -0.17509680 0.30026367 0.40151517
+v 0.07036016 0.34980169 0.49797519
+v 0.24333148 0.24816795 0.40151517
+v -0.06038120 0.35163180 0.47747687
+v 0.09819230 0.33343330 0.40151517
+v 0.08413417 0.34839252 0.49138625
+v 0.31291024 0.17479467 0.48155988
+v 0.21209800 0.28787258 0.49667958
+v -0.16756759 0.28779503 0.46487987
+v -0.10534400 0.34085356 0.49797519
+v 0.27064535 0.21808863 0.40151517
+v 0.27103045 0.23206050 0.47747687
+v 0.17023384 0.30314531 0.40151517
+v 0.08410041 0.34824156 0.48135475
+v 0.31204800 0.17433396 0.49686421
+v 0.31888273 0.16277209 0.48023426
+v 0.30035843 0.17493207 0.40151517
+v 0.21262395 0.28858844 0.48155988
+v -0.16792613 0.25832109 0.47203568
+v -0.10534400 0.34085356 0.47747687
+v 0.28405550 0.21672189 0.49697583
+v -0.07498319 0.35035251 0.48079686
+f 9 2 1
+f 9 1 5
+f 9 6 2
+f 10 5 1
+f 10 1 7
+f 11 2 6
+f 14 3 7
+f 14 11 3
+f 15 9 5
+f 15 6 9
+f 16 10 7
+f 16 4 10
+f 17 2 11
+f 18 12 6
+f 18 16 12
+f 18 4 16
+f 19 11 6
+f 19 6 12
+f 19 3 11
+f 20 7 3
+f 20 16 7
+f 20 12 16
+f 22 14 7
+f 23 15 5
+f 24 10 4
+f 24 23 10
+f 24 15 23
+f 25 2 17
+f 26 17 8
+f 26 25 17
+f 26 13 25
+f 26 8 22
+f 27 17 11
+f 27 11 14
+f 28 19 12
+f 28 12 20
+f 28 20 3
+f 28 3 19
+f 29 21 13
+f 30 1 2
+f 30 2 21
+f 30 29 1
+f 30 21 29
+f 31 21 2
+f 31 13 21
+f 31 25 13
+f 31 2 25
+f 32 22 8
+f 32 14 22
+f 32 27 14
+f 32 8 17
+f 32 17 27
+f 33 23 5
+f 33 5 10
+f 33 10 23
+f 34 6 15
+f 34 15 24
+f 35 26 22
+f 35 13 26
+f 35 29 13
+f 35 1 29
+f 35 22 7
+f 35 7 1
+f 36 18 6
+f 36 6 34
+f 36 4 18
+f 36 34 24
+f 36 24 4
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_13.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eacaca765a0e6b6cf8ed97e1cfb424caf213154
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.09802603 -0.34313166 0.49797519
+v 0.32488101 -0.14637594 0.49828015
+v -0.13726998 -0.32758372 0.49919176
+v 0.25190009 -0.14712521 0.46641733
+v 0.21342695 -0.28599486 0.47747687
+v -0.10833809 -0.28511765 0.47261827
+v 0.19744978 -0.29798041 0.49669996
+v 0.31687086 -0.14276604 0.46212123
+v -0.13418715 -0.32073301 0.46212123
+v 0.29801197 -0.19742344 0.49670540
+v 0.14098903 -0.32799257 0.49756576
+v 0.08488820 -0.34651378 0.47747687
+v 0.31365134 -0.17032326 0.49773116
+v 0.28602098 -0.21340723 0.47747687
+v 0.17030033 -0.31353721 0.47747687
+v -0.08940777 -0.34540304 0.49797519
+v 0.09845266 -0.34451631 0.48116359
+v 0.31354237 -0.17026598 0.47747687
+v 0.19795864 -0.29871623 0.48155988
+v -0.13307827 -0.33108111 0.47747687
+v 0.14151306 -0.32917502 0.48137779
+v 0.29873926 -0.19794056 0.48155988
+v -0.10288958 -0.34335060 0.49132916
+v -0.13307827 -0.33108111 0.49797519
+v -0.08940777 -0.34540304 0.47747687
+v -0.10284336 -0.34320984 0.48142062
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 8 4 2
+f 9 3 6
+f 9 6 4
+f 9 4 8
+f 11 2 1
+f 13 7 10
+f 13 11 7
+f 13 2 11
+f 14 5 8
+f 14 10 7
+f 14 7 5
+f 15 8 5
+f 15 12 9
+f 15 9 8
+f 16 12 1
+f 16 1 3
+f 17 11 1
+f 17 1 12
+f 18 8 2
+f 18 2 13
+f 18 14 8
+f 19 15 5
+f 19 5 7
+f 20 3 9
+f 21 11 17
+f 21 15 19
+f 21 19 7
+f 21 7 11
+f 21 17 12
+f 21 12 15
+f 22 18 13
+f 22 13 10
+f 22 10 14
+f 22 14 18
+f 24 23 16
+f 24 16 3
+f 24 3 20
+f 24 20 23
+f 25 12 16
+f 25 16 23
+f 25 9 12
+f 25 20 9
+f 26 25 23
+f 26 23 20
+f 26 20 25
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_14.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5f29718fa7a30dfef60a5d5a3a7288835f804cb
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.19456019 -0.01273786 0.26515153
+v 0.19681566 -0.01287536 -0.47143396
+v 0.20449956 0.28113475 0.26515153
+v 0.01274201 0.24483791 0.26515153
+v 0.01274201 -0.01273786 -0.46294475
+v 0.01274201 -0.01273786 0.26515153
+v 0.20449956 0.28113475 -0.35606060
+v 0.01230716 0.16187165 -0.46836752
+v 0.01274201 0.24483791 -0.35606060
+v 0.19368634 0.16830719 -0.47222702
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 7 3 2
+f 7 4 3
+f 8 6 4
+f 8 5 6
+f 8 2 5
+f 9 8 4
+f 9 4 7
+f 9 7 8
+f 10 8 7
+f 10 7 2
+f 10 2 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_15.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7747156963fd56cab3ac48e70536b95af1fe9962
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01274201 0.16908033 -0.23484848
+v 0.01274201 0.16908033 -0.35606060
+v 0.01252926 0.34742251 -0.35606060
+v -0.08962705 0.33586208 -0.23484848
+v -0.16907618 0.16908033 -0.35606060
+v 0.01252926 0.34742251 -0.23484848
+v -0.16907618 0.16908033 -0.23484848
+v -0.17080652 0.29315821 -0.49881852
+v -0.06140418 0.34207674 -0.46212121
+v -0.17636554 0.28721103 -0.49680027
+v -0.13286393 0.32131907 -0.46212121
+v -0.06383311 0.30992168 -0.46641585
+v -0.10870016 0.26050174 -0.46324126
+v -0.16216133 0.30739816 -0.23484848
+v -0.08962705 0.33586208 -0.46212121
+v -0.15835168 0.29874442 -0.49786585
+v -0.16216133 0.30739816 -0.46212121
+v -0.13286393 0.32131907 -0.23484848
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 9 6 3
+f 9 4 6
+f 10 2 5
+f 10 5 7
+f 12 9 3
+f 12 3 2
+f 13 10 8
+f 13 2 10
+f 13 12 2
+f 14 10 7
+f 14 7 4
+f 15 11 4
+f 15 4 9
+f 16 9 12
+f 16 15 9
+f 16 8 11
+f 16 11 15
+f 16 13 8
+f 16 12 13
+f 17 8 10
+f 17 10 14
+f 17 14 11
+f 17 11 8
+f 18 14 4
+f 18 4 11
+f 18 11 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_16.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a611e5d732c339b0a4618d1bf3106f58ee391db9
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.30931771 0.15848564 0.26515153
+v 0.30308894 0.17037354 -0.35606060
+v 0.23393307 0.26828712 0.47696888
+v 0.17595887 0.29974187 0.46212123
+v 0.17940868 0.15392881 -0.23484848
+v 0.23393563 0.26829000 -0.47696294
+v 0.17940868 0.15392881 0.26515153
+v 0.28981509 0.19193133 0.26515153
+v 0.30931771 0.15848564 -0.23484848
+v 0.21842901 0.28208439 0.47747687
+v 0.17595887 0.29974187 -0.44696969
+v 0.17940868 0.16908033 -0.35606060
+v 0.23588086 0.25533170 0.46212123
+v 0.28981509 0.19193133 -0.35606060
+v 0.18071797 0.26188451 0.46458627
+v 0.23588086 0.25533170 -0.46212121
+v 0.18218975 0.26401283 -0.46326973
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 3 6
+f 11 10 6
+f 11 4 10
+f 11 7 4
+f 11 5 7
+f 12 2 5
+f 12 5 11
+f 13 7 1
+f 13 1 3
+f 14 8 2
+f 14 2 6
+f 14 6 8
+f 15 10 4
+f 15 3 10
+f 15 13 3
+f 15 4 7
+f 15 7 13
+f 16 12 6
+f 16 6 2
+f 16 2 12
+f 17 12 11
+f 17 11 6
+f 17 6 12
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_17.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..805f2e559ab6b91b116f1208966a40f4f4ba09b3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01274201 0.16908033 0.40151517
+v 0.01274201 0.16908033 0.26515153
+v 0.01252926 0.34742251 0.40151517
+v -0.06140418 0.34207674 0.46212123
+v -0.16907618 0.16908033 0.40151517
+v -0.09484318 0.32549920 0.49872508
+v -0.16216133 0.30739816 0.26515153
+v -0.11306414 0.31757093 0.49680858
+v 0.01252926 0.34742251 0.26515153
+v -0.16907618 0.16908033 0.26515153
+v -0.10937118 0.32348968 0.49964273
+v -0.16756759 0.28779503 0.46487987
+v -0.08962705 0.33586208 0.26515153
+v -0.16216133 0.30739816 0.46212123
+v -0.13286393 0.32131907 0.26515153
+v -0.13286393 0.32131907 0.46212123
+v -0.08962705 0.33586208 0.46212123
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 8 5 1
+f 9 2 7
+f 9 1 2
+f 9 3 1
+f 9 4 3
+f 10 7 2
+f 10 2 5
+f 11 8 1
+f 11 1 6
+f 11 6 4
+f 12 5 8
+f 12 10 5
+f 12 7 10
+f 12 8 11
+f 13 9 7
+f 13 4 9
+f 14 12 11
+f 14 7 12
+f 15 13 7
+f 15 7 14
+f 16 14 11
+f 16 15 14
+f 16 13 15
+f 17 16 11
+f 17 11 4
+f 17 4 13
+f 17 13 16
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_18.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee1abd45bd180b33b68c799555a6333d3bbdb143
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.28118091 -0.20445885 0.40151517
+v -0.16907618 -0.17940452 -0.35606060
+v -0.16907618 -0.17940452 0.40151517
+v -0.25463707 0.23667139 0.40151517
+v -0.25463707 0.23667139 -0.35606060
+v -0.15392466 0.21453488 0.26515153
+v -0.15392466 -0.17940452 0.26515153
+v -0.28118091 -0.20445885 -0.35606060
+v -0.16907618 0.21453488 0.40151517
+v -0.16907618 0.21453488 -0.35606060
+v -0.15392466 -0.17940452 -0.23484848
+v -0.15392466 0.21453488 -0.23484848
+f 1 3 4
+f 5 1 4
+f 6 5 4
+f 7 3 1
+f 7 6 3
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 2 5
+f 11 6 7
+f 11 2 10
+f 11 8 2
+f 11 7 8
+f 12 10 5
+f 12 5 6
+f 12 11 10
+f 12 6 11
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_19.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81f62dc3056b4f0edd1f74fe5085a037935da1b8
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.18866612 -0.29205993 0.26515153
+v 0.30110682 -0.17371382 -0.23484848
+v 0.30605409 0.16471441 0.26515153
+v 0.19456019 0.15392881 0.26515153
+v 0.19456019 0.15392881 -0.23484848
+v 0.30110682 -0.17371382 0.26515153
+v 0.18866612 -0.29205993 -0.23484848
+v 0.30605409 0.16471441 -0.23484848
+v 0.25988463 -0.23075573 0.26515153
+v 0.25988463 -0.23075573 -0.23484848
+v 0.19894196 -0.28498168 0.26515153
+v 0.19894196 -0.28498168 -0.23484848
+f 5 4 3
+f 6 2 3
+f 6 3 4
+f 7 5 2
+f 7 1 4
+f 7 4 5
+f 8 5 3
+f 8 3 2
+f 8 2 5
+f 9 2 6
+f 10 7 2
+f 10 2 9
+f 11 10 9
+f 11 9 6
+f 11 6 4
+f 11 4 1
+f 12 7 10
+f 12 10 11
+f 12 11 1
+f 12 1 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_2.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c6d53e67711dfec00da08bc381359c753c965d5
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.25533510 -0.23589271 0.46212123
+v -0.25533510 -0.23589271 -0.44696969
+v -0.24483376 0.13877730 -0.35606060
+v -0.30297225 0.13766437 0.46467093
+v -0.34838895 -0.08415114 -0.49142091
+v -0.24483376 0.13877730 0.40151517
+v -0.31130897 -0.17454060 0.47747687
+v -0.26284277 0.14027914 -0.47110834
+v -0.32550246 0.09485722 0.49872508
+v -0.28208097 -0.21843261 -0.47746854
+v -0.30862133 0.14021197 -0.49871677
+v -0.26189353 -0.18072021 0.46458627
+v -0.26824110 -0.23390850 0.47693982
+v -0.34667089 0.07712889 0.49919176
+v -0.32607579 -0.14475542 -0.49796684
+v -0.26098547 -0.14970482 -0.47221485
+v -0.28208097 -0.21843261 0.47747687
+v -0.32607579 -0.14475542 0.47747687
+v -0.32918798 0.08029609 0.49858394
+v -0.35029406 0.07527477 -0.48080783
+v -0.34442769 0.09172668 0.49824917
+v -0.34894008 0.07501892 -0.49796684
+v -0.29976609 -0.15407023 -0.49680027
+v -0.33341846 -0.09821612 0.40151517
+v -0.33328377 -0.12728414 -0.47746854
+v -0.35164055 0.06036505 -0.47746854
+v -0.33310765 0.13201850 -0.48147863
+v -0.34981030 -0.07037748 -0.49796684
+v -0.33328377 -0.12728414 -0.49796684
+v -0.32116435 0.13323921 0.46212123
+v -0.33194885 0.13157971 -0.49741522
+v -0.34981030 -0.07037748 -0.47746854
+f 6 1 2
+f 6 2 3
+f 8 3 2
+f 8 6 3
+f 9 6 4
+f 11 4 6
+f 11 6 8
+f 12 1 6
+f 12 6 9
+f 13 12 9
+f 13 1 12
+f 13 10 2
+f 13 2 1
+f 15 10 7
+f 16 8 2
+f 16 2 10
+f 17 7 10
+f 17 10 13
+f 17 14 7
+f 17 13 14
+f 18 7 14
+f 18 15 7
+f 19 14 13
+f 19 13 9
+f 19 9 14
+f 21 14 9
+f 21 9 4
+f 21 20 14
+f 23 11 8
+f 23 8 16
+f 23 15 11
+f 23 16 10
+f 23 10 15
+f 24 18 14
+f 24 5 18
+f 25 18 5
+f 26 14 20
+f 26 20 22
+f 27 20 21
+f 28 26 22
+f 28 22 11
+f 29 25 5
+f 29 15 18
+f 29 18 25
+f 29 5 28
+f 29 28 11
+f 29 11 15
+f 30 27 21
+f 30 21 4
+f 30 4 11
+f 30 11 27
+f 31 27 11
+f 31 11 22
+f 31 22 20
+f 31 20 27
+f 32 14 26
+f 32 26 28
+f 32 24 14
+f 32 28 5
+f 32 5 24
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_20.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46cb32f558598041f680abcd3365d29751e73b31
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.20449956 0.28113475 0.40151517
+v 0.20449956 0.28113475 -0.35606060
+v 0.09819230 0.33343330 0.40151517
+v 0.01252926 0.34742251 0.40151517
+v 0.01274201 0.24483791 0.40151517
+v 0.01252926 0.34742251 -0.35606060
+v 0.14096010 0.31767899 0.40151517
+v 0.09819230 0.33343330 -0.35606060
+v 0.01274201 0.24483791 -0.35606060
+v 0.17023384 0.30314531 -0.35606060
+v 0.17023384 0.30314531 0.40151517
+v 0.14096010 0.31767899 -0.35606060
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 3 1
+f 8 6 3
+f 8 2 6
+f 8 3 7
+f 9 6 2
+f 9 2 5
+f 9 5 6
+f 10 1 2
+f 10 2 8
+f 11 10 7
+f 11 7 1
+f 11 1 10
+f 12 10 8
+f 12 8 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_21.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0d6408dd9a873d0a226ee2a4adcdf58dd5b0067
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.16918693 0.21467650 0.46344475
+v -0.16345599 0.20735248 -0.46807251
+v -0.15065739 0.31332400 0.26515153
+v -0.16839009 0.30413455 0.46212123
+v -0.27408068 0.21370619 -0.44696969
+v -0.15392466 0.21453488 0.26515153
+v -0.27408068 0.21370619 0.46212123
+v -0.16839009 0.30413455 -0.46212121
+v -0.15065739 0.31332400 -0.23484848
+v -0.23718853 0.26649658 0.47747687
+v -0.21650555 0.26251304 -0.49917034
+v -0.15392466 0.21453488 -0.23484848
+v -0.26650211 0.23717604 0.47747687
+v -0.20555379 0.26788189 -0.49740646
+v -0.21479163 0.21479595 -0.47266193
+v -0.23108293 0.25959510 -0.44696969
+v -0.16792455 0.25831879 -0.47202842
+v -0.22215370 0.25345378 -0.49680027
+v -0.18967375 0.29137072 -0.46212121
+v -0.25961032 0.23106496 -0.44696969
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 9 3 6
+f 9 8 3
+f 9 2 8
+f 10 1 4
+f 10 4 8
+f 12 9 6
+f 12 6 2
+f 12 2 9
+f 13 7 1
+f 13 1 10
+f 13 5 7
+f 14 11 8
+f 14 2 11
+f 15 2 5
+f 17 14 8
+f 17 8 2
+f 17 2 14
+f 18 11 2
+f 18 2 15
+f 18 15 5
+f 18 5 11
+f 19 16 10
+f 19 10 8
+f 19 8 11
+f 19 11 16
+f 20 16 11
+f 20 11 5
+f 20 5 13
+f 20 13 10
+f 20 10 16
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_22.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e94e1513ab3a69ab2b4066365689c824cd5ee85e
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.26723033 -0.22243645 0.26515153
+v 0.31431157 -0.14844295 -0.46212121
+v 0.31431157 -0.14844295 0.46212123
+v 0.28559986 -0.14917015 0.46305235
+v 0.28559552 -0.14916787 -0.46305226
+v 0.28241929 -0.17755831 0.46548298
+v 0.29704693 -0.18042431 0.26515153
+v 0.26723033 -0.22243645 -0.23484848
+v 0.30251612 -0.17138443 0.46212123
+v 0.28242279 -0.17756044 -0.46547901
+v 0.28500412 -0.19891223 0.26515153
+v 0.30251612 -0.17138443 -0.46212121
+v 0.27300419 -0.21507810 0.26515153
+v 0.28500412 -0.19891223 -0.23484848
+v 0.27300419 -0.21507810 -0.23484848
+v 0.29704693 -0.18042431 -0.23484848
+f 5 1 4
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 8 1 5
+f 9 6 1
+f 9 3 6
+f 10 8 5
+f 10 5 2
+f 11 7 9
+f 12 9 7
+f 12 2 3
+f 12 3 9
+f 12 10 2
+f 12 8 10
+f 13 1 8
+f 13 11 9
+f 13 9 1
+f 14 11 13
+f 14 7 11
+f 15 8 12
+f 15 12 14
+f 15 14 13
+f 15 13 8
+f 16 14 12
+f 16 12 7
+f 16 7 14
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_23.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42923eddc69fde66df643cede842c8d05be83bc3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.28001777 0.14134217 0.46895829
+v -0.22968223 0.13877730 -0.35606060
+v -0.22968223 0.13877730 0.40151517
+v -0.25463707 0.23667139 0.40151517
+v -0.31899378 0.13805709 -0.35606060
+v -0.27408068 0.21370619 0.46212123
+v -0.25463707 0.23667139 -0.35606060
+v -0.31899378 0.13805709 0.46212123
+v -0.29138555 0.18967278 -0.35606060
+v -0.29138555 0.18967278 0.46212123
+v -0.27985455 0.20634784 -0.35606060
+v -0.30740371 0.16214662 -0.35606060
+v -0.30740371 0.16214662 0.46212123
+v -0.27985455 0.20634784 0.46212123
+f 3 2 4
+f 5 2 3
+f 6 1 3
+f 6 3 4
+f 7 4 2
+f 7 2 5
+f 7 6 4
+f 8 5 3
+f 8 3 1
+f 9 7 5
+f 11 6 7
+f 11 7 9
+f 12 9 5
+f 12 5 8
+f 12 10 9
+f 13 8 1
+f 13 1 10
+f 13 12 8
+f 13 10 12
+f 14 6 11
+f 14 10 1
+f 14 1 6
+f 14 11 9
+f 14 9 10
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_24.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f6d0757aeafe03b5ec63b986a94689dd3ff593
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.34442769 0.09172668 0.49824917
+v -0.10848266 0.30547712 0.46295405
+v -0.16345853 0.20735573 0.46807674
+v -0.10534400 0.34085356 0.49797519
+v -0.27974111 0.22141337 0.47747687
+v -0.12337405 0.25943807 0.46399882
+v -0.32229703 0.09859018 0.49680858
+v -0.27372019 0.23015528 0.49649941
+v -0.16020910 0.31882497 0.47747687
+v -0.33585792 0.08961127 0.46212123
+v -0.11306414 0.31757093 0.49680858
+v -0.30414486 0.18942522 0.48149258
+v -0.30312983 0.18881810 0.49730357
+v -0.10534400 0.34085356 0.47747687
+v -0.20517741 0.29187278 0.47747687
+v -0.30593606 0.09347763 0.46359087
+v -0.16918693 0.21467650 0.46344475
+v -0.27432682 0.23067456 0.48155988
+v -0.33310310 0.13201677 0.48146462
+v -0.31883419 0.16019426 0.47747687
+v -0.18883713 0.30313542 0.49728232
+v -0.13203346 0.33309691 0.48145623
+v -0.11824585 0.33670195 0.47747687
+v -0.29188076 0.20516009 0.47747687
+v -0.23068370 0.27430175 0.48155988
+v -0.33672051 0.11824100 0.47747687
+v -0.33195198 0.13158090 0.49741687
+v -0.18944385 0.30414742 0.48152441
+v -0.13161223 0.33197440 0.49735468
+v -0.23018113 0.27372491 0.49644130
+f 6 2 4
+f 11 6 4
+f 11 3 6
+f 11 7 3
+f 11 4 1
+f 11 1 7
+f 13 8 12
+f 14 4 2
+f 15 9 2
+f 15 10 5
+f 15 2 10
+f 16 7 1
+f 16 1 10
+f 16 3 7
+f 17 10 2
+f 17 2 6
+f 17 16 10
+f 17 6 3
+f 17 3 16
+f 18 12 8
+f 19 13 12
+f 20 19 12
+f 21 8 13
+f 21 13 1
+f 21 1 4
+f 22 4 14
+f 23 14 2
+f 23 2 9
+f 23 22 14
+f 23 9 22
+f 24 18 5
+f 24 12 18
+f 24 20 12
+f 24 5 10
+f 24 10 20
+f 25 15 5
+f 25 5 18
+f 26 10 1
+f 26 1 19
+f 26 20 10
+f 26 19 20
+f 27 19 1
+f 27 1 13
+f 27 13 19
+f 28 9 15
+f 28 15 25
+f 28 22 9
+f 28 21 22
+f 29 22 21
+f 29 21 4
+f 29 4 22
+f 30 8 21
+f 30 28 25
+f 30 21 28
+f 30 25 18
+f 30 18 8
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_25.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93e7c7c24152be6bf188ec5c1051b43df56855c3
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.30635256 0.16414476 -0.44696969
+v 0.31777927 0.16219263 -0.49796684
+v 0.27103045 0.23206050 -0.47746854
+v 0.17451791 0.31130096 -0.47746854
+v 0.17635507 0.22579196 -0.46376135
+v 0.21209603 0.28786987 -0.49667791
+v 0.21273970 0.27483419 -0.44696969
+v 0.31291024 0.17479467 -0.48155154
+v 0.23773938 0.16751234 -0.46563620
+v 0.28405285 0.21671982 -0.49697415
+v 0.17451791 0.31130096 -0.49796684
+v 0.30035843 0.17493207 -0.44696969
+v 0.17595887 0.29974187 -0.44696969
+v 0.21262395 0.28858844 -0.48155154
+v 0.31888537 0.16277347 -0.48024427
+v 0.28592318 0.17849727 -0.49680027
+v 0.31204503 0.17433240 -0.49686254
+v 0.28486225 0.21736131 -0.48155154
+v 0.18510487 0.30497306 -0.49796684
+v 0.18705050 0.29303137 -0.44696969
+v 0.22781376 0.27472779 -0.47746854
+v 0.24287239 0.17105051 -0.47064607
+v 0.19143207 0.27738443 -0.49680027
+v 0.30154546 0.19079588 -0.47746854
+v 0.18510487 0.30497306 -0.47746854
+f 9 2 1
+f 9 1 5
+f 10 6 3
+f 11 5 4
+f 12 7 1
+f 12 3 7
+f 12 1 8
+f 13 5 1
+f 13 1 7
+f 13 4 5
+f 14 11 4
+f 15 8 1
+f 15 1 2
+f 16 2 9
+f 16 11 2
+f 17 2 10
+f 17 15 2
+f 17 8 15
+f 18 10 3
+f 18 17 10
+f 18 8 17
+f 18 3 12
+f 19 10 2
+f 19 2 11
+f 19 6 10
+f 19 14 6
+f 19 11 14
+f 20 13 7
+f 20 7 14
+f 21 14 7
+f 21 7 3
+f 21 3 6
+f 21 6 14
+f 22 16 9
+f 22 9 5
+f 22 5 16
+f 23 16 5
+f 23 5 11
+f 23 11 16
+f 24 18 12
+f 24 12 8
+f 24 8 18
+f 25 20 14
+f 25 14 4
+f 25 4 13
+f 25 13 20
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_26.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27ff6c731072b585985c36702d80bdcd8d1c958d
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.30308894 0.17037354 0.40151517
+v 0.30308894 0.17037354 0.26515153
+v 0.25090723 0.24058367 0.26515153
+v 0.01274201 0.24483791 0.40151517
+v 0.01274201 0.16908033 0.26515153
+v 0.25747622 0.23347230 0.40151517
+v 0.01274201 0.16908033 0.40151517
+v 0.01274201 0.24483791 0.26515153
+v 0.28981509 0.19193133 0.26515153
+v 0.28981509 0.19193133 0.40151517
+v 0.27064535 0.21808863 0.26515153
+v 0.25747622 0.23347230 0.26515153
+v 0.27064535 0.21808863 0.40151517
+f 5 2 1
+f 5 3 2
+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
+f 9 1 2
+f 9 2 3
+f 10 6 1
+f 10 1 9
+f 11 10 9
+f 12 3 6
+f 12 6 11
+f 12 11 9
+f 12 9 3
+f 13 11 6
+f 13 6 10
+f 13 10 11
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_27.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6453abab8ebb1af080590a24ad60999e3106e9
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19323271 -0.19322761 0.46345334
+v 0.19323195 -0.19322685 -0.46344515
+v 0.19681566 -0.01287536 -0.47143396
+v 0.01274201 -0.01273786 0.46295311
+v 0.01287789 -0.19681059 -0.47143106
+v 0.19681287 -0.01287519 0.47144121
+v 0.01287772 -0.19680781 0.47143832
+v 0.01274201 -0.01273786 -0.46294475
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_28.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5821f028c76524a04af8606d674bd8115c260d4a
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01274201 -0.19455604 0.26515153
+v 0.01274201 -0.19455604 -0.23484848
+v 0.01252926 0.34742251 0.26515153
+v -0.08962705 0.33586208 0.26515153
+v -0.15392466 -0.19455604 0.26515153
+v 0.01252926 0.34742251 -0.23484848
+v -0.15065739 0.31332400 -0.23484848
+v -0.15065739 0.31332400 0.26515153
+v -0.08962705 0.33586208 -0.23484848
+v -0.15392466 -0.19455604 -0.23484848
+v -0.13286393 0.32131907 0.26515153
+v -0.13286393 0.32131907 -0.23484848
+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 6 2
+f 8 5 4
+f 9 4 6
+f 9 6 7
+f 10 7 2
+f 10 2 5
+f 10 8 7
+f 10 5 8
+f 11 8 4
+f 12 9 7
+f 12 7 8
+f 12 8 11
+f 12 11 4
+f 12 4 9
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_29.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4fa40863113ebd84d3c111a404fc5942bfcf977
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01274201 -0.19455604 -0.23484848
+v 0.01287789 -0.19681059 -0.47143106
+v 0.01274201 0.16908033 -0.23484848
+v -0.16907618 0.16908033 -0.23484848
+v -0.16907618 -0.19455604 -0.23484848
+v -0.17276875 0.17277586 -0.46936069
+v 0.01230716 0.16187165 -0.46836752
+v -0.16830232 -0.19368468 -0.47223080
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_3.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c617cca761dd127b100fa344e9099322105bd9da
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.29729771 -0.15531513 0.49051430
+v 0.34314876 -0.09800396 -0.49796684
+v 0.34539603 0.08942961 0.49797519
+v 0.29163854 0.17280240 0.49872508
+v 0.28512034 0.10834225 -0.47260960
+v 0.30372183 -0.15073181 0.49872508
+v 0.29729873 -0.15531567 -0.49051411
+v 0.34333199 0.10291447 -0.49133234
+v 0.34314876 -0.09800396 0.49797519
+v 0.32799473 -0.14094645 0.49761981
+v 0.34539603 0.08942961 -0.49796684
+v 0.29631493 0.18163396 -0.35606060
+v 0.32798438 -0.14094944 -0.49761582
+v 0.32077248 0.11002884 -0.49871677
+v 0.31777927 0.16219263 0.49797519
+v 0.30372183 -0.15073181 -0.49871677
+v 0.32757351 0.13727051 -0.49918340
+v 0.29631493 0.18163396 0.40151517
+v 0.34333197 0.10291450 0.49133511
+v 0.33108163 0.13310198 -0.49796684
+v 0.33108163 0.13310198 0.49797519
+v 0.31777927 0.16219263 0.47747687
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 1 5
+f 9 2 3
+f 9 3 6
+f 10 6 1
+f 10 1 7
+f 10 9 6
+f 10 2 9
+f 11 8 3
+f 11 3 2
+f 12 5 4
+f 13 10 7
+f 13 2 10
+f 16 7 5
+f 16 5 14
+f 16 13 7
+f 16 2 13
+f 17 11 2
+f 17 16 14
+f 17 2 16
+f 17 14 5
+f 17 5 12
+f 18 12 4
+f 18 4 15
+f 19 3 8
+f 20 8 11
+f 20 11 17
+f 20 19 8
+f 20 17 12
+f 21 3 19
+f 21 15 4
+f 21 4 3
+f 21 20 15
+f 21 19 20
+f 22 20 12
+f 22 15 20
+f 22 18 15
+f 22 12 18
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_30.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dfc657e6dcbf4091e402d04c48f634b4a537594
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.16907618 -0.17940452 -0.35606060
+v -0.17051017 -0.18102136 -0.47168868
+v -0.16388806 0.13470492 -0.46909783
+v -0.30676029 0.16337039 -0.35606060
+v -0.28606121 -0.19737883 -0.35606060
+v -0.26284277 0.14027914 -0.47110834
+v -0.16907618 0.13877730 -0.35606060
+v -0.25637474 -0.17691598 -0.47042746
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_31.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdf02d4a920cc3bdfcf811df1fb65f8ea53937df
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01287772 -0.19680781 0.47143832
+v 0.01274201 -0.19455604 0.26515153
+v 0.01274201 -0.01273786 0.46295311
+v -0.16191297 -0.01231183 0.46834572
+v -0.16907618 -0.19455604 0.26515153
+v 0.01274201 -0.01273786 0.26515153
+v -0.16830357 -0.19368608 0.47223870
+v -0.16907618 -0.01273786 0.26515153
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 6 5
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_4.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ead46099a6c06b647ea85afb13ea3c2d6cc84da8
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01191639 -0.34746051 -0.35606060
+v 0.24001474 -0.25516210 -0.50000000
+v 0.11880262 -0.19455604 -0.35606060
+v -0.16907618 -0.19455604 -0.35606060
+v -0.13726998 -0.32758372 -0.49918340
+v -0.16830232 -0.19368468 -0.47223080
+v 0.13456856 -0.32055312 -0.35606060
+v 0.09802603 -0.34313166 -0.49796684
+v -0.17725470 -0.29896660 -0.35606060
+v 0.11851027 -0.19407188 -0.46312934
+v 0.23817928 -0.25332560 -0.46212121
+v -0.08940777 -0.34540304 -0.49796684
+v 0.09845399 -0.34452056 -0.48117660
+v -0.17079711 -0.28830692 -0.47727273
+v 0.19795864 -0.29871623 -0.48155154
+v 0.19574437 -0.28718426 -0.41666666
+v -0.10284479 -0.34321442 -0.48143450
+v 0.22936154 -0.27342670 -0.47746854
+v 0.14151502 -0.32917936 -0.48139152
+v 0.19744786 -0.29797764 -0.49669828
+v -0.13307827 -0.33108111 -0.47746854
+v -0.10288958 -0.34335062 -0.49132607
+v -0.04582965 -0.34453386 -0.35606060
+v 0.21342695 -0.28599486 -0.47746854
+v 0.17030033 -0.31353721 -0.47746854
+v 0.14098764 -0.32798950 -0.49756407
+v 0.22936154 -0.27342670 -0.49796684
+v -0.13307827 -0.33108111 -0.49796684
+f 1 3 4
+f 6 4 3
+f 6 2 5
+f 7 3 1
+f 8 5 2
+f 9 1 4
+f 9 4 6
+f 10 6 3
+f 10 2 6
+f 11 10 3
+f 11 2 10
+f 12 5 8
+f 13 7 1
+f 13 12 8
+f 13 1 12
+f 14 9 6
+f 14 6 5
+f 14 5 9
+f 16 11 3
+f 16 3 7
+f 16 7 15
+f 18 2 11
+f 18 11 16
+f 19 7 13
+f 20 15 19
+f 21 17 9
+f 22 12 17
+f 22 17 21
+f 23 17 12
+f 23 12 1
+f 23 1 9
+f 23 9 17
+f 24 18 16
+f 24 16 15
+f 24 15 18
+f 25 19 15
+f 25 15 7
+f 25 7 19
+f 26 19 13
+f 26 13 8
+f 26 20 19
+f 26 8 2
+f 27 18 15
+f 27 15 20
+f 27 2 18
+f 27 26 2
+f 27 20 26
+f 28 21 9
+f 28 9 5
+f 28 22 21
+f 28 5 12
+f 28 12 22
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_5.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0c1b724e2ca26ca848ba7395a23abc96d7afb8
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.11602493 -0.33713414 0.47723822
+v 0.19574437 -0.28718426 -0.46212121
+v 0.19323271 -0.19322761 0.46345334
+v -0.06290341 -0.19419673 0.47258104
+v -0.06225352 -0.34192841 -0.35606060
+v 0.19323195 -0.19322685 -0.46344515
+v 0.07397402 -0.33346690 0.49968333
+v 0.18866612 -0.29205993 0.46212123
+v 0.11602200 -0.33712831 -0.47722710
+v -0.06301557 -0.19455604 -0.35606060
+v -0.04582965 -0.34453386 0.46212123
+v 0.19029990 -0.24971805 0.46870652
+v 0.18866612 -0.29205993 -0.41666666
+v 0.11858815 -0.33035321 -0.49993986
+v -0.06407042 -0.28972533 0.47043579
+v 0.04109361 -0.34510892 0.46212123
+v 0.19029742 -0.24971488 -0.46870143
+v 0.01320257 -0.29316779 -0.46809433
+v 0.01191639 -0.34746051 -0.46212121
+v -0.06225352 -0.34192841 0.46212123
+v 0.04367887 -0.33616434 0.49872508
+v 0.11851027 -0.19407188 -0.46312934
+v 0.01298049 -0.33490973 -0.47727273
+v 0.04367887 -0.33616434 -0.49871677
+v 0.04109361 -0.34510892 -0.46212121
+v -0.04582965 -0.34453386 -0.35606060
+v 0.12369913 -0.31354210 -0.49680027
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 2 3
+f 8 7 1
+f 10 4 6
+f 12 8 3
+f 12 3 7
+f 12 7 8
+f 13 9 2
+f 13 2 8
+f 13 8 1
+f 13 1 9
+f 14 2 9
+f 15 10 5
+f 15 4 10
+f 17 14 6
+f 17 6 2
+f 17 2 14
+f 19 16 11
+f 20 15 5
+f 20 5 11
+f 21 7 4
+f 21 4 15
+f 21 15 20
+f 21 20 11
+f 21 11 16
+f 21 16 1
+f 21 1 7
+f 22 18 10
+f 22 10 6
+f 23 5 10
+f 23 10 18
+f 23 19 5
+f 24 14 9
+f 24 9 19
+f 24 19 23
+f 24 23 18
+f 24 18 22
+f 25 19 9
+f 25 16 19
+f 25 9 1
+f 25 1 16
+f 26 19 11
+f 26 11 5
+f 26 5 19
+f 27 22 6
+f 27 6 14
+f 27 24 22
+f 27 14 24
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_6.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3af8fcfaabc8378a1dc0ad3f19dbec72856c83d4
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.16907618 0.13877730 -0.35606060
+v -0.10775525 0.28840546 -0.47207474
+v -0.16907618 0.21453488 -0.35606060
+v -0.10534400 0.34085356 -0.47746854
+v -0.32950471 0.13640737 -0.49817536
+v -0.16388806 0.13470492 -0.46909783
+v -0.31899378 0.13805709 -0.35606060
+v -0.10534400 0.34085356 -0.49796684
+v -0.27985455 0.20634784 -0.35606060
+v -0.32116435 0.13323921 -0.46212121
+v -0.11306414 0.31757093 -0.49680027
+v -0.30414905 0.18942776 -0.48150669
+v -0.30428478 0.14509081 -0.49680027
+v -0.31883419 0.16019426 -0.47746854
+v -0.30740371 0.16214662 -0.35606060
+v -0.23017890 0.27372239 -0.49643963
+v -0.31883419 0.16019426 -0.49796684
+v -0.29138555 0.18967278 -0.35606060
+v -0.18944641 0.30415168 -0.48153861
+v -0.27432682 0.23067456 -0.48155154
+v -0.18883539 0.30313255 -0.49728063
+v -0.13203517 0.33310143 -0.48147022
+v -0.23068370 0.27430175 -0.48155154
+v -0.27371768 0.23015305 -0.49649776
+v -0.13161104 0.33197125 -0.49735300
+v -0.16020910 0.31882497 -0.47746854
+v -0.11824585 0.33670195 -0.47746854
+v -0.20517741 0.29187278 -0.47746854
+v -0.30312696 0.18881636 -0.49730189
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 1 3
+f 8 4 2
+f 9 7 3
+f 9 3 4
+f 10 6 1
+f 10 1 7
+f 10 7 5
+f 10 5 6
+f 11 5 8
+f 11 8 2
+f 11 2 6
+f 13 11 6
+f 13 6 5
+f 13 5 11
+f 14 5 7
+f 15 7 9
+f 15 14 7
+f 15 12 14
+f 17 14 12
+f 17 5 14
+f 17 8 5
+f 18 15 9
+f 18 9 12
+f 18 12 15
+f 20 12 9
+f 21 8 17
+f 21 16 19
+f 22 4 8
+f 22 21 19
+f 23 19 16
+f 23 20 9
+f 23 16 20
+f 24 12 20
+f 24 20 16
+f 24 16 21
+f 25 22 8
+f 25 8 21
+f 25 21 22
+f 26 22 19
+f 26 19 9
+f 26 9 22
+f 27 22 9
+f 27 9 4
+f 27 4 22
+f 28 23 9
+f 28 9 19
+f 28 19 23
+f 29 17 12
+f 29 12 24
+f 29 24 21
+f 29 21 17
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_7.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9563585ed0f6b17d0c4ad07d2faa686c4dd1483
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.06225352 -0.34192841 0.46212123
+v -0.06225352 -0.34192841 -0.46212121
+v -0.06290341 -0.19419673 0.47258104
+v -0.26189353 -0.18072021 0.46458627
+v -0.17476545 -0.31291874 0.48155988
+v -0.06301557 -0.19455604 -0.35606060
+v -0.16217980 -0.31779708 -0.49796684
+v -0.10847011 -0.33091967 0.50000002
+v -0.15392466 -0.17940452 -0.23484848
+v -0.28606121 -0.19737883 -0.23484848
+v -0.06255559 -0.28360432 -0.46534648
+v -0.06407042 -0.28972533 0.47043579
+v -0.19006667 -0.27876123 0.49715278
+v -0.10847011 -0.33091967 -0.50000000
+v -0.15392466 -0.17940452 0.26515153
+v -0.24815010 -0.24334682 -0.23484848
+v -0.24815010 -0.24334682 0.46212123
+v -0.16907618 -0.19455604 -0.35606060
+v -0.17050831 -0.18101927 0.47169593
+v -0.17431217 -0.31205217 0.49686368
+v -0.17281357 -0.29163931 -0.49871677
+v -0.21807509 -0.27065575 -0.23484848
+v -0.23339750 -0.18231270 0.47012612
+v -0.11468833 -0.31696718 -0.49680027
+f 1 2 3
+f 8 5 7
+f 8 2 1
+f 9 3 6
+f 10 4 9
+f 11 6 3
+f 11 3 2
+f 12 8 1
+f 12 1 3
+f 12 3 8
+f 13 8 3
+f 14 8 7
+f 14 2 8
+f 14 11 2
+f 15 9 4
+f 15 3 9
+f 16 10 7
+f 17 4 10
+f 17 13 4
+f 17 16 5
+f 17 10 16
+f 18 10 9
+f 18 9 6
+f 19 13 3
+f 19 15 4
+f 19 3 15
+f 20 5 8
+f 20 8 13
+f 20 17 5
+f 20 13 17
+f 21 14 7
+f 21 7 10
+f 21 10 18
+f 21 18 6
+f 21 6 11
+f 22 16 7
+f 22 7 5
+f 22 5 16
+f 23 19 4
+f 23 4 13
+f 23 13 19
+f 24 21 11
+f 24 11 14
+f 24 14 21
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_8.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0305c86cf86825358f6ba84dfbfaa4c7b2e5b5c
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.20416559 -0.29257119 0.47747687
+v 0.29845622 -0.17809493 0.26515153
+v 0.28830313 0.17079072 0.47727274
+v 0.19368774 0.16830843 0.47223492
+v 0.18866612 -0.29205993 0.26515153
+v 0.28546929 -0.01273786 0.26515153
+v 0.29257900 -0.20414859 0.47747687
+v 0.18866612 -0.29205993 0.46212123
+v 0.29897332 0.17722781 0.40151517
+v 0.19456019 -0.01273786 0.26515153
+v 0.28500412 -0.19891223 0.26515153
+v 0.19596817 -0.22645065 0.47177748
+v 0.29845622 -0.17809493 0.46212123
+v 0.19456019 0.16908033 0.40151517
+v 0.19894196 -0.28498168 0.26515153
+f 1 3 4
+f 6 2 5
+f 7 3 1
+f 8 5 1
+f 8 4 5
+f 9 2 6
+f 9 4 3
+f 10 6 5
+f 10 9 6
+f 11 5 2
+f 11 2 7
+f 11 7 1
+f 12 8 1
+f 12 1 4
+f 12 4 8
+f 13 7 2
+f 13 2 9
+f 13 9 3
+f 13 3 7
+f 14 10 5
+f 14 5 4
+f 14 4 9
+f 14 9 10
+f 15 11 1
+f 15 1 5
+f 15 5 11
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_9.obj b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae99602c7e67ebef2fe5ff2167b5dee403041106
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.17968486 -0.30826570 0.49797519
+v -0.17939987 -0.30779505 0.47713529
+v -0.16345853 0.20735573 0.46807674
+v -0.25198302 0.22087798 0.47727274
+v -0.34822900 -0.08411712 0.48130827
+v -0.32918798 0.08029609 0.49858394
+v -0.16907618 -0.17940452 0.40151517
+v -0.28885093 -0.21226981 0.48155988
+v -0.33328377 -0.12728414 0.49797519
+v -0.33938304 0.07532987 0.40151517
+v -0.17050831 -0.18101927 0.47169593
+v -0.21734994 -0.28488392 0.48155988
+v -0.34894008 0.07501892 0.49797519
+v -0.28815757 -0.21175964 0.49664461
+v -0.29569273 -0.18266522 0.40151517
+v -0.27408068 0.21370619 0.40151517
+v -0.19077149 -0.30155260 0.47747687
+v -0.34981030 -0.07037748 0.49797519
+v -0.30496806 -0.18512566 0.47747687
+v -0.19077149 -0.30155260 0.49797519
+v -0.27472633 -0.22782532 0.47747687
+v -0.33341846 -0.09821612 0.40151517
+v -0.16907618 0.21453488 0.40151517
+v -0.27408068 0.21370619 0.46212123
+v -0.35029027 0.07527408 0.48079601
+v -0.34838896 -0.08415115 0.49142373
+v -0.21670711 -0.28407559 0.49698249
+v -0.23205011 -0.27105840 0.47747687
+v -0.33328377 -0.12728414 0.47747687
+v -0.34981030 -0.07037748 0.47747687
+v -0.35164055 0.06036505 0.47747687
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 11 7 3
+f 11 3 1
+f 11 1 7
+f 13 6 4
+f 15 7 2
+f 17 2 1
+f 17 15 2
+f 17 12 15
+f 18 9 6
+f 18 6 13
+f 19 14 9
+f 19 8 14
+f 19 15 8
+f 20 9 14
+f 20 1 6
+f 20 6 9
+f 20 17 1
+f 20 12 17
+f 21 14 8
+f 21 8 15
+f 22 7 15
+f 22 10 16
+f 23 16 4
+f 23 4 3
+f 23 3 7
+f 23 22 16
+f 23 7 22
+f 24 13 4
+f 24 4 16
+f 25 16 10
+f 25 24 16
+f 25 13 24
+f 26 9 18
+f 27 20 14
+f 27 12 20
+f 28 21 15
+f 28 15 12
+f 28 12 27
+f 28 27 14
+f 28 14 21
+f 29 5 22
+f 29 26 5
+f 29 9 26
+f 29 19 9
+f 29 22 15
+f 29 15 19
+f 30 22 5
+f 30 10 22
+f 30 26 18
+f 30 5 26
+f 31 18 13
+f 31 13 25
+f 31 30 18
+f 31 25 10
+f 31 10 30
\ No newline at end of file
diff --git a/objects/objaverse/canned_food/canned_food_5/model.xml b/objects/objaverse/canned_food/canned_food_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2990bed37fe47d1beb378bccd23261f246c4ced4
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="canned_food_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="DefaultMaterial_1001" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="DefaultMaterial_1001"/>
+        <geom solimp="0.998 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="-0.00019829682499999954 0.00019813627499999968 -0.04749999999999998" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00019829682499999954 0.00019813627499999968 0.04750000189999998" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.033009258599999994 0.033405020999999986 9.499999994999617e-10" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/canned_food/canned_food_5/visual/material.mtl b/objects/objaverse/canned_food/canned_food_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/canned_food/canned_food_5/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/croissant/.DS_Store b/objects/objaverse/croissant/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..679032da9430369439517cae42e1d584684cf9b1
Binary files /dev/null and b/objects/objaverse/croissant/.DS_Store differ
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_1.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f18a2e57c833454b9e770849cc78f8faffb8b35
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.19232157 -0.22625281 -0.12589548
+v 0.26667591 -0.20774495 -0.14797109
+v 0.26640711 -0.00705880 -0.18101652
+v 0.00995855 -0.00696948 -0.18273682
+v 0.00725778 -0.17532153 -0.18489350
+v 0.21018564 -0.21167141 -0.12527310
+v 0.06002463 -0.23765572 -0.13719411
+v 0.26566622 -0.17529712 -0.18341644
+v 0.22023995 -0.21611138 -0.12571521
+v 0.21959479 -0.20578640 -0.16795363
+v -0.10074665 -0.05427484 -0.18341638
+v 0.26750881 -0.13305649 -0.18410659
+v 0.22116452 -0.20322014 -0.17110834
+v 0.10111367 -0.04189739 -0.18659443
+v -0.09898357 -0.06995236 -0.18440763
+v 0.24598680 -0.17423516 -0.18409092
+v 0.04983647 -0.21614063 -0.15986096
+v 0.00719536 -0.00924528 -0.18321728
+v 0.23514216 -0.08476954 -0.18574178
+v 0.00584349 -0.15939473 -0.18700015
+v 0.26581961 -0.14486718 -0.18432083
+v -0.04602531 -0.06171179 -0.18685985
+v 0.26557501 -0.00965436 -0.18128367
+v -0.09801825 -0.05441501 -0.18384812
+v -0.05236048 -0.05299865 -0.18598149
+f 6 3 4
+f 7 1 6
+f 9 6 1
+f 9 1 2
+f 9 2 3
+f 9 3 6
+f 10 2 1
+f 10 1 7
+f 11 7 6
+f 11 6 4
+f 12 3 2
+f 12 2 8
+f 13 8 2
+f 13 2 10
+f 13 10 7
+f 15 5 7
+f 15 7 11
+f 16 13 5
+f 16 8 13
+f 17 13 7
+f 17 7 5
+f 17 5 13
+f 18 4 3
+f 18 3 14
+f 18 11 4
+f 20 5 15
+f 20 14 19
+f 20 19 16
+f 20 16 5
+f 21 12 8
+f 21 8 16
+f 21 19 12
+f 21 16 19
+f 22 18 14
+f 22 20 15
+f 22 14 20
+f 23 19 14
+f 23 14 3
+f 23 3 12
+f 23 12 19
+f 24 22 15
+f 24 15 11
+f 24 11 18
+f 25 24 18
+f 25 18 22
+f 25 22 24
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_11.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c0abe61a0dc9c19ef45757f8f1e6e16ad8e15fb
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.22574789 -0.24537968 -0.05047755
+v -0.22653188 -0.24100346 -0.07815240
+v -0.23484847 -0.14531444 -0.02013322
+v -0.45263409 -0.11034013 -0.03315973
+v -0.48464653 -0.14969266 -0.14105430
+v -0.36784240 -0.12638226 0.00128182
+v -0.23432369 -0.14409273 -0.18318011
+v -0.45675777 -0.16004776 -0.16038739
+v -0.40321287 -0.17084453 -0.04353470
+v -0.23317658 -0.23464388 -0.02018420
+v -0.48790203 -0.11311894 -0.16899941
+v -0.35719169 -0.11462844 -0.18439315
+v -0.24888089 -0.23734833 -0.07266725
+v -0.23204777 -0.22266093 -0.11791436
+v -0.38143382 -0.19096598 -0.06188789
+v -0.44506426 -0.13021509 -0.04178856
+v -0.40990413 -0.15791188 -0.03250640
+v -0.49519653 -0.11844731 -0.14127552
+v -0.49202695 -0.13300589 -0.15927124
+v -0.46401084 -0.13481267 -0.17372139
+v -0.23537901 -0.16399143 -0.17430149
+v -0.25752809 -0.21734141 -0.11967307
+v -0.45037403 -0.16332972 -0.12860342
+v -0.49384924 -0.13866276 -0.14266385
+v -0.44734480 -0.11940141 -0.03155983
+v -0.49540942 -0.11501596 -0.16375929
+v -0.47758441 -0.14470517 -0.15917134
+v -0.48504348 -0.12347224 -0.16787698
+v -0.33745505 -0.17676499 -0.15536206
+v -0.42780386 -0.14911211 -0.16955048
+v -0.30966123 -0.16584704 -0.16716762
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 10 1 3
+f 10 3 6
+f 12 4 3
+f 12 3 7
+f 12 11 4
+f 13 8 2
+f 13 2 1
+f 14 7 2
+f 15 9 5
+f 15 10 9
+f 15 1 10
+f 15 13 1
+f 15 8 13
+f 16 5 9
+f 17 16 9
+f 17 10 6
+f 17 9 10
+f 20 12 7
+f 20 11 12
+f 20 8 19
+f 21 7 14
+f 22 14 2
+f 22 2 8
+f 22 8 14
+f 23 15 5
+f 23 5 8
+f 23 8 15
+f 24 5 16
+f 24 4 18
+f 24 19 5
+f 25 17 6
+f 25 6 4
+f 25 16 17
+f 25 24 16
+f 25 4 24
+f 26 18 4
+f 26 4 11
+f 26 24 18
+f 26 19 24
+f 27 19 8
+f 27 8 5
+f 27 5 19
+f 28 20 19
+f 28 11 20
+f 28 26 11
+f 28 19 26
+f 29 21 14
+f 29 14 8
+f 30 21 8
+f 30 8 20
+f 30 20 7
+f 30 7 21
+f 31 29 8
+f 31 8 21
+f 31 21 29
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_12.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af8a8d2958ab6041f9c501137ecfb6ef408a1b98
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.12765102 0.21341469 0.05002378
+v 0.15276200 0.22466876 -0.16281334
+v 0.04725885 0.29279521 -0.00215689
+v -0.11032283 0.30911570 -0.04007947
+v -0.23074702 0.20796643 -0.16181644
+v -0.02517845 0.30621282 -0.10244884
+v -0.09313997 0.20977110 0.12018500
+v 0.13023737 0.25133515 -0.00298937
+v 0.14361070 0.21559158 -0.16830989
+v 0.06026777 0.29048522 -0.07946983
+v -0.00688522 0.30923677 -0.01342790
+v -0.16041411 0.27704329 -0.13448379
+v 0.01449330 0.21811361 0.11989335
+v -0.22910955 0.20972649 0.03444083
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\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_13.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee459a66f879616ab44bfa449f4cb4817d714ec
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.09046225 -0.28075194 -0.02405089
+v -0.08945246 -0.18428018 -0.17312343
+v -0.08693315 -0.17128266 0.10890247
+v -0.23056284 -0.15365159 0.09117605
+v -0.23204777 -0.22266093 -0.11791436
+v -0.09848484 -0.16046596 0.01016981
+v -0.20778268 -0.23485695 0.04053163
+v -0.13229296 -0.26462095 -0.12914164
+v -0.20432751 -0.18182211 -0.16157357
+v -0.10172931 -0.15641012 0.10754888
+v -0.10030272 -0.22369068 0.06929385
+v -0.11055893 -0.18901813 0.09932334
+v -0.24462767 -0.19627217 0.02309714
+v -0.09552559 -0.28627956 -0.08466290
+v -0.21349845 -0.23565992 -0.12481507
+v -0.16421020 -0.19986461 -0.16315184
+v -0.17025590 -0.15567045 0.09996370
+v -0.09412245 -0.25013493 0.03064112
+v -0.21066370 -0.21918826 0.05747613
+v -0.10329954 -0.21911452 0.07430115
+v -0.22334560 -0.24913999 -0.03955590
+v -0.23572610 -0.19457896 -0.14097960
+v -0.10061312 -0.25606750 -0.13278585
+v -0.21044545 -0.21906980 -0.13721185
+v -0.21449684 -0.18035570 0.08302286
+v -0.23206037 -0.23308327 0.01273989
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+v -0.09861277 -0.26701715 -0.11806056
+v -0.22503571 -0.16563157 0.08774431
+v -0.21303241 -0.24880594 -0.01056366
+v -0.21760262 -0.21151089 0.05880416
+v -0.11305270 -0.28274554 -0.03251885
+v -0.20917081 -0.24758025 -0.10293144
+v -0.21966415 -0.19403126 0.07087763
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+f 35 25 30
+f 35 32 19
+f 35 30 4
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\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_16.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95a64fb7fefe5ee66cf97ed0c66d5275aa903445
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.44110828 -0.22661680 -0.12203855
+v 0.49572063 -0.17103041 -0.13684572
+v 0.43031869 -0.10138332 -0.01842997
+v 0.40874206 -0.00423199 -0.02632344
+v 0.40070934 -0.00924765 -0.17529641
+v 0.49156308 -0.10788247 -0.11173001
+v 0.40737916 -0.21448520 -0.08837556
+v 0.46561202 -0.17582860 -0.08082425
+v 0.39841077 -0.20371764 -0.16943779
+v 0.43161624 -0.02169352 -0.03139017
+v 0.43072047 -0.01112368 -0.15948798
+v 0.40777576 -0.11105676 -0.01380389
+v 0.47453038 -0.19641699 -0.10834606
+v 0.47679185 -0.13800769 -0.07559547
+v 0.45264056 -0.14246199 -0.17068323
+v 0.45147977 -0.20708876 -0.16185068
+v 0.41438378 -0.02600589 -0.01031716
+v 0.49388606 -0.11809281 -0.12744171
+v 0.44602684 -0.01335165 -0.07172069
+v 0.40359415 -0.14679156 -0.03470604
+v 0.44430991 -0.19434257 -0.07853327
+v 0.45654923 -0.21585105 -0.14168096
+v 0.46252269 -0.15355841 -0.06582307
+v 0.47668640 -0.11025201 -0.07932420
+v 0.49135592 -0.17265732 -0.12002454
+v 0.43647128 -0.18440302 -0.17352462
+v 0.41253984 -0.01486783 -0.17329370
+v 0.44044178 -0.22396610 -0.13747088
+v 0.47719257 -0.17231308 -0.15761517
+v 0.41426939 -0.01252766 -0.02294987
+v 0.41848103 -0.02920700 -0.01283601
+v 0.44673169 -0.01596324 -0.13637604
+v 0.44963090 -0.19430323 -0.08129115
+v 0.44216602 -0.20722772 -0.09459335
+v 0.45173975 -0.22026116 -0.12236901
+v 0.47610058 -0.19383311 -0.14433546
+v 0.41487681 -0.20243141 -0.16889354
+v 0.46613676 -0.09865193 -0.15695665
+v 0.44473674 -0.21095399 -0.15981769
+v 0.49217670 -0.10818498 -0.12248859
+v 0.45093617 -0.20325044 -0.09339071
+v 0.45936235 -0.21107848 -0.14648123
+v 0.46700174 -0.19272819 -0.15671764
+v 0.48189738 -0.15198736 -0.15614370
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+f 41 34 1
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+f 42 36 22
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+f 43 29 2
+f 43 2 36
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+f 44 29 15
+f 44 15 38
+f 44 2 29
+f 44 38 18
+f 44 18 2
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_2.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..464b639781418a3578a143c5ca5a7037463dede6
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.32247697 -0.03894460 0.03256149
+v 0.44673169 -0.01596324 -0.13637604
+v 0.37935545 0.07878899 -0.04714052
+v 0.30903300 0.13691936 -0.13483975
+v 0.25024163 -0.00952217 -0.18222553
+v 0.38577899 0.08426407 -0.11893512
+v 0.24402482 0.07777030 0.05820007
+v 0.43493901 -0.01739559 -0.04189802
+v 0.41253984 -0.01486783 -0.17329370
+v 0.33499843 0.13597791 -0.11476827
+v 0.24363925 -0.01351354 0.08161249
+v 0.24371554 0.08078407 -0.18169790
+v 0.32923601 0.06375123 0.02461542
+v 0.42986816 0.02676543 -0.08715844
+v 0.40512822 0.04993155 -0.14537626
+v 0.38213129 0.08364220 -0.06853008
+v 0.30249723 -0.03763983 0.05057445
+v 0.28863932 0.07204999 -0.18748234
+v 0.37521389 0.05646689 -0.01983649
+v 0.27552260 0.01535787 0.07227493
+v 0.30455696 0.07289006 0.03549133
+v 0.42766162 0.01286158 -0.05446865
+v 0.44602684 -0.01335165 -0.07172069
+v 0.43215074 -0.00442870 -0.15472068
+v 0.43182104 0.02323478 -0.13312919
+v 0.37353466 0.08292606 -0.14466845
+v 0.30789313 -0.03817062 0.03919342
+v 0.41158311 -0.01871168 -0.01390246
+v 0.29008958 0.11936800 -0.17435575
+v 0.24451180 0.04234918 0.07344217
+v 0.30437143 -0.00340693 0.06195180
+v 0.28847885 0.05663617 0.05533316
+v 0.38453801 0.07092508 -0.04577514
+v 0.42836064 0.00374636 -0.04623779
+v 0.44270297 -0.00245131 -0.07294043
+v 0.43072047 -0.01112368 -0.15948798
+v 0.44408403 -0.00375534 -0.13592454
+v 0.31922041 0.11801815 -0.15907637
+v 0.40686604 0.01574894 -0.16868065
+v 0.30214131 0.11761612 -0.17031197
+v 0.37179189 0.07148952 -0.15822719
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+f 37 23 2
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+f 39 36 9
+f 39 15 24
+f 39 24 36
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+f 40 4 38
+f 40 39 29
+f 41 38 26
+f 41 26 15
+f 41 15 39
+f 41 40 38
+f 41 39 40
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_20.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d25c640ce58971adfb824ce8d9d4ec3a4134d21
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.14249482 -0.14363517 0.08462775
+v 0.23368663 -0.05492137 0.07876490
+v 0.16326197 0.04799849 0.13390756
+v 0.15224989 0.14730152 0.09261060
+v 0.19720843 0.12312753 0.07812045
+v 0.13492517 0.05056565 0.13621491
+v 0.14068523 -0.08362539 0.11972995
+v 0.15165433 -0.13767558 0.07743898
+v 0.23563549 -0.03470664 0.08118086
+v 0.14959681 0.12798939 0.11390564
+v 0.13946471 0.14043949 0.10746109
+v 0.14018544 -0.12400691 0.10517539
+v 0.15203292 -0.07275051 0.11843117
+v 0.14755746 0.02907854 0.13445063
+v 0.18472711 0.14016754 0.08141402
+v 0.19085784 0.11966926 0.08495861
+v 0.14086700 0.12609244 0.11670394
+v 0.13812370 -0.14021557 0.09591785
+v 0.17121759 0.01367909 0.12371394
+f 8 5 2
+f 8 2 1
+f 8 1 4
+f 9 5 3
+f 9 3 2
+f 9 2 5
+f 11 4 1
+f 13 3 7
+f 13 12 2
+f 13 7 12
+f 14 7 3
+f 14 3 6
+f 14 6 7
+f 15 8 4
+f 15 5 8
+f 15 11 10
+f 15 4 11
+f 16 10 3
+f 16 3 5
+f 16 15 10
+f 16 5 15
+f 17 6 3
+f 17 3 10
+f 17 11 6
+f 17 10 11
+f 18 11 1
+f 18 6 11
+f 18 1 2
+f 18 2 12
+f 18 12 7
+f 18 7 6
+f 19 13 2
+f 19 2 3
+f 19 3 13
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_22.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f085cb1d7aa2369be9914ed5fd74112262dc7df6
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01301881 -0.21546079 -0.15364501
+v 0.00485527 -0.17308550 -0.18564136
+v 0.00967636 0.13985244 -0.18759964
+v -0.09848484 0.14256434 -0.12619382
+v -0.09943477 -0.17155270 -0.17848483
+v -0.00015218 0.14834974 -0.18166987
+v -0.08945246 -0.18428018 -0.17312343
+v -0.09882106 0.14072851 -0.19147792
+v -0.07604033 -0.16970644 -0.18415532
+v -0.09822803 -0.14153201 -0.18706119
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 6 3
+f 8 5 4
+f 8 4 6
+f 9 7 5
+f 9 2 7
+f 10 8 2
+f 10 2 9
+f 10 9 5
+f 10 5 8
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_23.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38d124ccc9bea46636105c6b3c9ff2c06e9508dc
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.15715333 -0.18517128 0.02091690
+v 0.14393940 -0.00895081 -0.00498170
+v 0.15567802 -0.02337175 0.12696758
+v 0.00740202 -0.00562412 0.16699083
+v 0.00757576 -0.16046596 -0.00498170
+v 0.15372742 -0.00952038 0.12332028
+v 0.00819227 -0.15187151 0.14653468
+v 0.00757576 -0.00895081 -0.00498170
+v 0.04521809 -0.00318741 0.16401810
+v 0.13709760 -0.13633558 0.10090734
+v 0.01259988 -0.15329550 0.14383737
+v 0.00306175 -0.12430584 0.16291716
+v 0.14816156 -0.01181678 0.13055761
+v 0.13183042 -0.14877524 0.09240491
+v 0.02327696 -0.09511869 0.16205486
+v 0.13169126 -0.05549063 0.13175447
+v 0.13613643 -0.10819948 0.11198517
+v 0.15340671 -0.02234200 0.12889404
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 8 2 5
+f 9 6 2
+f 9 8 4
+f 9 2 8
+f 10 1 3
+f 11 7 5
+f 11 5 1
+f 11 10 7
+f 12 5 7
+f 12 8 5
+f 12 4 8
+f 12 9 4
+f 12 7 10
+f 13 3 6
+f 13 6 9
+f 14 11 1
+f 14 1 10
+f 14 10 11
+f 15 9 12
+f 16 15 12
+f 17 16 12
+f 17 12 10
+f 17 10 3
+f 18 3 13
+f 18 13 9
+f 18 9 15
+f 18 15 16
+f 18 17 3
+f 18 16 17
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_25.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d42cef5c7f12bb8e7b35754706825e2d5ecf5e
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.23484847 -0.00895081 -0.09589079
+v -0.23568750 -0.00938945 -0.18982288
+v -0.23522458 0.16799587 -0.18930625
+v -0.26339121 0.21882464 -0.11147527
+v -0.35606059 -0.00895081 -0.09589079
+v -0.32430576 -0.00967936 -0.18659145
+v -0.34938989 0.16274208 -0.09440758
+v -0.35490235 -0.00952280 -0.18254676
+v -0.33021210 0.14488860 -0.15546719
+v -0.35453355 0.11876183 -0.15826208
+v -0.34500030 0.15817997 -0.11793514
+v -0.25061548 0.16345405 -0.18738511
+v -0.35630609 0.06796020 -0.16852340
+v -0.33496779 0.15767139 -0.13000052
+v -0.34573703 0.14167743 -0.14268144
+v -0.35198883 0.03385327 -0.18000340
+v -0.33747706 0.10274852 -0.16953927
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 8 6 5
+f 8 3 6
+f 10 5 7
+f 11 7 4
+f 11 10 7
+f 12 9 4
+f 12 4 3
+f 12 10 9
+f 12 3 8
+f 13 8 5
+f 13 5 10
+f 14 11 4
+f 14 4 9
+f 14 9 11
+f 15 11 9
+f 15 9 10
+f 15 10 11
+f 16 12 8
+f 16 8 13
+f 16 13 10
+f 17 16 10
+f 17 10 12
+f 17 12 16
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_26.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5df207bf4d2f010d2f07dc9b657facd5def894f
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.31309291 0.07468026 0.02798123
+v 0.36574825 0.07362648 -0.15956440
+v 0.36352139 0.11026897 -0.05114701
+v 0.24585017 0.19221313 -0.04117266
+v 0.24371554 0.08078407 -0.18169790
+v 0.31287604 0.15365773 -0.12706822
+v 0.26368326 0.15119176 0.01171205
+v 0.35626192 0.07769296 -0.01782783
+v 0.35264240 0.12036312 -0.12165268
+v 0.27012030 0.19541293 -0.08405042
+v 0.27838243 0.14046939 -0.16676169
+v 0.32895259 0.09735976 0.01021050
+v 0.29881136 0.15967394 -0.02916857
+v 0.24992709 0.08183930 0.05516028
+v 0.36361154 0.08327369 -0.15308981
+v 0.31595452 0.15412264 -0.10756437
+v 0.24346685 0.17474475 -0.14589434
+v 0.33820838 0.07614058 -0.17069460
+v 0.35740653 0.10604254 -0.03634644
+v 0.25542117 0.17893299 -0.01897838
+v 0.33263065 0.14235142 -0.04725875
+v 0.24705816 0.12187198 0.04636649
+v 0.35903879 0.09550042 -0.14703932
+v 0.24409373 0.19027254 -0.12083035
+v 0.24610613 0.13736751 -0.17077285
+v 0.26649227 0.16485410 -0.15182708
+v 0.33323656 0.08742802 -0.16833938
+v 0.35304674 0.08696323 -0.01819675
+v 0.26845025 0.19206593 -0.06643684
+v 0.24406323 0.17643155 -0.01017670
+v 0.28691320 0.08121202 0.04394333
+v 0.31113117 0.13206924 -0.15613554
+v 0.24696423 0.16144433 -0.15750107
+v 0.26229846 0.16821654 -0.14908482
+v 0.25688145 0.18394990 -0.12516306
+v 0.28125301 0.09948127 0.03832368
+v 0.26040719 0.11526828 0.04239063
+f 5 2 1
+f 8 1 2
+f 8 2 3
+f 12 1 8
+f 13 7 12
+f 14 5 1
+f 15 9 3
+f 15 3 2
+f 16 9 6
+f 16 6 10
+f 18 2 5
+f 18 5 11
+f 19 8 3
+f 20 7 13
+f 21 16 10
+f 21 3 9
+f 21 9 16
+f 21 19 3
+f 21 13 12
+f 21 12 19
+f 22 12 7
+f 22 5 14
+f 23 6 9
+f 23 9 15
+f 23 15 2
+f 24 4 10
+f 25 11 5
+f 25 5 17
+f 27 18 11
+f 27 2 18
+f 28 19 12
+f 28 12 8
+f 28 8 19
+f 29 20 13
+f 29 10 4
+f 29 4 20
+f 29 21 10
+f 29 13 21
+f 30 22 7
+f 30 7 20
+f 30 20 4
+f 30 4 24
+f 30 24 17
+f 30 17 5
+f 30 5 22
+f 31 22 14
+f 31 14 1
+f 31 1 12
+f 32 6 23
+f 32 26 6
+f 32 11 26
+f 32 23 2
+f 32 27 11
+f 32 2 27
+f 33 25 17
+f 33 17 26
+f 33 26 11
+f 33 11 25
+f 34 26 17
+f 34 17 24
+f 35 10 6
+f 35 6 26
+f 35 26 34
+f 35 34 24
+f 35 24 10
+f 36 31 12
+f 37 36 12
+f 37 12 22
+f 37 22 31
+f 37 31 36
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_28.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..740667d3f4d7446dbb2d662a0bbb54e811f0331a
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.32343305 0.16589904 -0.02533211
+v -0.23482914 0.17281356 -0.18670597
+v -0.26233180 0.21067170 0.00067689
+v -0.23364265 0.23799354 -0.02293420
+v -0.24144129 0.23520340 -0.12500928
+v -0.25623015 0.23225191 -0.02492487
+v -0.33878344 0.16794207 -0.09563831
+v -0.22877107 0.22233715 -0.14776020
+v -0.23394920 0.24008742 -0.12349862
+v -0.28358466 0.17668233 -0.15595440
+v -0.26889840 0.16520412 -0.17389620
+v -0.29684298 0.20753826 -0.07101631
+v -0.26654893 0.20161677 -0.14315086
+v -0.24259635 0.18946271 -0.17236490
+v -0.33847649 0.16755772 -0.08048841
+v -0.28177046 0.16981187 -0.16236341
+v -0.28321286 0.18578513 -0.14369732
+v -0.28644492 0.20018396 -0.11848578
+v -0.24111895 0.21761452 -0.14487051
+v -0.23247522 0.19295509 -0.17362999
+v -0.26564729 0.17672684 -0.16946035
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 8 4 2
+f 9 6 4
+f 9 8 5
+f 9 4 8
+f 11 2 1
+f 12 5 7
+f 12 9 5
+f 12 6 9
+f 12 1 6
+f 15 11 1
+f 15 7 11
+f 15 12 7
+f 15 1 12
+f 16 11 7
+f 16 7 10
+f 17 13 10
+f 17 10 7
+f 17 7 13
+f 18 13 7
+f 18 7 5
+f 18 5 13
+f 19 13 5
+f 19 5 8
+f 19 8 14
+f 20 14 8
+f 20 8 2
+f 20 2 14
+f 21 14 2
+f 21 2 11
+f 21 11 16
+f 21 16 10
+f 21 10 13
+f 21 19 14
+f 21 13 19
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_29.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ca9845e3639d76ba4f17b4acc3359aa3af4f7c0
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.11280956 -0.22725263 0.03223345
+v -0.09943477 -0.17155270 -0.17848483
+v -0.09848484 0.21832191 -0.08073928
+v -0.13057716 0.25473669 0.04642884
+v -0.23537901 -0.16399143 -0.17430149
+v -0.12483289 -0.16953837 -0.18562290
+v -0.24462767 -0.19627217 0.02309714
+v -0.23074702 0.20796643 -0.16181644
+v -0.09831484 0.21640122 -0.18928028
+v -0.23615226 0.22125546 0.01202343
+v -0.23441862 0.17757051 -0.18406475
+v -0.15328684 0.21518439 -0.18748915
+v -0.10187823 -0.15675189 -0.18347509
+v -0.23232658 -0.13973988 -0.18492650
+v -0.11598022 -0.16713254 -0.18477970
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 9 4 3
+f 9 3 2
+f 10 7 4
+f 10 4 8
+f 11 5 7
+f 11 10 8
+f 11 7 10
+f 12 8 4
+f 12 4 9
+f 12 11 8
+f 13 9 2
+f 14 6 5
+f 14 5 11
+f 14 11 12
+f 14 12 9
+f 14 9 6
+f 15 13 2
+f 15 2 6
+f 15 6 9
+f 15 9 13
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_31.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f44871d9ab88e88c1af17388a1c3438295511c
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.27041194 -0.17338700 -0.00775692
+v 0.39983716 -0.14363213 -0.17637644
+v 0.40874206 -0.00423199 -0.02632344
+v 0.26515152 -0.00895081 -0.03528473
+v 0.26524665 -0.14525076 -0.18428939
+v 0.40359415 -0.14679156 -0.03470604
+v 0.38573034 -0.00947311 -0.17642911
+v 0.40070934 -0.00924765 -0.17529641
+v 0.26557501 -0.00965436 -0.18128367
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 2 5
+f 8 3 2
+f 8 2 7
+f 9 7 5
+f 9 5 4
+f 9 4 3
+f 9 8 7
+f 9 3 8
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_4.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c6f7c322c98943288a7641fbc832fe7abc9db99
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.25000000 -0.00895081 -0.08073928
+v 0.25024163 -0.00952217 -0.18222553
+v 0.24318590 0.20073564 -0.07962676
+v 0.00412145 0.29792685 -0.05999859
+v 0.00719536 -0.00924528 -0.18321728
+v 0.05660047 0.24574682 -0.17719805
+v 0.24696423 0.16144433 -0.15750107
+v 0.00757576 -0.00895081 -0.08073928
+v 0.05920742 0.28314833 -0.12016438
+v -0.00340531 0.15251620 -0.18949886
+v 0.24610613 0.13736751 -0.17077285
+v 0.01877122 0.27437006 -0.13937786
+v 0.19750768 0.23589345 -0.07938282
+v 0.18307999 0.23154257 -0.13360317
+v 0.17149718 0.20514121 -0.16860035
+v 0.14143232 0.12804709 -0.18797190
+v 0.05429808 0.27818389 -0.13647057
+v 0.00639506 0.21275073 -0.17900620
+v 0.24150975 0.20050166 -0.09231769
+v 0.18916441 0.20645805 -0.15662915
+v 0.16287371 0.22459525 -0.15676841
+v 0.16664169 0.13718728 -0.18334370
+v 0.04983278 0.25138924 -0.17461756
+v 0.05916243 0.27818263 -0.13398286
+v 0.05094704 0.28417331 -0.12181312
+v 0.19317216 0.22944387 -0.11725049
+v 0.24322704 0.18559939 -0.13127453
+v 0.18723656 0.22028797 -0.14343311
+f 1 3 4
+f 7 1 2
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 8 1 4
+f 10 8 4
+f 10 5 8
+f 11 7 2
+f 13 9 4
+f 13 4 3
+f 14 9 13
+f 15 7 11
+f 16 10 6
+f 16 2 5
+f 16 5 10
+f 18 10 4
+f 18 4 12
+f 18 6 10
+f 19 13 3
+f 20 7 15
+f 21 15 6
+f 21 20 15
+f 22 15 11
+f 22 11 2
+f 22 2 16
+f 22 16 6
+f 22 6 15
+f 23 12 17
+f 23 18 12
+f 23 6 18
+f 23 21 6
+f 23 17 21
+f 24 9 14
+f 24 21 17
+f 24 14 21
+f 25 17 12
+f 25 12 4
+f 25 4 9
+f 25 24 17
+f 25 9 24
+f 26 14 13
+f 26 13 19
+f 27 19 3
+f 27 3 7
+f 27 7 14
+f 27 26 19
+f 27 14 26
+f 28 14 7
+f 28 7 20
+f 28 21 14
+f 28 20 21
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_5.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b48b3dc45f80fb6b29d6abb276c41d0f4087535
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.00375577 -0.29371909 0.00993974
+v 0.15440780 -0.20915366 -0.14376760
+v 0.13640110 -0.16289786 0.07983598
+v -0.08572558 -0.15343403 0.11872960
+v -0.08945246 -0.18428018 -0.17312343
+v -0.00053040 -0.21158588 0.11237458
+v 0.13483097 -0.22198325 0.00235150
+v -0.05000620 -0.31315912 -0.07507932
+v 0.12707039 -0.15246695 0.09130704
+v 0.12886900 -0.19518306 0.05841291
+v -0.04501492 -0.24982534 0.07537486
+v 0.13378522 -0.23884601 -0.08531177
+v 0.15715333 -0.18517128 0.02091690
+v 0.01485167 -0.25116844 -0.14485854
+v -0.09552559 -0.28627956 -0.08466290
+v -0.09848484 -0.16046596 0.01016981
+v 0.12267429 -0.16681014 0.08881371
+v 0.01565386 -0.15635082 0.13918605
+v -0.00065554 -0.23744933 0.09027144
+v 0.01043604 -0.28550622 0.01144884
+v -0.04391200 -0.20826992 0.11385836
+v -0.04379637 -0.29853224 -0.00011357
+v 0.01679594 -0.29478430 -0.02438113
+v 0.14135918 -0.22529644 -0.12052753
+v 0.13171784 -0.18291211 0.06910085
+v 0.13431548 -0.23312095 -0.05257806
+v -0.10061312 -0.25606750 -0.13278585
+v 0.02044244 -0.24488905 -0.14672087
+v 0.01554576 -0.26224174 -0.12821482
+v -0.09412245 -0.25013493 0.03064112
+v 0.00757576 -0.16046596 -0.00498170
+v -0.05119297 -0.15367216 0.13752013
+v 0.09293124 -0.15528837 0.10675619
+v 0.01605102 -0.16713989 0.13329306
+v -0.02069795 -0.27927834 0.03593180
+v -0.04051183 -0.24942328 0.07619557
+v -0.05476674 -0.31520578 -0.05162515
+v 0.01328330 -0.29842077 -0.03694386
+v -0.00027136 -0.29473157 -0.07578527
+v -0.05557349 -0.27285396 -0.12400378
+v -0.06158579 -0.24302288 -0.14552450
+v -0.09861277 -0.26701715 -0.11806056
+v -0.08681186 -0.16679301 0.11174949
+v -0.06446370 -0.30862629 -0.06436044
+v -0.09046225 -0.28075194 -0.02405089
+v -0.05815725 -0.25305720 -0.13994743
+f 9 2 5
+f 13 10 7
+f 13 9 3
+f 13 2 9
+f 13 12 2
+f 16 4 9
+f 17 3 9
+f 19 1 10
+f 19 17 6
+f 20 10 1
+f 20 1 7
+f 20 7 10
+f 21 6 18
+f 21 19 6
+f 23 7 1
+f 24 8 2
+f 24 2 12
+f 25 13 3
+f 25 10 13
+f 25 3 17
+f 25 19 10
+f 25 17 19
+f 26 13 7
+f 26 12 13
+f 26 23 12
+f 26 7 23
+f 27 16 5
+f 28 14 5
+f 28 5 2
+f 28 2 14
+f 29 14 2
+f 29 2 8
+f 29 8 14
+f 30 27 15
+f 30 16 27
+f 30 11 21
+f 30 22 11
+f 31 16 9
+f 31 9 5
+f 31 5 16
+f 32 18 9
+f 32 9 4
+f 32 21 18
+f 33 18 17
+f 33 17 9
+f 33 9 18
+f 34 18 6
+f 34 6 17
+f 34 17 18
+f 35 1 19
+f 35 22 1
+f 35 11 22
+f 36 21 11
+f 36 19 21
+f 36 35 19
+f 36 11 35
+f 37 1 22
+f 38 12 23
+f 38 37 8
+f 38 23 1
+f 38 1 37
+f 39 24 12
+f 39 8 24
+f 39 38 8
+f 39 12 38
+f 40 14 8
+f 40 8 27
+f 41 27 5
+f 41 5 14
+f 42 27 8
+f 42 8 15
+f 42 15 27
+f 43 4 16
+f 43 16 30
+f 43 30 21
+f 43 32 4
+f 43 21 32
+f 44 37 15
+f 44 15 8
+f 44 8 37
+f 45 30 15
+f 45 15 37
+f 45 37 22
+f 45 22 30
+f 46 40 27
+f 46 27 41
+f 46 41 14
+f 46 14 40
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_6.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274c1039f5b910d63e6e0ed84cc059e8f34a4259
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 0.14256434 0.01016981
+v 0.14393940 0.14256434 -0.08073928
+v 0.13991505 0.23716090 -0.09597741
+v -0.13057716 0.25473669 0.04642884
+v -0.09882106 0.14072851 -0.19147792
+v 0.14450977 0.21976474 0.01113168
+v 0.00967636 0.13985244 -0.18759964
+v -0.09848484 0.14256434 0.01016981
+v -0.09831484 0.21640122 -0.18928028
+v 0.05529029 0.17480165 -0.18213538
+v 0.05218205 0.22147246 -0.18103418
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 5 4
+f 9 7 5
+f 10 3 2
+f 10 2 7
+f 11 9 4
+f 11 4 3
+f 11 3 10
+f 11 10 7
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_7.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd89a7dd443bd71e60df1fcc3fe53df80be6339
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.41483951 -0.23403045 -0.12203251
+v 0.44900857 -0.20306301 -0.16434347
+v 0.44763979 -0.14608596 -0.05712670
+v 0.15425884 -0.19667116 0.00837188
+v 0.15440780 -0.20915366 -0.14376760
+v 0.39644481 -0.20505029 -0.06248228
+v 0.46576146 -0.15775782 -0.07767551
+v 0.35985575 -0.23471165 -0.15113959
+v 0.26524665 -0.14525076 -0.18428939
+v 0.35319839 -0.16819337 -0.01693592
+v 0.19195384 -0.21929221 -0.01753548
+v 0.43744512 -0.21767369 -0.10795847
+v 0.44050834 -0.17637877 -0.06398912
+v 0.41776361 -0.22924784 -0.15600257
+v 0.21989398 -0.17548920 -0.18590585
+v 0.39983716 -0.14363213 -0.17637644
+v 0.42461007 -0.14171800 -0.04842750
+v 0.38113785 -0.23715948 -0.10488320
+v 0.13786489 -0.22445836 -0.02386321
+v 0.31264849 -0.18880734 -0.01766206
+v 0.44473674 -0.21095399 -0.15981769
+v 0.42436079 -0.20542461 -0.07879775
+v 0.42976955 -0.16464876 -0.05217390
+v 0.41321038 -0.23436396 -0.13786620
+v 0.22116452 -0.20322014 -0.17110834
+v 0.38638547 -0.21852073 -0.17066871
+v 0.27041194 -0.17338700 -0.00775692
+v 0.38069892 -0.21683990 -0.07150990
+v 0.14205298 -0.21850964 -0.00523356
+v 0.14135918 -0.22529644 -0.12052753
+v 0.34964370 -0.17647529 -0.02122826
+v 0.44118489 -0.21642856 -0.15301358
+v 0.40043864 -0.23332682 -0.14908128
+v 0.33615235 -0.23845835 -0.12066544
+v 0.23749029 -0.20931867 -0.16737543
+v 0.21426607 -0.20138316 -0.00524003
+v 0.33593758 -0.23798184 -0.11596789
+f 9 5 4
+f 13 7 3
+f 13 12 7
+f 13 10 6
+f 15 5 9
+f 16 7 2
+f 16 15 9
+f 16 3 7
+f 17 16 9
+f 17 3 16
+f 17 10 3
+f 18 1 12
+f 20 10 4
+f 21 2 7
+f 21 7 12
+f 21 14 2
+f 22 13 6
+f 22 12 13
+f 22 18 12
+f 23 13 3
+f 23 3 10
+f 23 10 13
+f 24 1 18
+f 25 5 15
+f 26 2 14
+f 26 25 15
+f 26 14 8
+f 26 16 2
+f 26 15 16
+f 27 17 9
+f 27 9 4
+f 27 4 10
+f 27 10 17
+f 28 11 18
+f 28 20 11
+f 28 6 20
+f 28 22 6
+f 28 18 22
+f 29 4 19
+f 29 19 18
+f 29 18 11
+f 30 19 4
+f 30 4 5
+f 30 5 25
+f 31 20 6
+f 31 6 10
+f 31 10 20
+f 32 21 12
+f 32 12 1
+f 32 1 24
+f 32 24 14
+f 32 14 21
+f 33 24 8
+f 33 8 14
+f 33 14 24
+f 34 24 18
+f 34 8 24
+f 34 30 8
+f 34 19 30
+f 35 26 8
+f 35 25 26
+f 35 30 25
+f 35 8 30
+f 36 20 4
+f 36 4 29
+f 36 29 11
+f 36 11 20
+f 37 34 18
+f 37 18 19
+f 37 19 34
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_8.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d6be351f2065c24a2e53b11b5de55883051675c
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.10172931 -0.15641012 0.10754888
+v -0.09848484 -0.16046596 0.01016981
+v -0.09510093 0.13966807 0.15294821
+v -0.28858948 0.15102971 0.01701745
+v -0.24462767 -0.19627217 0.02309714
+v -0.09848484 0.14256434 0.01016981
+v -0.08732787 -0.13959352 0.12530356
+v -0.24879716 0.01817836 0.13653355
+v -0.21102776 -0.15283822 0.09997268
+v -0.08992854 0.08355097 0.17399589
+v -0.22407683 0.13746536 0.10385205
+v -0.25839753 -0.06725391 0.10946326
+v -0.11367708 -0.15380538 0.11118816
+v -0.12166246 -0.03892369 0.15801697
+v -0.23942911 0.06089203 0.13022525
+v -0.23845389 -0.09296999 0.11446524
+v -0.12474741 -0.15023392 0.11577877
+v -0.21792667 0.00582127 0.14549450
+v -0.09457124 -0.03550718 0.16340222
+v -0.21869507 0.03494679 0.14467779
+v -0.15898827 0.13529095 0.13202715
+v -0.25681856 0.07959846 0.10973085
+v -0.25400215 -0.06615454 0.11363207
+v -0.19945379 -0.13656309 0.11291177
+v -0.23056284 -0.15365159 0.09117605
+v -0.24513873 -0.00672746 0.13320989
+v -0.09268295 -0.08125184 0.15119599
+v -0.12694297 -0.01043540 0.16038963
+v -0.25253915 0.07670037 0.11476272
+v -0.19356372 -0.02791582 0.14567515
+v -0.22841179 -0.13877739 0.09978062
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 7 1 2
+f 7 2 6
+f 10 7 6
+f 10 6 3
+f 11 3 4
+f 12 8 4
+f 12 4 5
+f 13 5 1
+f 13 1 7
+f 15 10 3
+f 17 9 5
+f 17 5 13
+f 17 13 7
+f 20 15 8
+f 20 10 15
+f 20 18 10
+f 20 8 18
+f 21 15 3
+f 21 3 11
+f 21 11 15
+f 22 11 4
+f 22 4 8
+f 23 8 12
+f 23 12 16
+f 24 9 17
+f 24 17 7
+f 25 16 12
+f 25 12 5
+f 25 5 9
+f 26 18 8
+f 26 23 16
+f 26 8 23
+f 27 7 10
+f 27 10 19
+f 27 24 7
+f 27 19 14
+f 27 14 24
+f 28 19 10
+f 28 10 18
+f 28 18 14
+f 28 14 19
+f 29 15 11
+f 29 11 22
+f 29 22 8
+f 29 8 15
+f 30 16 24
+f 30 26 16
+f 30 18 26
+f 30 24 14
+f 30 14 18
+f 31 24 16
+f 31 16 25
+f 31 25 9
+f 31 9 24
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_9.obj b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a666bfdebdd22456c2547412cbf8dde5db1f6af
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23484847 -0.14531444 -0.02013322
+v -0.23484847 -0.14531444 -0.09589079
+v -0.26233180 0.21067170 0.00067689
+v -0.26339121 0.21882464 -0.11147527
+v -0.43115857 -0.13373950 -0.08505622
+v -0.36700376 -0.18194807 -0.12416849
+v -0.41959218 -0.11666021 -0.01553908
+v -0.41704000 0.06897660 -0.09468694
+v -0.36063094 -0.15277929 -0.01110366
+v -0.34938989 0.16274208 -0.09440758
+v -0.40412584 0.06580433 -0.02236672
+v -0.34527143 0.15680537 -0.02725383
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 4 2
+f 8 6 5
+f 8 4 6
+f 8 5 7
+f 9 1 3
+f 9 3 7
+f 9 6 1
+f 9 7 5
+f 9 5 6
+f 10 3 4
+f 10 4 8
+f 11 8 7
+f 11 7 3
+f 12 10 8
+f 12 8 11
+f 12 11 3
+f 12 3 10
\ No newline at end of file
diff --git a/objects/objaverse/croissant/croissant_9/model.xml b/objects/objaverse/croissant/croissant_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b0dc9ab27cf5942b9164c1eb1965eca2db925eef
--- /dev/null
+++ b/objects/objaverse/croissant/croissant_9/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="croissant_9">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14499999999999996 0.14499999999999996 0.14499999999999996" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Laugencroissant_Model_40k_UV_tx_u1_v1" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Laugencroissant_Model_40k_UV_tx_u1_v1"/>
+        <geom solimp="0.998 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="-0.00037267972499999873 -2.2562725000000446e-05 -0.02776429839999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00037267972499999873 -2.2562725000000446e-05 0.02795915374999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.04495947864999999 0.07183436589999997 9.742767499999927e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/fork/.DS_Store b/objects/objaverse/fork/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..c55d6c7c71873cf98feb379d53c7e3d3e91f24b2
Binary files /dev/null and b/objects/objaverse/fork/.DS_Store differ
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_0.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6413600f5df6a0121fc1877e2dcc48659d72eecd
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.21915243 -0.02674991 -0.01751274
+v 0.21880734 -0.02583033 -0.04522479
+v 0.21827257 0.02920995 -0.01845509
+v 0.05512156 0.02666980 -0.02075660
+v 0.05392254 -0.02577597 -0.04499959
+v 0.21796130 0.02911309 -0.04387527
+v 0.06978202 -0.03056175 -0.03761544
+v 0.05502203 0.02665305 -0.04398003
+v 0.08489062 -0.03027326 -0.04384582
+v 0.05401081 -0.02579835 -0.01988844
+v 0.20263597 -0.02930504 -0.04402152
+v 0.08499847 -0.03029208 -0.02076999
+v 0.06980251 -0.03056938 -0.02716590
+v 0.20295751 -0.02989312 -0.01950221
+f 1 2 3
+f 6 3 2
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 8 2 5
+f 9 7 5
+f 9 5 2
+f 10 8 5
+f 10 4 8
+f 10 1 3
+f 10 3 4
+f 11 9 2
+f 11 2 1
+f 11 7 9
+f 12 1 10
+f 13 12 10
+f 13 10 5
+f 13 5 7
+f 14 11 1
+f 14 1 12
+f 14 12 13
+f 14 13 7
+f 14 7 11
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_1.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa11cfdc2a2a8a5d81febcd3401705354ed880b6
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.37977805 -0.07208252 -0.01029216
+v -0.36571133 -0.07306315 -0.02944298
+v -0.36450934 0.07602787 -0.02819010
+v -0.41606683 0.07465854 0.00485436
+v -0.41664939 -0.07462046 0.00520927
+v -0.40630519 0.06999150 -0.00769551
+v -0.38010301 0.07471751 -0.01177600
+v -0.37644161 0.07466327 -0.02267463
+v -0.40609689 -0.07069277 -0.00755417
+v -0.37737809 -0.07198002 -0.02360913
+v -0.41079521 0.07443041 -0.00130586
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 3 2
+f 9 2 5
+f 9 5 6
+f 10 8 2
+f 10 6 8
+f 10 9 6
+f 10 2 9
+f 11 8 6
+f 11 6 4
+f 11 4 3
+f 11 3 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_10.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42571b00d836d8e39ab74f13737619ba029c1586
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15802639 -0.01626114 -0.03104398
+v -0.16091444 -0.01692844 -0.04510787
+v -0.16638455 0.02466159 -0.03581761
+v -0.19316530 0.03942246 -0.05073179
+v -0.19025696 -0.01671908 -0.05124404
+v -0.17077407 0.02681884 -0.04525578
+v -0.18674675 -0.01618615 -0.03682906
+v -0.19055659 0.03562011 -0.03961464
+f 1 2 3
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 8 7 1
+f 8 1 3
+f 8 3 4
+f 8 4 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_11.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf3160c234224eaf84040033c26ce027b3411b6b
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.45815283 -0.07031177 0.02614898
+v -0.45905854 -0.06423682 0.02523865
+v -0.46666838 -0.06500909 0.04408077
+v -0.49872085 -0.06554959 0.05942104
+v -0.49578143 -0.06707867 0.05042032
+v -0.49812681 -0.06870886 0.05928540
+v -0.46914692 -0.06871629 0.03227236
+v -0.49571887 -0.06570191 0.05036656
+v -0.47376722 -0.06712902 0.04912651
+v -0.46986380 -0.06518658 0.03207142
+v -0.47383155 -0.06561398 0.04916943
+f 1 2 3
+f 3 2 4
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 4 2
+f 9 6 1
+f 9 1 3
+f 10 7 5
+f 10 2 7
+f 10 8 2
+f 10 5 8
+f 11 9 3
+f 11 3 4
+f 11 4 6
+f 11 6 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_12.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9753214de0fcd27beed0bcc7b9c5de1a04889abd
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.46666838 -0.06500909 0.04408077
+v -0.45905854 -0.06423682 0.02523865
+v -0.45893728 -0.01972139 0.02531624
+v -0.49880989 -0.02210721 0.05940735
+v -0.46986380 -0.06518658 0.03207142
+v -0.46651113 -0.02072785 0.04395950
+v -0.47782982 -0.06390862 0.04999504
+v -0.46970973 -0.02089520 0.03197577
+v -0.49557662 -0.02260985 0.05025322
+v -0.47381736 -0.02137359 0.04915880
+v -0.49474549 -0.02158600 0.04957700
+v -0.47376972 -0.02287412 0.04912470
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 8 3 2
+f 8 2 5
+f 9 7 4
+f 9 5 7
+f 10 6 4
+f 10 1 6
+f 11 8 5
+f 11 5 9
+f 11 3 8
+f 11 9 4
+f 11 4 3
+f 12 10 4
+f 12 4 7
+f 12 7 1
+f 12 1 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_13.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c62cc4aa18811036c56f7d17d251a274b6004fe3
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.44929947 -0.01903080 0.03199407
+v -0.44113842 0.01825763 0.01435841
+v -0.44931791 0.02538926 0.03189357
+v -0.46662759 0.02410660 0.04365009
+v -0.45893728 -0.01972139 0.02531624
+v -0.45224720 0.02390600 0.02064317
+v -0.45595590 0.02386677 0.03693677
+v -0.44696170 -0.01662455 0.02061981
+v -0.46216894 -0.01736479 0.03559977
+v -0.44146996 0.02479224 0.01395092
+v -0.46678016 0.02012165 0.04373426
+f 1 2 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 10 3 2
+f 10 2 5
+f 10 5 6
+f 10 6 4
+f 10 4 3
+f 11 7 4
+f 11 1 7
+f 11 9 1
+f 11 4 5
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_14.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1ba8dc87b0b39da3a2068a4dea59d2fd52ef1f
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.45865922 0.01901422 0.02559724
+v -0.45871147 0.02522457 0.02563027
+v -0.46662759 0.02410660 0.04365009
+v -0.49861313 0.02243422 0.05935798
+v -0.49559967 0.02160034 0.05027408
+v -0.47378490 0.02137305 0.04913619
+v -0.46954584 0.02337121 0.03187774
+v -0.49827554 0.02103666 0.05908379
+v -0.49474800 0.02262550 0.04957700
+v -0.47380247 0.02287357 0.04914751
+v -0.46930602 0.02066159 0.03183403
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 7 2 1
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 5 4
+f 9 4 2
+f 9 2 7
+f 10 6 3
+f 10 3 4
+f 10 4 6
+f 11 7 1
+f 11 1 5
+f 11 9 7
+f 11 5 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_15.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a88e34c41239b8e8ddfe9bb71c7c29718289abad
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.42060997 0.02589109 0.01404402
+v -0.41111407 0.02980582 -0.00175981
+v -0.42106749 0.02874565 0.01205160
+v -0.44517334 0.02827643 0.02159262
+v -0.44146996 0.02479224 0.01395092
+v -0.41285757 0.02638168 -0.00346834
+v -0.44666634 0.02783857 0.02097201
+v -0.42258590 0.02824589 0.00396961
+v -0.42389853 0.02528787 0.00295957
+v -0.43966963 0.02784563 0.01539329
+f 1 2 3
+f 1 3 4
+f 3 2 4
+f 6 2 1
+f 7 5 1
+f 7 1 4
+f 7 4 2
+f 8 6 5
+f 8 2 6
+f 9 6 1
+f 9 1 5
+f 9 5 6
+f 10 7 2
+f 10 2 8
+f 10 8 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_16.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eff0a95edfaa124d9ebeb359e2600db49d6ed022
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.42106749 0.02874565 0.01205160
+v -0.41111407 0.02980582 -0.00175981
+v -0.41079521 0.07443041 -0.00130586
+v -0.44953373 0.07019402 0.03150224
+v -0.43310475 0.02905785 0.01687737
+v -0.42731955 0.06927492 0.01852556
+v -0.42258590 0.02824589 0.00396961
+v -0.44930109 0.06310506 0.03188634
+v -0.42110048 0.07309412 0.01189370
+v -0.42231487 0.07290942 0.00427166
+v -0.44145750 0.06370910 0.01394868
+v -0.43824409 0.06909340 0.02535089
+v -0.43303750 0.07331246 0.01684813
+v -0.44657017 0.06059647 0.02107592
+v -0.43823956 0.06378663 0.02541136
+v -0.44128418 0.06965601 0.01414360
+v -0.42733656 0.06347259 0.01853263
+f 1 2 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 9 6 1
+f 9 1 3
+f 9 4 6
+f 10 3 2
+f 10 2 7
+f 11 10 7
+f 12 6 4
+f 12 4 8
+f 13 9 3
+f 13 4 9
+f 13 3 10
+f 14 11 7
+f 14 7 5
+f 14 5 8
+f 14 8 4
+f 15 12 8
+f 15 8 1
+f 15 6 12
+f 16 4 13
+f 16 14 4
+f 16 11 14
+f 16 13 10
+f 16 10 11
+f 17 15 1
+f 17 1 6
+f 17 6 15
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_19.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d2f0aba79f1b647450862fa433f00403de9e0e4
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23898700 -0.06545653 -0.05165800
+v -0.22167005 -0.05562530 -0.04809723
+v -0.23500928 -0.05932288 -0.04889314
+v -0.22680417 -0.06023190 -0.05109974
+v -0.23682718 -0.06001534 -0.06051234
+v -0.22453243 -0.05592024 -0.05827083
+v -0.24112130 -0.06634825 -0.05888426
+v -0.22987818 -0.06104439 -0.05750205
+f 1 2 3
+f 2 1 4
+f 6 5 3
+f 6 3 2
+f 6 2 4
+f 7 1 3
+f 7 3 5
+f 7 5 6
+f 7 4 1
+f 8 7 6
+f 8 6 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_2.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7ab5cb5b967583e547fc1feebadaf4173b1f977
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.44567498 -0.00769695 -0.02006480
+v 0.44538349 -0.00705289 -0.04120262
+v 0.44594475 0.00878323 -0.01968338
+v 0.34001409 0.01711509 -0.01788329
+v 0.34078085 -0.01354608 -0.04350796
+v 0.34007244 0.01711471 -0.04253886
+v 0.34072587 -0.01354553 -0.01694420
+v 0.44564352 0.00880260 -0.04118622
+v 0.41548384 0.01292147 -0.02581655
+v 0.40017146 0.01239036 -0.04288108
+v 0.41512330 0.01207966 -0.01957360
+v 0.41546247 0.01265985 -0.03822567
+f 5 2 1
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 9 6 4
+f 9 3 8
+f 10 8 2
+f 10 2 5
+f 10 5 6
+f 11 9 4
+f 11 4 3
+f 11 3 9
+f 12 9 8
+f 12 8 10
+f 12 10 6
+f 12 6 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_20.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbefbe105b7fca0f6a9d20ef2e8b0a0a69ad4e1e
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.35473513 -0.01468769 -0.01872559
+v 0.35595028 -0.01523215 -0.03967246
+v 0.35579206 -0.01250091 -0.01689572
+v 0.34072587 -0.01354553 -0.01694420
+v 0.33965203 -0.01694780 -0.03767108
+v 0.33964720 -0.01590578 -0.01876882
+v 0.35472999 -0.01564619 -0.03780100
+v 0.34089263 -0.01640430 -0.03994654
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 4
+f 8 4 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_22.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eb22a901ef3fbb958e12e9e35e073afaecd588d
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.05210130 -0.01361818 -0.02386138
+v -0.05228509 -0.01405215 -0.04174548
+v -0.05122493 0.01536701 -0.04110958
+v -0.09722509 0.01259848 -0.02868202
+v -0.09809241 -0.01214701 -0.02734535
+v -0.09822293 0.01016401 -0.04036869
+v -0.05097657 0.01500989 -0.02421488
+v -0.09723602 0.01260607 -0.03694420
+v -0.09773968 -0.01002985 -0.04040195
+v -0.08257500 0.01138795 -0.02517975
+v -0.08167462 0.01248989 -0.04024141
+v -0.09834026 -0.00146386 -0.04040679
+v -0.08234009 -0.01164614 -0.02522244
+v -0.06629062 0.01414614 -0.02526972
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 8 6 4
+f 8 4 3
+f 9 2 5
+f 10 1 7
+f 10 4 5
+f 11 8 3
+f 11 3 6
+f 11 6 8
+f 12 6 2
+f 12 2 9
+f 12 9 5
+f 12 5 6
+f 13 10 5
+f 13 5 1
+f 13 1 10
+f 14 10 7
+f 14 7 4
+f 14 4 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_23.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d8f0f9cdeff40a162b20b5021faaba75d0336c
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.19431804 -0.04060671 -0.05040933
+v -0.17246924 -0.01623911 -0.03377343
+v -0.19124565 -0.03702144 -0.04036510
+v -0.18674675 -0.01618615 -0.03682906
+v -0.19025696 -0.01671908 -0.05124404
+v -0.17956294 -0.03119177 -0.03819163
+v -0.17574309 -0.01688210 -0.04809374
+v -0.18346323 -0.03438693 -0.04744674
+f 1 3 4
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 2 6
+f 7 1 5
+f 8 7 6
+f 8 6 1
+f 8 1 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_24.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ce23b08021a584f889a33b73778619a7a817c72
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.09809241 -0.01214701 -0.02734535
+v -0.09773968 -0.01002985 -0.04040195
+v -0.09829005 0.01155960 -0.02632560
+v -0.11355202 0.01114926 -0.02695927
+v -0.11385683 -0.00962241 -0.04032524
+v -0.09822293 0.01016401 -0.04036869
+v -0.11354083 -0.01165646 -0.02793149
+v -0.11382698 0.00977067 -0.04032471
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_25.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db872dff337ff7873b9559629f172ce3f34d493
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.11354083 -0.01165646 -0.02793149
+v -0.11385683 -0.00962241 -0.04032524
+v -0.11355202 0.01114926 -0.02695927
+v -0.16067348 0.02104059 -0.03304011
+v -0.16091444 -0.01692844 -0.04510787
+v -0.11382698 0.00977067 -0.04032471
+v -0.15802639 -0.01626114 -0.03104398
+v -0.16457106 0.02207970 -0.04535336
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_26.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8031926d073d6e92d9cbc8fa4b3299c262d4e45a
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.23500928 -0.05932288 -0.04889314
+v -0.19124565 -0.03702144 -0.04036510
+v -0.20265331 0.04006572 -0.04185748
+v -0.23803707 0.06468736 -0.05127006
+v -0.19756436 -0.03978854 -0.05299567
+v -0.20347592 -0.04128187 -0.04223052
+v -0.20071245 -0.04533927 -0.05017792
+v -0.23682718 -0.06001534 -0.06051234
+v -0.19641018 0.03907378 -0.05273796
+v -0.19055659 0.03562011 -0.03961464
+v -0.19896475 -0.04413114 -0.04565334
+v -0.24009176 0.06568624 -0.05891154
+v -0.21383864 -0.05143100 -0.05551617
+v -0.19945631 0.04446228 -0.05028371
+v -0.22873020 0.06046089 -0.05732596
+v -0.19788786 0.04335390 -0.04499466
+v -0.22589108 0.05932009 -0.05032341
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 9 2 5
+f 9 5 8
+f 10 6 2
+f 10 3 6
+f 10 2 9
+f 10 4 3
+f 11 7 2
+f 11 2 1
+f 12 8 1
+f 12 1 4
+f 13 1 8
+f 13 11 1
+f 13 7 11
+f 13 8 5
+f 13 5 7
+f 14 10 9
+f 15 9 8
+f 15 8 12
+f 15 14 9
+f 16 10 14
+f 17 15 12
+f 17 12 4
+f 17 4 10
+f 17 10 16
+f 17 16 14
+f 17 14 15
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_27.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a88a51d857ec1418b4ad5dab98bbc34be45b91aa
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.46049623 -0.00678662 -0.02129707
+v 0.46024626 -0.00648838 -0.03980910
+v 0.46080098 0.00823654 -0.02107943
+v 0.44594475 0.00878323 -0.01968338
+v 0.44639312 -0.00883407 -0.02533023
+v 0.44564352 0.00880260 -0.04118622
+v 0.44567498 -0.00769695 -0.02006480
+v 0.46026874 0.00769541 -0.03995989
+v 0.44538349 -0.00705289 -0.04120262
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 8 6 3
+f 8 3 2
+f 9 2 5
+f 9 5 7
+f 9 7 4
+f 9 4 6
+f 9 8 2
+f 9 6 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_28.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd7f092945633bcbee7c6b949835a8eda32a3588
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.17457513 -0.02610363 -0.03522374
+v -0.14421641 -0.01565362 -0.03964358
+v -0.14398981 -0.01396443 -0.02920055
+v -0.17246924 -0.01623911 -0.03377343
+v -0.17574309 -0.01688210 -0.04809374
+v -0.14807017 -0.01671591 -0.03167527
+v -0.17767707 -0.02802110 -0.04846692
+v -0.14673622 -0.01393495 -0.04253666
+f 1 3 4
+f 5 1 4
+f 6 2 3
+f 6 3 1
+f 7 1 5
+f 7 6 1
+f 7 2 6
+f 8 3 2
+f 8 7 5
+f 8 2 7
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_29.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..938becebef2e6f51aa6d2fab8b8b38b2eb744fd3
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.05401081 -0.02579835 -0.01988844
+v 0.05392254 -0.02577597 -0.04499959
+v 0.05390741 0.02427886 -0.01924693
+v -0.05097657 0.01500989 -0.02421488
+v -0.05081441 -0.01580301 -0.02486940
+v 0.05382234 0.02425613 -0.04550271
+v -0.05122493 0.01536701 -0.04110958
+v -0.05090420 -0.01534363 -0.04123145
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 4 3
+f 7 3 6
+f 7 5 4
+f 8 7 6
+f 8 6 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_30.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3ffb58bdfc1c19041c39f73e83a43ff0d40f102
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.49922762 -0.00383011 -0.02897706
+v 0.49916750 -0.00383350 -0.03186750
+v 0.49930512 0.00536767 -0.02907032
+v 0.46080098 0.00823654 -0.02107943
+v 0.46115234 -0.00747127 -0.03751941
+v 0.48816002 0.00648202 -0.02492994
+v 0.48826903 -0.00494455 -0.02520728
+v 0.46165036 0.00897387 -0.03844263
+v 0.46049623 -0.00678662 -0.02129707
+v 0.49078907 0.00652987 -0.03503959
+v 0.49919501 0.00537350 -0.03186850
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 8 5 4
+f 8 4 6
+f 9 4 5
+f 9 5 7
+f 9 7 6
+f 9 6 4
+f 10 2 5
+f 10 5 8
+f 10 8 6
+f 10 6 3
+f 11 10 3
+f 11 3 2
+f 11 2 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_31.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6306c13d923e85602dda85a220a3a37062258317
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.33964720 -0.01590578 -0.01876882
+v 0.33967535 -0.01559338 -0.04207368
+v 0.34004408 0.01891787 -0.02536423
+v 0.26459987 0.02389968 -0.01783065
+v 0.26387107 -0.02239222 -0.04315318
+v 0.34001409 0.01711509 -0.01788329
+v 0.34007244 0.01711471 -0.04253886
+v 0.26413916 -0.02235818 -0.01797016
+v 0.26426148 0.02266713 -0.04391458
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 1
+f 8 6 4
+f 8 1 6
+f 9 7 2
+f 9 2 5
+f 9 4 3
+f 9 3 7
+f 9 8 4
+f 9 5 8
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_4.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23bcd5ca0e628bea964038e607fa3b8b50c38e13
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.26994025 -0.07678382 -0.05276321
+v -0.23898700 -0.06545653 -0.05165800
+v -0.31187724 -0.08132936 -0.04524332
+v -0.31172147 0.08092732 -0.04443611
+v -0.24009176 0.06568624 -0.05891154
+v -0.24112130 -0.06634825 -0.05888426
+v -0.23803707 0.06468736 -0.05127006
+v -0.30528192 0.07879237 -0.05363031
+v -0.26819682 -0.07660562 -0.05822495
+v -0.25571440 0.07267977 -0.05330239
+v -0.30505877 -0.07980776 -0.05296711
+v -0.25618998 0.07305318 -0.05856593
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 7 4 2
+f 7 2 5
+f 8 3 4
+f 9 6 2
+f 9 2 1
+f 9 1 3
+f 10 4 7
+f 11 9 3
+f 11 3 8
+f 11 8 9
+f 12 9 8
+f 12 5 6
+f 12 6 9
+f 12 8 4
+f 12 4 10
+f 12 10 7
+f 12 7 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_5.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd34f284ea85e5b6b4c1154e5a6daea88e12a464
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26413916 -0.02235818 -0.01797016
+v 0.26387107 -0.02239222 -0.04315318
+v 0.26459987 0.02389968 -0.01783065
+v 0.21827257 0.02920995 -0.01845509
+v 0.21915243 -0.02674991 -0.01751274
+v 0.26426148 0.02266713 -0.04391458
+v 0.21880734 -0.02583033 -0.04522479
+v 0.24786774 0.02628312 -0.04288304
+v 0.21796130 0.02911309 -0.04387527
+v 0.24819052 0.02685380 -0.01958840
+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 3 6
+f 9 7 5
+f 9 5 4
+f 9 8 6
+f 9 6 7
+f 10 4 3
+f 10 3 8
+f 10 9 4
+f 10 8 9
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_6.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b6ae2f5cca89352d16d3aec34f9ee9be966ebf
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.40351631 -0.07354504 0.00181231
+v -0.40959765 -0.07128221 0.00697644
+v -0.41664939 -0.07462046 0.00520927
+v -0.42110048 0.07309412 0.01189370
+v -0.40377585 0.07474673 0.00027210
+v -0.42102989 -0.07203794 0.01313405
+v -0.40998163 0.07362364 0.00526798
+v -0.41606683 0.07465854 0.00485436
+f 5 2 1
+f 5 1 3
+f 6 2 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 5 3
+f 8 3 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_7.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b3db677300334d7b51f5c7d4df872b4783f8fdd
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.30883764 -0.08124781 -0.04997851
+v -0.31588196 -0.07973823 -0.04185373
+v -0.35169763 -0.07781934 -0.03318872
+v -0.36139382 0.07602769 -0.02189140
+v -0.31564925 0.07838375 -0.04096195
+v -0.36111594 -0.07306271 -0.02017791
+v -0.35617324 -0.07796037 -0.02720128
+v -0.34694892 0.07599740 -0.03760231
+v -0.34823662 -0.07250504 -0.02603859
+v -0.34810503 -0.07234182 -0.03842934
+v -0.30900389 0.08103404 -0.05038105
+v -0.33404902 -0.07849043 -0.04226800
+f 5 2 1
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 7 6 4
+f 9 6 2
+f 9 2 5
+f 9 5 6
+f 10 7 4
+f 10 3 7
+f 10 4 8
+f 11 5 1
+f 11 10 8
+f 11 1 10
+f 11 8 4
+f 11 4 5
+f 12 10 1
+f 12 1 3
+f 12 3 10
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_8.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d34261d4c4b3bd76f6cbc492a7e34d94667c9f1f
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.35169763 -0.07781934 -0.03318872
+v -0.36144824 -0.07636901 -0.02230098
+v -0.36433513 -0.07611733 -0.02816855
+v -0.37420381 0.07625607 -0.01649636
+v -0.36139382 0.07602769 -0.02189140
+v -0.37409093 -0.07626176 -0.01655702
+v -0.35188901 0.07780384 -0.03309917
+v -0.36450934 0.07602787 -0.02819010
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 4 5
+f 8 6 4
+f 8 3 6
+f 8 4 7
+f 8 7 1
+f 8 1 3
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/collision/model_normalized_collision_9.obj b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b01baca1bd03ab2d663648ac818d3ea46e95819
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.44106192 -0.07024646 0.01432043
+v -0.44149498 -0.01945267 0.01396674
+v -0.45582317 -0.02066801 0.03695476
+v -0.46651113 -0.02072785 0.04395950
+v -0.45208562 -0.06873591 0.02073355
+v -0.45591767 -0.06841533 0.03681209
+v -0.45239096 -0.02092000 0.02054821
+v -0.46725287 -0.06922691 0.04318082
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 4 2
+f 7 2 5
+f 8 5 1
+f 8 1 6
+f 8 6 4
+f 8 7 5
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/fork/fork_0/model.xml b/objects/objaverse/fork/fork_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..13e1516c053a6a02433af2a4c42f5f8fb88a97de
--- /dev/null
+++ b/objects/objaverse/fork/fork_0/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="fork_11">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.22000000000000003 0.22000000000000003 0.22000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image3" file="visual/image3.png"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Handle" texture="image3" specular="0.5" shininess="0.25"/>
+    <material name="Prongs" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Handle"/>
+        <geom solimp="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="Prongs"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.248520000000019e-05 -5.4475300000001454e-05 -0.013312714800000002" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-3.248520000000019e-05 -5.4475300000001454e-05 0.013072628800000003" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.017827488800000003 0.1097381758 -0.00012004299999999962" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_1.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7848a13d5a6b6abc33d361b91aee836f5f3ac68a
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.02177099 -0.01474962 -0.23563745
+v 0.02534028 0.00188572 -0.23639943
+v 0.02346393 0.02951737 -0.18950082
+v -0.02348645 0.02965250 -0.18994308
+v -0.02623050 0.02917792 -0.23532573
+v -0.01007554 -0.00825945 -0.19110765
+v 0.02355492 0.00225751 -0.22189027
+v -0.02284997 -0.01204007 -0.23683089
+v 0.02625319 0.02898118 -0.23562320
+v 0.02446624 0.02968934 -0.20566321
+v 0.01220338 -0.00565124 -0.19184956
+v -0.02011818 0.00659499 -0.19186505
+v -0.01867111 -0.00593299 -0.21106566
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 1 6
+f 8 4 5
+f 9 8 5
+f 9 2 8
+f 10 5 4
+f 10 4 3
+f 10 9 5
+f 10 3 2
+f 10 2 9
+f 11 6 1
+f 11 1 3
+f 11 3 6
+f 12 6 4
+f 12 4 8
+f 13 12 8
+f 13 8 6
+f 13 6 12
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_11.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c2da99722f2026d36b7ea7546b3a44b39fbd50d
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02704221 0.02853343 -0.37140537
+v 0.02541165 0.02915620 -0.46034217
+v 0.02575471 0.04090582 -0.38668127
+v 0.00721980 0.06238275 -0.37131243
+v 0.01367385 0.05851087 -0.46036920
+v 0.02524859 0.04102520 -0.37178925
+v 0.02688905 0.03064135 -0.37098784
+v 0.02353769 0.04170675 -0.46002438
+v 0.00707025 0.06147856 -0.46103413
+v 0.01396311 0.05973671 -0.37156550
+v 0.02452341 0.03160395 -0.46498006
+f 2 1 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 7 4 1
+f 8 5 3
+f 8 3 2
+f 9 2 4
+f 10 7 6
+f 10 4 7
+f 10 9 4
+f 10 5 9
+f 10 6 3
+f 10 3 5
+f 11 8 2
+f 11 2 9
+f 11 9 5
+f 11 5 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_16.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9770f15b326683e4e6ac588fab769f5f676196
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01948691 -0.00517476 -0.46752539
+v 0.02345080 -0.00036144 -0.46158123
+v 0.00707025 0.06147856 -0.46103413
+v 0.01367385 0.05851087 -0.46036920
+v 0.01033957 0.04568351 -0.49188242
+v 0.01155305 0.02101692 -0.49304670
+v 0.01300388 0.05690284 -0.47124039
+v 0.00866576 0.00443614 -0.48504007
+v 0.00668635 0.05958202 -0.47259915
+v 0.01414839 0.00576601 -0.48198079
+v 0.00469886 0.04664804 -0.49411575
+v 0.00755615 0.02108715 -0.49499449
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 4 2
+f 7 2 5
+f 7 3 4
+f 8 1 3
+f 9 7 5
+f 9 3 7
+f 10 8 6
+f 10 6 1
+f 10 1 8
+f 11 9 5
+f 11 8 3
+f 11 3 9
+f 12 11 5
+f 12 5 6
+f 12 6 8
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_20.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d013801859627530a4221eb25e310916841cbe34
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01355202 -0.03704032 -0.43246646
+v 0.02362673 -0.01306730 -0.44602546
+v 0.02724196 0.02863468 -0.41650946
+v -0.02721861 0.02899029 -0.41657612
+v -0.01978821 -0.02563887 -0.44451726
+v -0.02649899 0.02918797 -0.44663771
+v -0.01791857 -0.01900444 -0.41998542
+v 0.02458573 -0.00929917 -0.41800716
+v 0.01344724 -0.03639910 -0.44294061
+v 0.02651440 0.02899138 -0.44641892
+v -0.01355202 -0.03704032 -0.43246646
+v -0.01343608 -0.03631627 -0.44317686
+f 6 5 4
+f 6 2 5
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 4
+f 8 4 7
+f 9 2 1
+f 10 3 2
+f 10 2 6
+f 10 6 4
+f 10 4 3
+f 11 7 5
+f 11 1 7
+f 11 9 1
+f 12 5 2
+f 12 2 9
+f 12 11 5
+f 12 9 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_23.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..700c92d50897c351db8bdfd28078fe4df40f7a48
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01948691 -0.00517476 -0.46752539
+v 0.02452341 0.03160395 -0.46498006
+v -0.02442820 0.00149296 -0.45936280
+v -0.02533369 0.02927669 -0.46098899
+v -0.00377224 0.03079219 -0.49897694
+v 0.00740244 0.03067086 -0.49830328
+v -0.01085465 0.03105863 -0.49674552
+v -0.01661851 0.00625314 -0.47962295
+v -0.02077971 0.00314269 -0.47020804
+v -0.01097102 0.02128102 -0.49372851
+v -0.01810008 0.03026783 -0.48530688
+v 0.00755615 0.02108715 -0.49499449
+v -0.00386916 0.02090507 -0.49546110
+v 0.00866576 0.00443614 -0.48504007
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 4 2
+f 7 6 5
+f 7 2 6
+f 9 8 1
+f 9 1 3
+f 10 7 5
+f 11 9 3
+f 11 3 4
+f 11 4 7
+f 11 8 9
+f 11 10 8
+f 11 7 10
+f 12 5 6
+f 12 6 1
+f 13 10 5
+f 13 5 12
+f 13 8 10
+f 14 13 12
+f 14 12 1
+f 14 1 8
+f 14 8 13
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_25.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8fe7c76c775175998285aa42d30b300ffaeafe7
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00137195 -0.05842362 -0.05324523
+v 0.01401805 -0.01658386 -0.09847110
+v 0.01408599 -0.01397896 -0.05314841
+v -0.01392222 -0.01492076 -0.05310094
+v -0.00311627 -0.05610784 -0.09876720
+v -0.01428760 -0.01500618 -0.09853964
+v 0.00817386 -0.04162197 -0.09872327
+v -0.00233778 -0.05554468 -0.05344393
+v 0.01444194 -0.01410042 -0.09857611
+v 0.00796157 -0.03960656 -0.05337224
+v 0.00227617 -0.05869918 -0.09867398
+f 1 3 4
+f 6 4 3
+f 6 5 4
+f 7 2 3
+f 7 5 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 9 7 6
+f 9 2 7
+f 10 7 3
+f 10 3 1
+f 11 1 5
+f 11 5 7
+f 11 10 1
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_26.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493bdbe7acb7fa3f7b9e36179459ca247d8bfa8e
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00458858 0.00231185 0.45839525
+v 0.00967731 0.01733622 0.45832162
+v 0.00281331 0.03414781 0.48551776
+v -0.00602609 0.03539687 0.48253495
+v -0.01100125 0.03028882 0.46064283
+v 0.00000000 0.00617680 0.46773777
+v 0.00706745 0.01994047 0.46954478
+v -0.00771191 0.00548028 0.45536776
+v 0.01115547 0.03062000 0.45984666
+v 0.00000000 0.02310820 0.47987470
+v -0.00354455 0.00878002 0.46529973
+v 0.00877492 0.03234575 0.47277766
+v -0.00362870 0.02520856 0.47809063
+v 0.01067575 0.02945743 0.46213943
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 8 1 6
+f 8 4 5
+f 9 8 5
+f 9 2 8
+f 9 5 4
+f 10 6 3
+f 10 3 4
+f 11 8 6
+f 11 4 8
+f 12 7 2
+f 12 3 7
+f 12 9 4
+f 12 4 3
+f 13 10 4
+f 13 6 10
+f 13 11 6
+f 13 4 11
+f 14 12 2
+f 14 2 9
+f 14 9 12
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_29.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f353ad86bfd104ffdcf63b07ade97f068ac0b6b5
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00675319 -0.04019541 -0.23745333
+v 0.01983183 -0.01900921 -0.23290325
+v 0.00648064 -0.01092654 -0.19058582
+v -0.01007554 -0.00825945 -0.19110765
+v -0.02284997 -0.01204007 -0.23683089
+v -0.00935472 -0.03300157 -0.22702187
+v 0.00636488 -0.03472975 -0.22584287
+v -0.00628628 -0.01358468 -0.19732260
+v -0.01232202 -0.03657184 -0.23911164
+v -0.01745304 -0.02097078 -0.22485171
+v -0.02074563 -0.01101620 -0.22180191
+v -0.01881174 -0.02527852 -0.23797816
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 8 3 4
+f 8 4 6
+f 8 7 3
+f 8 6 7
+f 9 5 1
+f 9 1 6
+f 10 9 6
+f 10 6 4
+f 11 10 4
+f 11 4 5
+f 12 5 9
+f 12 9 10
+f 12 11 5
+f 12 10 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_31.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c1aecb3acd9220b02d9a6bb9da79ccaef6cb2b5
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01352409 -0.01358659 0.00741810
+v 0.01444194 -0.01410042 -0.09857611
+v 0.01278590 0.06293438 0.00758334
+v -0.01137510 0.06408717 0.00757429
+v -0.01428760 -0.01500618 -0.09853964
+v 0.00730004 0.06607516 -0.09849364
+v -0.01331112 -0.01465878 0.00748169
+v 0.01278590 0.06272955 -0.09847710
+v -0.01137510 0.06394727 -0.09848455
+v -0.01612574 -0.00044633 -0.09851202
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 2
+f 7 2 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 4 6
+f 9 6 2
+f 9 2 5
+f 10 7 4
+f 10 5 7
+f 10 9 5
+f 10 4 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_4.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..542b30d1f45cabaed1de39bb8b0ebdd9738e0861
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01742550 0.02940551 -0.11364752
+v 0.02673351 0.03054941 -0.35592729
+v 0.00728868 0.06607402 -0.11364353
+v -0.01137510 0.06393089 -0.11363882
+v -0.02683892 0.02895364 -0.35613477
+v -0.01742680 0.02951689 -0.11364951
+v 0.00721980 0.06227512 -0.35614263
+v -0.01922556 0.05162709 -0.14985005
+v -0.02014157 0.05271146 -0.35637658
+v -0.02216842 0.03057556 -0.15984930
+v -0.01353558 0.05958819 -0.35634962
+v -0.02168427 0.03007233 -0.14985005
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 3 2
+f 7 4 3
+f 8 6 4
+f 9 2 5
+f 9 8 4
+f 9 5 8
+f 10 8 5
+f 11 9 4
+f 11 4 7
+f 11 7 2
+f 11 2 9
+f 12 10 5
+f 12 5 6
+f 12 6 8
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_5.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5343f772e3365bd9327df5ae44760f7fcdd59c32
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.02688905 0.03064135 -0.37098784
+v 0.00740244 0.03067086 -0.49830328
+v 0.00668635 0.05958202 -0.47259915
+v -0.01396311 0.05973671 -0.37156550
+v -0.02701375 0.02892506 -0.37132780
+v 0.00721980 0.06238275 -0.37131243
+v -0.01735836 0.03998381 -0.48524481
+v -0.01142968 0.05747970 -0.47184443
+v -0.01810008 0.03026783 -0.48530688
+v -0.00913639 0.04588533 -0.49282661
+v -0.01791165 0.05045621 -0.47280857
+v 0.00469886 0.04664804 -0.49411575
+v -0.01085465 0.03105863 -0.49674552
+v -0.02083890 0.05222238 -0.37198179
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 6 4 5
+f 8 6 3
+f 8 4 6
+f 9 2 5
+f 10 8 3
+f 11 4 8
+f 11 9 5
+f 11 7 9
+f 11 10 7
+f 11 8 10
+f 12 10 3
+f 12 3 2
+f 13 9 7
+f 13 7 10
+f 13 2 9
+f 13 12 2
+f 13 10 12
+f 14 11 5
+f 14 5 4
+f 14 4 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_6.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8cd037e8dd168286d01a1f54f598dbc804342af
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00184848 -0.04030627 0.42597807
+v 0.01494893 0.00075444 0.14387590
+v 0.01004579 0.00236542 0.44356192
+v -0.00962151 0.00141563 0.44457426
+v -0.01482933 0.00003939 0.14389567
+v 0.00000000 -0.03598445 0.43481948
+v 0.00228063 -0.04354388 0.14383082
+v -0.00257828 -0.02424018 0.43916908
+v 0.00699174 -0.02465048 0.42623949
+v -0.00324991 -0.04065838 0.14373995
+v 0.00824644 -0.00883976 0.43991411
+v 0.00863629 -0.02568988 0.14375154
+f 5 1 4
+f 5 3 2
+f 5 4 3
+f 8 6 3
+f 8 3 4
+f 8 4 1
+f 8 1 6
+f 9 2 3
+f 9 6 1
+f 9 1 7
+f 10 7 1
+f 10 1 5
+f 11 9 3
+f 11 3 6
+f 11 6 9
+f 12 9 7
+f 12 2 9
+f 12 7 10
+f 12 10 5
+f 12 5 2
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_7.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5abd3ed11da9fec1a2eb0d99a0b633f00310048
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00228063 -0.04354388 0.14383082
+v 0.01035012 -0.02705365 0.00729487
+v 0.01316974 0.06278123 0.14393580
+v -0.01159455 0.06408554 0.14392659
+v -0.00572222 -0.04126746 0.00720386
+v 0.01278590 0.06293438 0.00758334
+v 0.00863629 -0.02568988 0.14375154
+v 0.00465209 -0.04435792 0.00742235
+v -0.00324991 -0.04065838 0.14373995
+v -0.01137510 0.06408717 0.00757429
+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 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 6 5
+f 10 5 4
+f 10 4 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/collision/model_normalized_collision_9.obj b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f46bbac2d2508d3970e84d1fc827769737b2efa
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02330839 0.02801473 -0.18855962
+v 0.02686298 0.02858950 -0.35618211
+v 0.02414568 0.04182182 -0.22004419
+v 0.00678790 0.06255149 -0.18939567
+v 0.00721980 0.06227512 -0.35614263
+v 0.01308945 0.06023036 -0.18958490
+v 0.02551620 0.02921386 -0.22083658
+v 0.02478113 0.04129522 -0.35634043
+v 0.02346393 0.02951737 -0.18950082
+v 0.02673351 0.03054941 -0.35592729
+v 0.01396311 0.05941070 -0.35635291
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 6 5 4
+f 7 1 2
+f 8 6 3
+f 9 6 1
+f 9 3 6
+f 9 7 3
+f 9 1 7
+f 10 7 2
+f 10 3 7
+f 10 8 3
+f 10 2 8
+f 11 8 2
+f 11 2 5
+f 11 5 6
+f 11 6 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_0/model.xml b/objects/objaverse/knife/knife_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c3ec8fd320e6349c2db7b837df56bb2cddca69c2
--- /dev/null
+++ b/objects/objaverse/knife/knife_0/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="kitchen_knife_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.195 0.195 0.195" refquat="0.49999999999999983 0.5 0.5000000000000001 0.5"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image1" file="visual/image1.png"/>
+    <material name="Handle.006" texture="image0" specular="0.5" shininess="0.043554024"/>
+    <material name="Knife.002" texture="image1" specular="0.5" shininess="0.12607614"/>
+  </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="Knife.002"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="Handle.006"/>
+        <geom solimp="0.998 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="-0.00012579542507816678 8.201275497548428e-06 -0.005307633475465635" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00012579542507816678 8.201275497548428e-06 0.0053121770423190775" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.01288465551686232 0.09731689969353843 2.27178342672104e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_0.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72afb825ba10d991268937b488ac50ea34b9076b
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_0.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09937603 -0.04696928 -0.06572822
+v -0.09794076 -0.03615822 -0.05827576
+v -0.09676416 -0.02041792 0.00321675
+v -0.16669280 -0.02622562 -0.01905371
+v -0.23366230 -0.04487786 -0.05494212
+v -0.09808313 -0.01907330 -0.01356052
+v -0.09445161 -0.01775064 0.00307028
+v -0.23576484 -0.04570397 -0.03614928
+v -0.09734227 -0.02913354 -0.04001748
+v -0.10813250 -0.01925755 -0.00115449
+v -0.23509763 -0.05568910 -0.06239424
+v -0.23131548 -0.03798131 -0.03735552
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 8 3 7
+f 9 7 2
+f 9 6 7
+f 9 4 6
+f 9 2 5
+f 10 7 6
+f 10 6 4
+f 10 8 7
+f 10 4 8
+f 11 8 5
+f 11 5 1
+f 11 1 3
+f 11 3 8
+f 12 8 4
+f 12 5 8
+f 12 9 5
+f 12 4 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_10.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f038137e4ac27e1d1e1300cbfe662c47ab4bbdd
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_10.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.35650231 -0.09773382 -0.15925702
+v -0.35542602 -0.09693558 -0.15865691
+v -0.37261443 -0.08548293 -0.11383630
+v -0.46166015 -0.08048499 -0.10416153
+v -0.46091934 -0.09054550 -0.13061833
+v -0.37117914 -0.07467185 -0.10638403
+v -0.35716387 -0.08954422 -0.12743494
+v -0.41530846 -0.09266907 -0.14495777
+v -0.46309550 -0.09129586 -0.11161379
+v -0.35572854 -0.07873341 -0.11998276
+v -0.45668773 -0.09708557 -0.13826588
+v -0.35498775 -0.08879382 -0.14643938
+v -0.41380142 -0.09851675 -0.15026931
+v -0.45754560 -0.09703049 -0.13795656
+f 6 4 3
+f 7 1 2
+f 8 2 1
+f 8 5 4
+f 8 4 6
+f 9 3 4
+f 9 4 5
+f 9 7 3
+f 9 1 7
+f 10 6 3
+f 10 3 7
+f 11 5 8
+f 12 10 7
+f 12 7 2
+f 12 2 8
+f 12 8 6
+f 12 6 10
+f 13 11 8
+f 13 8 1
+f 13 1 9
+f 13 9 11
+f 14 11 9
+f 14 9 5
+f 14 5 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_12.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68787570196fd87b3f82e26290943a2d640031a6
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00723959 -0.00905276 0.01291152
+v 0.01313639 0.00648784 0.03187555
+v -0.06321496 -0.01431487 0.01271811
+v -0.00047317 0.00401205 0.02802123
+v 0.00867502 0.00175814 0.02036362
+v 0.00868718 -0.00123477 0.03308123
+v -0.06509584 -0.00774385 0.00971962
+v -0.06708984 -0.01473676 0.01151978
+f 5 2 1
+f 5 4 2
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 4 5
+f 7 2 4
+f 8 7 1
+f 8 1 3
+f 8 2 7
+f 8 6 2
+f 8 3 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_13.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9347da258584e9cab2df5122f48ce5286c6e6ca2
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_13.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.47956887 0.04789048 0.11282449
+v 0.49392947 0.06977644 0.10469646
+v 0.49709394 0.09090091 0.12342929
+v 0.40202598 0.08613296 0.12296767
+v 0.39690792 0.04562147 0.08086447
+v 0.49408519 0.05478320 0.12367180
+v 0.45282359 0.04636987 0.07205143
+v 0.40061307 0.04322791 0.11658518
+v 0.46671256 0.04972662 0.08068196
+v 0.43929523 0.07072082 0.07585373
+v 0.48642822 0.05068075 0.11880157
+v 0.44083293 0.04543288 0.07190987
+v 0.48859377 0.05970829 0.10004971
+v 0.46872636 0.07939143 0.09286345
+v 0.40016857 0.07032192 0.08830796
+v 0.46647295 0.05710885 0.07685112
+v 0.49373511 0.08633048 0.11446870
+v 0.40261887 0.07621866 0.09693915
+v 0.46406314 0.05220953 0.07631599
+v 0.48008987 0.06579265 0.09024964
+v 0.45628365 0.06618799 0.07850859
+v 0.44824912 0.07394819 0.08250959
+f 6 3 4
+f 6 2 3
+f 8 4 5
+f 8 6 4
+f 9 1 7
+f 11 8 1
+f 11 6 8
+f 11 9 6
+f 11 1 9
+f 12 7 1
+f 12 1 8
+f 12 8 5
+f 12 10 7
+f 12 5 10
+f 13 2 6
+f 13 6 9
+f 14 4 3
+f 15 10 5
+f 15 5 4
+f 16 7 10
+f 17 14 3
+f 17 3 2
+f 18 4 14
+f 18 15 4
+f 18 10 15
+f 19 16 13
+f 19 13 9
+f 19 9 7
+f 19 7 16
+f 20 2 13
+f 20 13 16
+f 20 17 2
+f 20 16 14
+f 20 14 17
+f 21 16 10
+f 21 10 14
+f 21 14 16
+f 22 18 14
+f 22 14 10
+f 22 10 18
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_14.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fffff77160e5fffcf4de7604f5fd8aff33ab45b
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_14.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.28056616 -0.07065060 -0.09276995
+v -0.27913085 -0.05983939 -0.08531770
+v -0.27847425 -0.04656016 -0.05071129
+v -0.27987166 -0.04977891 -0.05886110
+v -0.35550053 -0.06667816 -0.08849591
+v -0.32677548 -0.07555172 -0.09668893
+v -0.28167739 -0.05556005 -0.05308512
+v -0.35482560 -0.06736320 -0.06986830
+v -0.32375222 -0.06171050 -0.06106805
+v -0.35423070 -0.06034134 -0.07216609
+v -0.35693584 -0.07748935 -0.09594813
+v -0.35730627 -0.07245913 -0.08271963
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 5 2
+f 6 2 1
+f 7 1 3
+f 9 7 3
+f 9 1 7
+f 9 8 6
+f 9 6 1
+f 10 3 4
+f 10 4 5
+f 10 9 3
+f 10 8 9
+f 11 5 6
+f 11 6 8
+f 12 10 5
+f 12 5 11
+f 12 11 8
+f 12 8 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_15.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39ebefbfc61ce9cd105e1036891c07600640da4f
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_15.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.26366986 0.02039115 0.08353322
+v 0.25964632 0.01977230 0.03969079
+v 0.26912897 0.03497192 0.10465929
+v 0.27119562 0.06257583 0.09367653
+v 0.21864064 0.01748080 0.08390083
+v 0.26609699 0.04830406 0.05054640
+v 0.21884289 0.01240374 0.07129635
+v 0.22328253 0.02047252 0.09047265
+v 0.22082423 0.04564399 0.05162048
+v 0.22653440 0.04549282 0.09211598
+v 0.26652507 0.06031500 0.08131735
+v 0.21447988 0.01218227 0.02853786
+v 0.25561489 0.04368501 0.10301317
+v 0.25146105 0.05923370 0.08170299
+v 0.21746497 0.02387311 0.02911556
+v 0.26922445 0.04616080 0.10686751
+v 0.25744740 0.05915928 0.09091610
+v 0.26289505 0.03893687 0.04442556
+v 0.23234443 0.02290245 0.03087791
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 3
+f 10 9 5
+f 10 5 8
+f 11 4 6
+f 11 6 9
+f 12 7 5
+f 12 5 9
+f 12 2 7
+f 13 10 8
+f 14 9 10
+f 14 11 9
+f 14 4 11
+f 15 12 9
+f 15 9 6
+f 16 3 4
+f 16 4 10
+f 16 10 13
+f 16 13 8
+f 16 8 3
+f 17 14 10
+f 17 10 4
+f 17 4 14
+f 18 15 6
+f 18 6 2
+f 19 2 12
+f 19 12 15
+f 19 18 2
+f 19 15 18
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_17.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47755caa5eb17275990625114c4c0d4812158c29
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.33968058 0.03232116 0.09986029
+v 0.33281894 0.03280624 0.05968872
+v 0.34029800 0.06172172 0.07138357
+v 0.34557304 0.06700045 0.12601078
+v 0.30971609 0.03012113 0.10007804
+v 0.30715037 0.02775514 0.05142095
+v 0.34234342 0.04213147 0.12419177
+v 0.33668737 0.05099634 0.06448046
+v 0.31190783 0.05832860 0.06769532
+v 0.31835391 0.06204887 0.11830215
+v 0.30741692 0.05372185 0.05970599
+v 0.31512434 0.03717993 0.11648305
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 6
+f 9 4 3
+f 10 7 4
+f 10 4 9
+f 11 6 5
+f 11 10 9
+f 11 5 10
+f 11 8 6
+f 11 9 3
+f 11 3 8
+f 12 10 5
+f 12 5 7
+f 12 7 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_18.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5e44f8d0bfeb2bd61fdf74264f55690ebbb9d74
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23532566 -0.06774400 -0.09388122
+v -0.23389034 -0.05693289 -0.08642881
+v -0.23131548 -0.03798131 -0.03735552
+v -0.23366230 -0.04487786 -0.05494212
+v -0.28130701 -0.06059019 -0.06631315
+v -0.27913085 -0.05983939 -0.08531770
+v -0.23576484 -0.04570397 -0.03614928
+v -0.28056616 -0.07065060 -0.09276995
+v -0.25853459 -0.04293285 -0.04506420
+v -0.27431041 -0.05006245 -0.04801243
+v -0.26382264 -0.04681556 -0.05420130
+v -0.27659345 -0.05313145 -0.04771229
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 4 2
+f 7 5 1
+f 7 1 3
+f 8 6 1
+f 8 1 5
+f 8 5 6
+f 9 7 3
+f 10 6 5
+f 11 10 9
+f 11 6 10
+f 11 4 6
+f 11 9 3
+f 11 3 4
+f 12 10 5
+f 12 5 7
+f 12 7 9
+f 12 9 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_19.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0b6acd8036059aa19c65d99635fc86207c7e96
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00738200 -0.02613789 -0.03180383
+v 0.00881734 -0.01532684 -0.02435175
+v 0.00770610 -0.00023630 0.01533351
+v -0.09231495 -0.01269538 0.00201092
+v -0.09914810 -0.03491430 -0.03424108
+v -0.02374713 -0.03007004 -0.03609341
+v -0.09771269 -0.02410348 -0.02678899
+v 0.00627072 -0.01104721 0.00788137
+v -0.09676416 -0.02041792 0.00321675
+v -0.09951844 -0.02988420 -0.02101293
+v -0.09711428 -0.01707887 -0.00853039
+f 1 2 3
+f 6 2 1
+f 6 1 5
+f 7 6 5
+f 7 2 6
+f 7 3 2
+f 8 1 3
+f 9 1 8
+f 9 8 3
+f 9 3 4
+f 10 7 5
+f 10 5 1
+f 10 1 9
+f 11 9 4
+f 11 10 9
+f 11 7 10
+f 11 4 3
+f 11 3 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_2.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b8cbbf12f16a8429ef2f9a09b782d427602e1e7
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_2.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.11431393 -0.06502321 -0.11007279
+v -0.09863526 -0.05702981 -0.09218470
+v -0.23606651 -0.05768356 -0.06742440
+v -0.23463115 -0.04687237 -0.05997232
+v -0.09719985 -0.04621879 -0.08473252
+v -0.23495524 -0.07277424 -0.10710954
+v -0.09794076 -0.03615822 -0.05827576
+v -0.11287849 -0.05421237 -0.10262066
+v -0.09937603 -0.04696928 -0.06572822
+v -0.18842178 -0.04197130 -0.05605329
+v -0.23351989 -0.06196324 -0.09965713
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 8 5 1
+f 8 1 6
+f 8 7 5
+f 8 4 7
+f 9 3 2
+f 9 2 5
+f 9 5 7
+f 10 7 4
+f 10 4 3
+f 10 9 7
+f 10 3 9
+f 11 8 6
+f 11 6 4
+f 11 4 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_21.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b83c74bc1c2040b867c711ebe11b4175d82f5939
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.18803137 0.00365908 0.05387178
+v 0.18372067 0.00640079 0.02183058
+v 0.18942797 0.04656762 0.06026136
+v 0.14603423 0.04130466 0.05615239
+v 0.13484164 -0.00280021 0.00468809
+v 0.14294207 0.00080497 0.05440857
+v 0.18729978 0.03480529 0.03046707
+v 0.17097025 0.01146101 0.01446646
+v 0.14114812 0.02292836 0.01559746
+v 0.14503940 0.02826135 0.02172078
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 1 2
+f 7 3 1
+f 8 7 2
+f 8 2 5
+f 9 5 4
+f 9 8 5
+f 9 7 8
+f 10 4 3
+f 10 3 7
+f 10 9 4
+f 10 7 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_22.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf7bf6e022fa744d75bd88957bcdc1c733da618
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.31029216 0.02053651 0.07388215
+v 0.30715037 0.02775514 0.05142095
+v 0.31065757 0.06138937 0.07556298
+v 0.26544378 0.05852766 0.07655106
+v 0.26133481 0.01623241 0.05041349
+v 0.26609699 0.04830406 0.05054640
+v 0.29416455 0.01767450 0.06950258
+v 0.30741692 0.05372185 0.05970599
+v 0.26289505 0.03893687 0.04442556
+v 0.26405114 0.01553842 0.07015249
+v 0.26196561 0.02041381 0.04017292
+v 0.29265398 0.03699550 0.04795015
+v 0.28980494 0.02484032 0.04713785
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 2 1
+f 8 6 3
+f 8 3 2
+f 9 5 4
+f 9 4 6
+f 9 6 8
+f 10 7 1
+f 10 1 4
+f 10 4 5
+f 10 5 7
+f 11 5 9
+f 12 9 8
+f 12 8 2
+f 12 11 9
+f 12 2 11
+f 13 11 2
+f 13 5 11
+f 13 7 5
+f 13 2 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_24.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..214cae7dd31b91dafb07aee3ca08fbecd88f716a
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.21921987 0.00758320 0.05792657
+v 0.21746497 0.02387311 0.02911556
+v 0.22063735 0.05051754 0.06425622
+v 0.19050930 0.04835487 0.06502749
+v 0.18506500 0.00182344 0.03547157
+v 0.18729978 0.03480529 0.03046707
+v 0.22082423 0.04564399 0.05162048
+v 0.21447988 0.01218227 0.02853786
+v 0.18803137 0.00365908 0.05387178
+v 0.19079252 0.04368694 0.05187432
+v 0.20161488 0.03653161 0.03364083
+v 0.19964363 0.00525989 0.03681236
+v 0.18644813 0.00735760 0.02131752
+v 0.20309998 0.00471037 0.05349211
+f 1 3 4
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 1 4
+f 9 4 5
+f 10 6 4
+f 10 4 3
+f 10 7 6
+f 10 3 7
+f 11 7 2
+f 11 2 6
+f 11 6 7
+f 12 8 1
+f 12 1 5
+f 12 5 8
+f 13 6 2
+f 13 2 8
+f 13 8 5
+f 13 5 6
+f 14 9 5
+f 14 5 1
+f 14 1 9
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_26.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b972607a49874a37e3037651a197a7822cb9460
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_26.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.16015292 -0.07495447 -0.12722004
+v -0.15999899 -0.07447404 -0.13741800
+v -0.15908788 -0.05911355 -0.10653956
+v -0.23448873 -0.06395783 -0.10468744
+v -0.23554295 -0.08552882 -0.15063195
+v -0.15955439 -0.06792989 -0.10896162
+v -0.16436567 -0.07590767 -0.13917638
+v -0.21889732 -0.07706196 -0.14196570
+v -0.23592412 -0.07476871 -0.11213970
+v -0.18993459 -0.07309303 -0.13716297
+v -0.23523228 -0.07980633 -0.14508210
+v -0.23374788 -0.07401833 -0.13114421
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 8 7 5
+f 8 4 3
+f 9 5 1
+f 9 1 6
+f 9 6 4
+f 10 8 3
+f 10 3 2
+f 10 2 7
+f 10 7 8
+f 11 8 5
+f 11 9 4
+f 11 5 9
+f 12 11 4
+f 12 4 8
+f 12 8 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_27.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b39f3a8c14634bc08b60fae2a3fad682ab22474
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_27.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.12574181 -0.02551523 -0.05297221
+v 0.12674519 -0.02462191 -0.06489449
+v 0.12532340 -0.01481825 -0.04546086
+v 0.05345940 -0.01944492 -0.04372142
+v 0.05106286 -0.03988517 -0.08644809
+v 0.12376383 -0.02738781 -0.06776259
+v 0.05202394 -0.03025581 -0.05117349
+v 0.05420015 -0.02950540 -0.07017795
+v 0.05227169 -0.03655234 -0.08322255
+f 1 2 3
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 4 5
+f 7 1 3
+f 7 3 4
+f 8 3 2
+f 8 4 3
+f 9 8 2
+f 9 5 4
+f 9 4 8
+f 9 6 5
+f 9 2 6
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_28.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8a48e64efd96b2ef5d6300ba1f545ec1c2558b
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.11431393 -0.06502321 -0.11007279
+v -0.11449354 -0.06769389 -0.12729786
+v -0.11287849 -0.05421237 -0.10262066
+v -0.15811898 -0.05711906 -0.10150937
+v -0.16015292 -0.07495447 -0.12722004
+v -0.15999899 -0.07447404 -0.13741800
+v -0.11250807 -0.05924257 -0.11584899
+v -0.14576155 -0.07313398 -0.12523038
+v -0.15955439 -0.06792989 -0.10896162
+v -0.15774855 -0.06214925 -0.11473775
+v -0.16436567 -0.07590767 -0.13917638
+f 1 3 4
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 10 7 6
+f 10 4 3
+f 10 3 7
+f 11 6 2
+f 11 2 8
+f 11 8 5
+f 11 5 9
+f 11 9 4
+f 11 10 6
+f 11 4 10
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_3.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2178c70d7fe796c58b66461943852982552e5c95
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_3.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.35619504 -0.08754977 -0.12240479
+v -0.35475974 -0.07673877 -0.11495230
+v -0.35482560 -0.06736320 -0.06986830
+v -0.38003347 -0.06555627 -0.07928781
+v -0.46166015 -0.08048499 -0.10416153
+v -0.35267138 -0.06254569 -0.07083698
+v -0.36983991 -0.07770758 -0.11458189
+v -0.42475438 -0.07317066 -0.09213871
+v -0.46212666 -0.08930138 -0.10658361
+v -0.37127521 -0.08851860 -0.12203439
+v -0.46027697 -0.08654610 -0.09973306
+v -0.45830362 -0.07927377 -0.10164001
+f 6 2 4
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 8 6 4
+f 8 3 6
+f 10 7 1
+f 10 5 7
+f 10 9 5
+f 10 1 3
+f 11 5 9
+f 11 10 3
+f 11 9 10
+f 12 8 5
+f 12 5 11
+f 12 11 3
+f 12 3 8
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_30.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0633efbc8053106b6613f6ae2a14631302f71b03
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00715391 -0.03819272 -0.06329067
+v 0.00858931 -0.02738171 -0.05583853
+v 0.00641324 -0.02813251 -0.03683419
+v -0.03739202 -0.02022792 -0.02827065
+v -0.03665119 -0.03028824 -0.05472724
+v 0.00784847 -0.01732126 -0.02938186
+v -0.03808653 -0.04109954 -0.06217946
+v -0.03882733 -0.03103881 -0.03572301
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 3
+f 8 7 3
+f 8 3 4
+f 8 4 5
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/collision/model_normalized_collision_8.obj b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..951ac02c7e4c98f2778a17529abba7496ebdc0c1
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.21921987 0.00758320 0.05792657
+v 0.22328253 0.02047252 0.09047265
+v 0.14384440 0.00290748 0.05956816
+v 0.17961910 0.04766841 0.06557339
+v 0.22063735 0.05051754 0.06425622
+v 0.15008715 0.02553606 0.07275323
+v 0.21864064 0.01748080 0.08390083
+v 0.22377397 0.05221355 0.08239452
+v 0.14603423 0.04130466 0.05615239
+v 0.14497869 0.00636290 0.06824851
+v 0.22422344 0.04235029 0.09256211
+v 0.17590588 0.04699078 0.06452255
+v 0.14857827 0.02036869 0.07189421
+v 0.14175051 0.01490409 0.06914978
+v 0.16577010 0.03425975 0.07510066
+v 0.14894298 0.03492344 0.06563119
+v 0.21054252 0.04084351 0.08833735
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 8 5 4
+f 9 5 1
+f 9 1 3
+f 10 7 2
+f 10 3 7
+f 11 6 2
+f 11 2 8
+f 12 4 5
+f 12 5 9
+f 13 2 6
+f 14 9 3
+f 14 3 10
+f 14 10 2
+f 14 2 13
+f 14 13 6
+f 15 8 4
+f 15 4 12
+f 16 14 6
+f 16 9 14
+f 16 6 15
+f 16 15 12
+f 16 12 9
+f 17 11 8
+f 17 8 15
+f 17 15 6
+f 17 6 11
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/visual/material.mtl b/objects/objaverse/knife/knife_13/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/knife/knife_13/visual/model_normalized_0.obj b/objects/objaverse/knife/knife_13/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42896a34f76a11efde140d3afc1f6a60005b85ec
--- /dev/null
+++ b/objects/objaverse/knife/knife_13/visual/model_normalized_0.obj
@@ -0,0 +1,1527 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.47989128 -0.09559557 -0.12989941
+v -0.47209164 -0.09744431 -0.12596309
+v -0.49184209 -0.09228819 -0.10867258
+v -0.50000000 -0.09031585 -0.11221621
+v -0.43218658 -0.09865890 -0.14710022
+v -0.42573921 -0.10001846 -0.14162389
+v 0.15507534 0.00165421 0.05443446
+v 0.14978467 0.00728230 0.06959358
+v 0.13056042 0.00360464 0.06421321
+v 0.13630741 -0.00167612 0.04929399
+v 0.12600403 -0.00382941 0.04564606
+v 0.14274487 -0.00836390 0.03056099
+v 0.12139757 -0.00177051 0.00997144
+v 0.13012236 -0.00475509 0.00048422
+v 0.13867452 -0.00121250 0.00810237
+v -0.36183238 -0.09811497 -0.15922731
+v -0.35738394 -0.09871678 -0.15138387
+v -0.29756728 -0.09351946 -0.15958558
+v -0.29605074 -0.09452545 -0.15223496
+v -0.17694936 -0.07798017 -0.14217356
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\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_0.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68763db496b2b41a781a52675425405b346684ec
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.05757771 -0.20098077 0.08257573
+v 0.14539108 -0.20154736 -0.45319399
+v 0.14557401 -0.14557375 -0.48445323
+v -0.13702449 -0.16432376 0.01081043
+v -0.07452900 -0.23883530 -0.43317317
+v 0.11048235 -0.17622433 0.08693727
+v 0.07141564 -0.23814167 -0.41807618
+v -0.07036255 -0.19708330 0.08215393
+v 0.01198253 -0.20009269 -0.48954059
+v 0.15985021 -0.15984996 -0.15634742
+v -0.00000025 -0.23991438 -0.29672472
+v 0.08611378 -0.18900362 0.08277012
+v 0.12546522 -0.20732895 -0.35766748
+v -0.11287115 -0.17501676 0.08683208
+v 0.06965374 -0.18643554 -0.49042170
+v 0.07129604 -0.23738639 -0.45319399
+v -0.10750530 -0.14990117 -0.50000000
+v 0.12882927 -0.14398053 -0.49313871
+v 0.13963537 -0.19219180 -0.26680279
+v 0.16407482 -0.16407456 -0.23330467
+v -0.01383229 -0.20796002 0.08193336
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+v -0.15025276 -0.17755203 -0.23016147
+v -0.09819745 -0.22254279 -0.37281354
+v -0.07423112 -0.23695438 -0.45319399
+v 0.12723348 -0.21079908 -0.45319399
+v 0.05692568 -0.21201538 -0.47492061
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+v -0.06851695 -0.20861257 -0.03937381
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\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_1.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dedf50114613a54ffea8341d0a72f66971ea3ca8
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.08983190 -0.17525464 0.21882850
+v -0.10291135 -0.18633950 -0.47969364
+v -0.09241084 -0.11971011 0.00757576
+v -0.15931203 -0.11519760 0.22422500
+v -0.15300667 -0.19545746 -0.41833129
+v -0.11967593 -0.11667218 0.24415224
+v -0.08584806 -0.18258730 0.15796862
+v -0.11391185 -0.16304096 0.21819175
+v -0.20766567 -0.13182625 -0.45388070
+v -0.10490828 -0.13220755 0.24375341
+v -0.20148383 -0.11352485 -0.22075468
+v -0.10481279 -0.22037440 -0.45459518
+v -0.16714130 -0.12143516 0.12713876
+v -0.12838434 -0.20716334 -0.37283340
+v -0.10756236 -0.13486163 -0.50000000
+v -0.11612773 -0.15857852 0.22422500
+v -0.13217175 -0.11401647 0.23904026
+v -0.15270221 -0.19515300 -0.45258733
+v -0.12223476 -0.16468555 0.14222329
+v -0.17113291 -0.11350062 0.12772602
+v -0.19846122 -0.15000291 -0.41833129
+v -0.10110476 -0.21309712 -0.28140729
+v -0.12966059 -0.20966795 -0.45319399
+v -0.10445484 -0.15906583 -0.49599264
+v -0.10756236 -0.11971011 -0.23484848
+v -0.17554879 -0.12709048 -0.47883205
+v -0.15400652 -0.12069973 0.22422500
+v -0.15253779 -0.13438252 0.14222329
+v -0.14033796 -0.19315814 -0.28199916
+v -0.18578742 -0.11324738 -0.03898395
+v -0.19555016 -0.14080474 -0.31218075
+v -0.20252563 -0.11405567 -0.23581542
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+v -0.12917224 -0.15647151 -0.48854899
+v -0.14225090 -0.16955007 -0.47359391
+v -0.14432375 -0.14132000 -0.48854899
+f 7 2 3
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+f 38 18 33
+f 39 37 26
+f 39 26 35
+f 39 35 37
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_10.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaef06bd10b2c5fa8e262ddc14c43dbdb6e49893
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.04114856 -0.19291420 0.21830531
+v 0.17554965 -0.10212984 0.14352406
+v 0.12407094 -0.09376765 0.26433930
+v -0.10282838 -0.11497607 0.26479519
+v -0.11287115 -0.17501676 0.08683208
+v -0.11967593 -0.11667218 0.24415224
+v 0.05004850 -0.14739185 0.26408996
+v 0.11028380 -0.16181533 0.22422500
+v 0.06797411 -0.19829078 0.08225913
+v -0.08253195 -0.17607911 0.22400442
+v 0.11647378 -0.10132201 0.26490790
+v 0.16794427 -0.09825472 0.22422500
+v 0.08009748 -0.17719590 0.22422500
+v 0.11048235 -0.17622433 0.08693727
+v -0.07036255 -0.19708330 0.08215393
+v -0.11391185 -0.16304096 0.21819175
+v -0.05243477 -0.14618054 0.26401761
+v 0.16181539 -0.11028344 0.22422500
+v 0.02594082 -0.19255887 0.22422500
+v 0.06531996 -0.19308179 0.15756284
+v 0.08611378 -0.18900362 0.08277012
+v -0.12949282 -0.15679209 0.14801066
+v -0.06823927 -0.19291607 0.14239689
+v -0.11274169 -0.16074434 0.22390120
+v 0.16425602 -0.11933924 0.17250399
+v 0.01167377 -0.18299167 0.23280721
+v -0.04407901 -0.19245299 0.21826906
+v 0.11933899 -0.16425627 0.17250400
+v -0.08850215 -0.18779633 0.08266491
+v -0.12989991 -0.12689615 0.23352944
+v -0.08262116 -0.13080027 0.26400405
+v 0.16617116 -0.12073067 0.14238703
+v -0.02887084 -0.19209489 0.22422500
+v 0.09497639 -0.17666074 0.17260377
+v -0.09527395 -0.12257322 0.26422675
+v 0.12073042 -0.16617141 0.14238704
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 11 3 4
+f 11 4 7
+f 11 7 8
+f 12 2 3
+f 13 8 7
+f 14 5 2
+f 17 7 4
+f 18 11 8
+f 18 3 11
+f 18 12 3
+f 19 13 7
+f 19 1 13
+f 20 13 1
+f 20 1 9
+f 21 14 9
+f 21 9 15
+f 22 6 5
+f 22 5 16
+f 23 10 16
+f 24 16 10
+f 25 2 12
+f 25 12 18
+f 25 18 8
+f 26 19 7
+f 26 7 17
+f 27 15 9
+f 27 9 1
+f 27 1 19
+f 27 23 15
+f 27 10 23
+f 28 25 8
+f 28 20 9
+f 29 21 15
+f 29 5 14
+f 29 14 21
+f 29 16 5
+f 29 23 16
+f 29 15 23
+f 30 22 16
+f 30 6 22
+f 30 16 24
+f 30 24 4
+f 30 4 6
+f 31 17 4
+f 31 24 10
+f 31 10 17
+f 32 14 2
+f 32 2 25
+f 33 27 19
+f 33 19 26
+f 33 26 17
+f 33 17 10
+f 33 10 27
+f 34 13 20
+f 34 20 28
+f 34 28 8
+f 34 8 13
+f 35 31 4
+f 35 4 24
+f 35 24 31
+f 36 14 32
+f 36 28 9
+f 36 9 14
+f 36 32 25
+f 36 25 28
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_11.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7420b094d1b1c65c4a390f97d23938d875e89703
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.11600230 -0.14652967 0.40868635
+v 0.19452914 -0.02625257 0.31941250
+v 0.16922668 0.03004861 0.45965099
+v 0.12545497 0.11295926 0.34796443
+v 0.11647378 -0.10132201 0.26490790
+v 0.17737514 0.08389317 0.32370850
+v 0.11525065 0.04468419 0.47805941
+v 0.16317111 -0.06551944 0.45560199
+v 0.16367913 -0.11187732 0.31941250
+v 0.19378296 0.02913851 0.32941100
+v 0.15580286 0.07248945 0.45965099
+v 0.11497622 0.10282839 0.26479518
+v 0.18121025 -0.05404850 0.40612000
+v 0.11543071 -0.13058197 0.45825799
+v 0.12866688 -0.04297136 0.47442330
+v 0.14939165 -0.04145432 0.26430159
+v 0.11675079 -0.15977883 0.31898087
+v 0.16766395 0.10160587 0.32941100
+v 0.17999843 0.05482492 0.40612000
+v 0.12909988 0.04402064 0.47386473
+v 0.11811820 0.07644834 0.47214440
+v 0.16996863 -0.02716211 0.45965099
+v 0.19452489 -0.02625200 0.32941100
+v 0.15433670 -0.10953788 0.40612000
+v 0.11581939 -0.15808383 0.33159578
+v 0.15161644 -0.08250389 0.45965099
+v 0.11546091 -0.04178737 0.47873673
+v 0.13201173 -0.08023466 0.26407627
+v 0.17810627 -0.08123325 0.31941250
+v 0.14892880 0.04438506 0.26427665
+v 0.12384624 -0.15481630 0.31941250
+v 0.16766774 0.10160770 0.31941250
+v 0.16225406 0.06805651 0.44480871
+v 0.16735777 0.05550532 0.45560199
+v 0.16367532 -0.11187547 0.32941100
+v 0.12500885 -0.14075701 0.40612000
+v 0.14779023 -0.09570560 0.45560199
+v 0.12824456 -0.11309279 0.46104494
+v 0.12407094 -0.09376765 0.26433930
+v 0.17810255 -0.08123144 0.32941100
+v 0.19378719 0.02913908 0.31941250
+v 0.12257348 0.09527404 0.26422659
+v 0.17625574 0.08336613 0.31941250
+v 0.12420525 -0.12420500 0.45560199
+v 0.12384333 -0.15481369 0.32941100
+v 0.11600760 -0.11600735 0.46365755
+f 14 7 12
+f 18 4 11
+f 19 10 6
+f 19 6 18
+f 20 3 11
+f 20 15 3
+f 21 11 4
+f 21 20 11
+f 21 7 20
+f 21 12 7
+f 21 4 12
+f 22 8 13
+f 22 3 15
+f 22 19 3
+f 22 13 19
+f 23 2 10
+f 23 19 13
+f 23 10 19
+f 24 13 8
+f 25 14 12
+f 25 12 5
+f 25 5 17
+f 25 17 1
+f 25 1 14
+f 26 22 15
+f 26 8 22
+f 27 7 14
+f 27 20 7
+f 27 15 20
+f 29 16 2
+f 29 28 16
+f 29 9 28
+f 30 2 16
+f 30 16 28
+f 31 17 5
+f 32 12 4
+f 32 4 18
+f 32 18 6
+f 33 19 18
+f 33 18 11
+f 34 11 3
+f 34 3 19
+f 34 33 11
+f 34 19 33
+f 35 13 24
+f 36 14 1
+f 37 24 8
+f 37 8 26
+f 38 26 15
+f 38 15 27
+f 38 37 26
+f 39 28 9
+f 39 31 5
+f 39 9 31
+f 40 23 13
+f 40 13 35
+f 40 35 9
+f 40 9 29
+f 40 29 2
+f 40 2 23
+f 41 10 2
+f 41 2 30
+f 41 6 10
+f 42 30 28
+f 42 32 30
+f 42 12 32
+f 42 28 39
+f 42 39 5
+f 42 5 12
+f 43 32 6
+f 43 30 32
+f 43 41 30
+f 43 6 41
+f 44 36 24
+f 44 14 36
+f 44 24 37
+f 44 38 14
+f 44 37 38
+f 45 36 1
+f 45 1 17
+f 45 17 31
+f 45 35 24
+f 45 24 36
+f 45 31 9
+f 45 9 35
+f 46 38 27
+f 46 27 14
+f 46 14 38
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_12.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..839412e3513714a75db4f69654a1c7ab5e4aacdc
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.06509895 -0.17880397 0.40612000
+v 0.12051005 -0.12050979 0.30113920
+v 0.11600760 -0.11600735 0.46365755
+v -0.10890740 -0.13727050 0.41492599
+v -0.04483499 -0.19385293 0.31941250
+v -0.09523116 -0.12253044 0.26536376
+v -0.04527574 -0.16970543 0.45965099
+v 0.11063739 -0.16380494 0.32941100
+v 0.10132227 -0.11647353 0.26490790
+v 0.07360534 -0.11843345 0.47316063
+v -0.08480867 -0.17932026 0.31941250
+v 0.04226761 -0.16967622 0.45965099
+v 0.11280111 -0.15259117 0.40612000
+v 0.04063951 -0.19323217 0.31941250
+v 0.11063916 -0.16380842 0.31941250
+v -0.07444416 -0.15963962 0.45816273
+v -0.04438486 -0.14892913 0.26427668
+v -0.04614619 -0.16004992 0.46380826
+v 0.08299903 -0.15258772 0.45965099
+v -0.01395225 -0.17841419 0.44512887
+v 0.08096750 -0.18010866 0.32941100
+v 0.04145467 -0.14939179 0.26430161
+v -0.08693962 -0.16869498 0.40119163
+v -0.08873285 -0.12764334 0.26472041
+v 0.11309305 -0.12824431 0.46104494
+v 0.06601481 -0.16414254 0.45560199
+v -0.06864518 -0.17717075 0.40612000
+v 0.01094417 -0.17838532 0.44512549
+v 0.04063867 -0.19322816 0.32941100
+v 0.08096938 -0.18011231 0.31941250
+v 0.08023502 -0.13201167 0.26407630
+v -0.08480686 -0.17931653 0.32941100
+v -0.07058378 -0.13691196 0.26436906
+v 0.10905374 -0.13935651 0.45560199
+v 0.09620097 -0.14876166 0.45560199
+v -0.04483444 -0.19384889 0.32941100
+v -0.06905726 -0.16421900 0.45560199
+v 0.09376791 -0.12407068 0.26433930
+f 9 6 3
+f 9 3 2
+f 10 6 4
+f 10 3 6
+f 11 4 6
+f 13 8 2
+f 13 2 3
+f 13 1 8
+f 15 9 2
+f 15 2 8
+f 16 10 4
+f 17 5 11
+f 18 12 10
+f 18 7 12
+f 18 16 7
+f 18 10 16
+f 19 10 12
+f 20 12 7
+f 21 8 1
+f 22 14 5
+f 22 5 17
+f 23 16 4
+f 24 11 6
+f 24 6 9
+f 25 3 10
+f 25 10 19
+f 25 13 3
+f 26 19 12
+f 26 12 1
+f 27 20 7
+f 28 1 12
+f 28 12 20
+f 29 21 1
+f 29 14 21
+f 29 1 28
+f 29 5 14
+f 30 21 14
+f 30 15 8
+f 30 8 21
+f 30 14 22
+f 31 30 22
+f 31 15 30
+f 31 22 17
+f 32 23 4
+f 32 4 11
+f 32 27 23
+f 33 17 11
+f 33 11 24
+f 33 31 17
+f 33 24 31
+f 34 25 19
+f 34 13 25
+f 35 26 1
+f 35 1 13
+f 35 13 34
+f 35 34 19
+f 35 19 26
+f 36 20 27
+f 36 5 29
+f 36 29 28
+f 36 28 20
+f 36 27 32
+f 36 32 11
+f 36 11 5
+f 37 27 7
+f 37 7 16
+f 37 16 23
+f 37 23 27
+f 38 9 15
+f 38 15 31
+f 38 31 24
+f 38 24 9
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_13.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b7c1bc326965cfa0f0d7b8a92df60ad688fad3f
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.18362899 0.08637884 0.14290785
+v 0.20990194 0.10719702 -0.28036555
+v 0.17681213 0.12836002 -0.02435278
+v 0.11350047 0.17113272 0.12772597
+v 0.11971037 0.10756261 -0.23484848
+v 0.14247099 0.19092930 -0.28113112
+v 0.16468539 0.12223446 0.14222323
+v 0.11971037 0.09241110 0.00757576
+v 0.19771756 0.13129179 -0.28142719
+v 0.11405572 0.20252548 -0.23581544
+v 0.13486189 0.10756261 -0.28030303
+v 0.17753679 0.09842622 0.14237703
+v 0.11906189 0.16689598 0.14382850
+v 0.19300515 0.09115624 0.00736117
+v 0.17965806 0.13720713 -0.13052368
+v 0.11352490 0.20148370 -0.22075470
+v 0.13378776 0.19636363 -0.28048671
+v 0.15679184 0.12949257 0.14801060
+v 0.11324728 0.18578732 -0.03898399
+v 0.13420333 0.18266163 -0.13052368
+v 0.12143491 0.16714105 0.12713871
+v 0.13438227 0.15253754 0.14222324
+f 8 4 5
+f 9 3 1
+f 11 5 10
+f 11 8 5
+f 11 9 2
+f 11 6 9
+f 12 1 3
+f 12 3 7
+f 13 8 1
+f 13 4 8
+f 14 1 8
+f 14 9 1
+f 14 2 9
+f 14 11 2
+f 14 8 11
+f 15 9 6
+f 15 3 9
+f 15 7 3
+f 16 10 5
+f 17 11 10
+f 17 6 11
+f 17 10 16
+f 18 12 7
+f 18 1 12
+f 18 13 1
+f 19 16 5
+f 19 5 4
+f 20 6 17
+f 20 15 6
+f 21 20 17
+f 21 7 15
+f 21 15 20
+f 21 17 16
+f 21 16 19
+f 21 19 4
+f 21 4 13
+f 22 21 13
+f 22 13 18
+f 22 18 7
+f 22 7 21
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_14.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97279f20fe85ab5b74074e7e6ec458a250680a9d
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.05990475 -0.20052142 0.08373057
+v 0.09753880 -0.22657790 -0.41527615
+v 0.06788446 -0.20892751 -0.03929267
+v 0.08611378 -0.18900362 0.08277012
+v 0.01333051 -0.23890654 -0.31076450
+v 0.08002164 -0.19219844 0.08172833
+v 0.01327970 -0.22343422 -0.11382002
+v 0.09726109 -0.21088136 -0.23350546
+v 0.06361379 -0.23909067 -0.41442873
+v 0.05757771 -0.20098077 0.08257573
+v 0.01131849 -0.22620325 -0.14509635
+v 0.05895972 -0.24000935 -0.41673842
+v 0.08535432 -0.23296783 -0.41735975
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 8 4 2
+f 8 2 5
+f 9 7 5
+f 10 1 4
+f 10 4 7
+f 10 7 9
+f 10 9 3
+f 10 3 1
+f 11 7 4
+f 11 4 8
+f 11 8 5
+f 11 5 7
+f 12 9 5
+f 12 5 2
+f 13 3 9
+f 13 2 4
+f 13 4 3
+f 13 12 2
+f 13 9 12
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_15.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ece6d7b0222e4b4780bdcceceb242daf3c9dee7
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.14455486 -0.15670262 0.01163720
+v -0.10756236 -0.13486163 -0.50000000
+v -0.10756236 0.07725958 0.00757576
+v -0.19014639 0.09617770 0.01081091
+v -0.18073733 -0.14743054 -0.23346853
+v -0.10756236 0.09241110 -0.50000000
+v -0.15025276 -0.17755203 -0.23016147
+v -0.16741829 -0.13411150 0.00915690
+v -0.10756236 0.09241110 -0.09848485
+v -0.16313186 0.08984484 -0.49801027
+v -0.15947527 -0.12616848 -0.48854899
+v -0.18356492 -0.12755490 -0.09714335
+v -0.19454149 0.10584901 -0.09618694
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 8 1 4
+f 8 7 1
+f 8 5 7
+f 9 4 3
+f 9 3 2
+f 9 2 6
+f 10 6 2
+f 11 7 5
+f 11 2 7
+f 11 10 2
+f 11 5 10
+f 12 8 4
+f 12 5 8
+f 13 9 6
+f 13 4 9
+f 13 6 10
+f 13 10 5
+f 13 12 4
+f 13 5 12
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_16.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88059fce235027b9efa4e7072c56ffd3f20ae81b
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12385563 -0.12360425 0.41377390
+v 0.10891942 -0.10891917 0.26433930
+v 0.12343112 0.12620947 0.41251877
+v 0.02275616 0.17050014 0.41492599
+v -0.10890740 -0.13727050 0.41492599
+v 0.01843147 0.15290483 0.26677832
+v -0.09523116 -0.12253044 0.26536376
+v 0.10742186 0.11042544 0.26422658
+v -0.12163305 0.12351779 0.41492599
+v -0.10884231 0.10884256 0.26638828
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 3 2
+f 8 2 7
+f 9 5 4
+f 9 4 6
+f 10 8 7
+f 10 6 8
+f 10 9 6
+f 10 7 5
+f 10 5 9
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_17.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74668509d4115aae2fae696851dae977b9596be1
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.18356492 -0.12755490 -0.09714335
+v -0.16339211 -0.13008532 -0.48407020
+v -0.16313186 0.08984484 -0.49801027
+v -0.19454149 0.10584901 -0.09618694
+v -0.24171478 -0.05635416 -0.43318293
+v -0.16186003 -0.10134429 -0.49559494
+v -0.21154261 -0.12608159 -0.45319399
+v -0.22629441 -0.01085703 -0.14532527
+v -0.23183699 0.08625142 -0.45319399
+v -0.18073733 -0.14743054 -0.23346853
+v -0.22542579 -0.09513216 -0.38797560
+v -0.17554879 -0.12709048 -0.47883205
+v -0.21344727 -0.06935320 -0.09974972
+v -0.19669589 0.15124160 -0.41353461
+v -0.21487936 -0.04175177 -0.47511674
+v -0.21341316 0.06943273 -0.09982331
+v -0.24130517 0.01383875 -0.34230604
+v -0.20106047 -0.12846074 -0.45989546
+v -0.21004634 -0.12531906 -0.38799546
+v -0.22692324 -0.09589530 -0.45319399
+v -0.22526723 -0.07989986 -0.29708032
+v -0.19338883 0.14793454 -0.35329163
+v -0.17516998 0.08825849 -0.49209737
+v -0.18910899 -0.06948512 -0.48979468
+v -0.23991822 -0.05606952 -0.45319399
+v -0.21062441 0.12890644 -0.41560777
+v -0.24209120 0.05941779 -0.44414499
+v -0.24176659 -0.01090782 -0.34226976
+v -0.22583298 0.01378783 -0.14536154
+v -0.21469471 0.04472652 -0.47488671
+v -0.17389814 -0.09975791 -0.48968199
+v -0.23054364 -0.05698450 -0.46060392
+v -0.22591961 0.07340575 -0.26659120
+v -0.20645727 0.12678316 -0.35536480
+v -0.24179511 0.04421929 -0.45319399
+v -0.18879446 0.07232891 -0.48919723
+v -0.22510114 0.08281951 -0.31224630
+v -0.23035897 0.05995926 -0.46037391
+v -0.20127193 0.08611791 -0.47533949
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 10 2 1
+f 12 6 2
+f 13 1 4
+f 13 8 5
+f 16 13 4
+f 16 8 13
+f 18 10 7
+f 18 2 10
+f 18 12 2
+f 19 10 1
+f 19 7 10
+f 19 1 11
+f 20 11 5
+f 20 19 11
+f 20 7 19
+f 20 18 7
+f 20 12 18
+f 21 13 5
+f 21 5 11
+f 21 11 1
+f 21 1 13
+f 22 4 3
+f 22 3 14
+f 23 14 3
+f 23 9 14
+f 24 3 6
+f 24 12 20
+f 25 20 5
+f 26 14 9
+f 26 22 14
+f 28 5 8
+f 28 8 17
+f 28 27 5
+f 28 17 27
+f 29 17 8
+f 29 8 16
+f 29 27 17
+f 30 24 15
+f 31 24 6
+f 31 6 12
+f 31 12 24
+f 32 24 20
+f 32 20 25
+f 32 25 15
+f 32 15 24
+f 33 29 16
+f 33 27 29
+f 34 26 4
+f 34 4 22
+f 34 22 26
+f 35 25 5
+f 35 5 27
+f 35 27 9
+f 35 30 15
+f 35 15 25
+f 36 23 3
+f 36 3 24
+f 36 24 30
+f 37 26 9
+f 37 9 27
+f 37 27 33
+f 37 4 26
+f 37 33 16
+f 37 16 4
+f 38 35 9
+f 38 30 35
+f 38 36 30
+f 38 9 36
+f 39 36 9
+f 39 9 23
+f 39 23 36
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_18.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a7603243fa667b66e873469c72fa14baaf7090
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.07794201 -0.17187280 0.40170701
+v 0.12385563 -0.12360425 0.41377390
+v -0.04539892 -0.07119911 0.49008509
+v -0.05670675 0.16871400 0.45560199
+v -0.07268606 0.17360621 0.40124454
+v 0.11392345 0.07431105 0.47378483
+v 0.06997323 -0.15675967 0.46091785
+v 0.14679327 0.09001010 0.41492599
+v -0.11279761 -0.15460892 0.40114973
+v -0.03029120 0.07428896 0.49057614
+v 0.11600760 -0.11600735 0.46365755
+v 0.05385464 0.16976155 0.44540202
+v -0.09934389 -0.16285962 0.40102910
+v -0.11694330 0.07431937 0.47383721
+v 0.07116049 -0.04237535 0.48986291
+v 0.11413378 -0.07141413 0.47446217
+v 0.07684941 0.15773701 0.41313818
+v -0.01497239 0.17270745 0.45965099
+v 0.10152291 0.11967823 0.46610957
+v -0.11040295 0.15506402 0.40106146
+v -0.07453537 -0.17453034 0.40135408
+v -0.10326009 -0.14156953 0.46084403
+v -0.07426544 0.11683846 0.47349835
+v -0.07432465 0.03030977 0.49078215
+v 0.05663888 0.05964263 0.48979797
+v 0.04239397 -0.07119621 0.49006886
+v 0.07131561 0.03030689 0.49075033
+v 0.01196426 0.17267824 0.45965099
+v 0.07066031 0.16111209 0.44612506
+v -0.08509035 0.16777089 0.40108198
+v -0.11999955 -0.10184428 0.46729194
+v -0.11549924 0.13065101 0.45965099
+v -0.09924342 -0.14883811 0.45560199
+v -0.05899876 -0.12875983 0.47277033
+v -0.05964589 0.05964614 0.48982328
+v -0.07207058 0.15798524 0.45965099
+v -0.04470161 0.13176499 0.47354084
+v 0.08444788 -0.11475073 0.47229549
+v 0.02728626 0.07428606 0.49055994
+v 0.06902812 0.15790878 0.45965099
+v 0.11254651 0.13021788 0.41492599
+v -0.11031565 0.15497092 0.40612000
+v -0.11291445 -0.14021373 0.44549166
+v -0.11715363 -0.07142245 0.47451455
+v -0.08746166 -0.11476093 0.47233702
+v -0.09928925 -0.16274361 0.40612000
+v -0.08604149 -0.15266417 0.45965099
+v 0.05599108 -0.12875154 0.47274360
+v -0.10225682 0.14260450 0.45965099
+v 0.09959939 -0.09959920 0.47229544
+v 0.07125780 0.11683002 0.47347171
+v 0.04152479 0.13181479 0.47352282
+v 0.05351425 0.16871400 0.45560199
+v -0.08503626 0.16765600 0.40612000
+v -0.11271174 -0.15451752 0.40612000
+v -0.07416958 -0.04237826 0.48989474
+v -0.10261317 -0.09960942 0.47233702
+v -0.07364154 -0.17263180 0.40807598
+v -0.10975098 0.14005427 0.45560199
+f 8 2 1
+f 8 1 5
+f 11 7 1
+f 11 1 2
+f 11 2 8
+f 16 11 8
+f 16 8 6
+f 17 8 5
+f 17 5 12
+f 18 5 4
+f 19 6 8
+f 20 13 9
+f 21 13 1
+f 21 1 7
+f 26 24 3
+f 27 16 6
+f 27 15 16
+f 27 6 25
+f 27 26 15
+f 27 10 24
+f 27 24 26
+f 28 12 5
+f 28 5 18
+f 29 17 12
+f 30 5 1
+f 30 1 13
+f 30 13 20
+f 31 20 9
+f 32 14 23
+f 32 31 14
+f 32 20 31
+f 34 26 3
+f 35 23 14
+f 35 10 23
+f 35 24 10
+f 35 14 24
+f 36 18 4
+f 37 23 10
+f 37 36 23
+f 37 18 36
+f 38 7 11
+f 39 27 25
+f 39 10 27
+f 41 8 17
+f 41 17 29
+f 41 29 40
+f 41 40 19
+f 41 19 8
+f 42 30 20
+f 42 20 32
+f 43 22 31
+f 43 33 22
+f 44 24 14
+f 44 14 31
+f 45 31 22
+f 45 34 3
+f 45 22 34
+f 46 13 21
+f 46 21 33
+f 47 33 21
+f 47 22 33
+f 47 34 22
+f 47 7 34
+f 48 34 7
+f 48 26 34
+f 48 38 26
+f 48 7 38
+f 49 32 23
+f 49 23 36
+f 49 36 4
+f 50 38 11
+f 50 11 16
+f 50 16 15
+f 50 15 26
+f 50 26 38
+f 51 39 25
+f 51 19 40
+f 51 25 6
+f 51 6 19
+f 52 37 10
+f 52 10 39
+f 52 28 18
+f 52 18 37
+f 52 39 51
+f 52 51 40
+f 52 40 28
+f 53 40 29
+f 53 29 12
+f 53 12 28
+f 53 28 40
+f 54 42 4
+f 54 4 5
+f 54 5 30
+f 54 30 42
+f 55 43 31
+f 55 31 9
+f 55 33 43
+f 55 46 33
+f 55 9 13
+f 55 13 46
+f 56 3 24
+f 56 24 44
+f 57 44 31
+f 57 31 45
+f 57 56 44
+f 57 45 3
+f 57 3 56
+f 58 47 21
+f 58 21 7
+f 58 7 47
+f 59 42 32
+f 59 32 49
+f 59 49 4
+f 59 4 42
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_19.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae9dd69d9abcefe1713f7f54174e5be46a7adcb
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.13753784 0.06937251 0.26422694
+v -0.10756236 0.07725958 -0.09848485
+v -0.08752123 0.12826938 0.26457833
+v -0.08739579 0.17347751 0.22422500
+v -0.21021834 0.07552487 -0.09878150
+v -0.09241084 0.07725958 0.00757576
+v -0.15262210 0.12231933 0.22389133
+v -0.20084208 0.07074750 0.03676517
+v -0.10571139 0.19483891 -0.09880137
+v -0.08623259 0.18634601 0.11257985
+v -0.11639666 0.10124541 0.26695689
+v -0.12231907 0.15262236 0.22389133
+v -0.17952933 0.12821404 -0.05468075
+v -0.18618738 0.07100064 0.20347512
+v -0.19803413 0.09961961 -0.09984312
+v -0.08994826 0.19363853 0.00715464
+v -0.08721798 0.15797702 0.23443135
+v -0.16734856 0.09942487 0.22422500
+v -0.09942451 0.16734862 0.22422500
+v -0.09377639 0.12407967 0.26411387
+v -0.12980631 0.18265463 -0.09986299
+v -0.12239528 0.16785009 0.11193789
+v -0.17750166 0.07429505 0.22596043
+v -0.16471613 0.11323517 0.20292447
+v -0.11323480 0.16471617 0.20292448
+v -0.18265469 0.12980650 -0.09986298
+v -0.13745733 0.16776061 -0.02443557
+v -0.16784983 0.12239554 0.11193789
+v -0.16776036 0.13745758 -0.02443557
+f 6 1 2
+f 6 3 1
+f 8 5 2
+f 8 2 1
+f 10 3 6
+f 11 1 3
+f 12 7 11
+f 14 8 1
+f 15 2 5
+f 16 6 2
+f 16 2 9
+f 16 10 6
+f 17 10 4
+f 17 4 3
+f 17 3 10
+f 18 11 7
+f 18 1 11
+f 19 12 3
+f 19 3 4
+f 20 12 11
+f 20 11 3
+f 20 3 12
+f 21 9 2
+f 21 2 15
+f 21 16 9
+f 23 18 14
+f 23 14 1
+f 23 1 18
+f 24 18 7
+f 24 14 18
+f 24 13 15
+f 24 15 5
+f 24 5 8
+f 24 8 14
+f 24 7 12
+f 25 19 4
+f 25 4 10
+f 25 21 22
+f 25 10 16
+f 25 16 21
+f 25 12 19
+f 25 24 12
+f 25 22 24
+f 26 21 15
+f 26 15 13
+f 27 22 21
+f 27 21 26
+f 28 24 22
+f 28 13 24
+f 29 27 26
+f 29 26 13
+f 29 13 28
+f 29 28 22
+f 29 22 27
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_2.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bdc6b8f8f602c75f904d9811c53ecf003095626
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.08693962 -0.16869498 0.40119163
+v -0.08873285 -0.12764334 0.26472041
+v -0.08752123 0.12826938 0.26457833
+v -0.09092567 0.16501405 0.40142727
+v -0.19748745 0.01409789 0.32941100
+v -0.08844375 0.17489384 0.33012441
+v -0.16615400 -0.11027739 0.31941250
+v -0.17315699 -0.02719139 0.45965099
+v -0.15367989 0.01435878 0.26437081
+v -0.15563400 0.12452296 0.32941100
+v -0.11370275 -0.16571701 0.31941250
+v -0.11827037 0.04469244 0.47811186
+v -0.15094402 -0.09578235 0.45560199
+v -0.18214134 -0.05651768 0.40612000
+v -0.09527395 -0.12257322 0.26422675
+v -0.19589231 -0.02599278 0.31941250
+v -0.11413280 0.16509344 0.32370850
+v -0.14376075 0.10238950 0.45965099
+v -0.18043116 0.08249791 0.31941250
+v -0.09001086 -0.17521843 0.31832048
+v -0.10594211 -0.10293835 0.47069662
+v -0.12832131 -0.13985359 0.40612000
+v -0.16632466 -0.06559607 0.45560199
+v -0.15488402 -0.11241015 0.40612000
+v -0.09377639 0.12407967 0.26411387
+v -0.12557727 -0.09227030 0.26422660
+v -0.19749140 0.01409857 0.31941250
+v -0.19588836 -0.02599212 0.32941100
+v -0.10119813 0.16980220 0.32941100
+v -0.08879733 0.17564490 0.31941250
+v -0.12592521 0.14030699 0.40612000
+v -0.11679558 0.13194736 0.45677881
+v -0.17241505 0.03007789 0.45965099
+v -0.15285756 0.11430074 0.40612000
+v -0.11370025 -0.16571350 0.32941100
+v -0.10466407 -0.14432503 0.45804629
+v -0.11848064 -0.04179563 0.47878919
+v -0.18245419 -0.08060546 0.32941100
+v -0.13753784 0.06937251 0.26422694
+v -0.15563694 0.12452596 0.31941250
+v -0.11360233 0.16396677 0.31941250
+v -0.18245769 -0.08060748 0.31941250
+v -0.15134549 0.02914057 0.26424503
+v -0.11040295 0.15506402 0.40106146
+v -0.11871400 0.11871426 0.46256485
+v -0.15895669 0.07256595 0.45965099
+v -0.18139940 0.05940419 0.40612000
+v -0.18042746 0.08249586 0.32941100
+v -0.12490250 0.12490275 0.45560199
+v -0.09934389 -0.16285962 0.40102910
+v -0.16615036 -0.11027528 0.32941100
+v -0.11611892 -0.12826668 0.46110392
+v -0.10387184 -0.13117111 0.46370238
+v -0.11215184 -0.13945098 0.45560199
+v -0.15477022 -0.08258032 0.45965099
+v -0.13169029 -0.04297449 0.47448140
+v -0.12407942 0.09377664 0.26411387
+v -0.13065075 0.11549949 0.45965099
+v -0.13211957 0.04402887 0.47391713
+v -0.16438220 0.06761035 0.45560199
+v -0.14005401 0.10975124 0.45560199
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 14 8 5
+f 15 2 11
+f 20 11 2
+f 20 2 1
+f 21 1 4
+f 21 4 12
+f 23 8 14
+f 24 23 14
+f 24 13 23
+f 25 3 2
+f 25 2 15
+f 26 15 11
+f 26 11 7
+f 27 16 5
+f 27 9 16
+f 27 5 19
+f 28 14 5
+f 28 5 16
+f 29 17 4
+f 29 4 6
+f 29 6 17
+f 30 17 6
+f 30 6 3
+f 31 17 10
+f 32 12 4
+f 33 5 8
+f 34 31 10
+f 35 20 1
+f 35 11 20
+f 35 22 24
+f 37 21 12
+f 38 24 14
+f 38 14 28
+f 38 28 16
+f 40 19 10
+f 40 10 17
+f 41 3 25
+f 41 30 3
+f 41 17 30
+f 41 40 17
+f 41 25 40
+f 42 16 9
+f 42 9 26
+f 42 26 7
+f 42 38 16
+f 42 7 38
+f 43 27 19
+f 43 9 27
+f 43 19 39
+f 43 26 9
+f 44 4 17
+f 44 17 31
+f 44 32 4
+f 44 31 32
+f 45 18 12
+f 45 12 32
+f 47 5 33
+f 48 34 10
+f 48 10 19
+f 48 47 34
+f 48 19 5
+f 48 5 47
+f 49 32 31
+f 49 31 34
+f 49 18 32
+f 50 35 1
+f 50 22 35
+f 50 1 36
+f 51 35 24
+f 51 7 11
+f 51 11 35
+f 51 38 7
+f 51 24 38
+f 53 36 1
+f 53 1 21
+f 53 52 36
+f 53 21 52
+f 54 24 22
+f 54 50 36
+f 54 22 50
+f 54 13 24
+f 54 52 13
+f 54 36 52
+f 55 8 23
+f 55 23 13
+f 55 21 37
+f 55 52 21
+f 55 13 52
+f 56 33 8
+f 56 55 37
+f 56 8 55
+f 57 39 19
+f 57 19 40
+f 57 40 25
+f 57 43 39
+f 57 26 43
+f 57 25 15
+f 57 15 26
+f 58 45 32
+f 58 32 18
+f 58 18 45
+f 59 46 33
+f 59 12 18
+f 59 18 46
+f 59 33 56
+f 59 56 37
+f 59 37 12
+f 60 47 33
+f 60 33 46
+f 60 46 18
+f 60 18 34
+f 60 34 47
+f 61 49 34
+f 61 34 18
+f 61 18 49
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_20.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd038f6d9a9df1e25b1ee2bf8ca3e7ba8e0d86a
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.14331488 -0.14331462 0.14486746
+v 0.15075578 -0.15075552 0.00932076
+v 0.18022551 0.11552505 0.01152835
+v -0.18077013 0.09140033 0.14635758
+v -0.11552526 -0.18022569 0.01152837
+v 0.17084935 0.11074766 0.14707503
+v -0.11074744 -0.17084980 0.14707510
+v -0.09241084 0.09241110 0.00757576
+v -0.19014639 0.09617770 0.01081091
+v -0.16741829 -0.13411150 0.00915690
+v -0.15997739 -0.12667060 0.14470359
+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 9 6 3
+f 9 4 6
+f 9 3 8
+f 10 8 2
+f 10 2 5
+f 10 9 8
+f 10 5 7
+f 11 10 7
+f 11 7 4
+f 11 4 9
+f 11 9 10
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_21.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fabc58c5bda77fd4458355fbfd8043ef5815d7f1
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.10756236 0.09241110 -0.09848485
+v -0.10756236 0.09241110 -0.50000000
+v -0.10121158 0.20115926 -0.14502540
+v -0.10571139 0.19483891 -0.09880137
+v -0.23183699 0.08625142 -0.45319399
+v -0.17516998 0.08825849 -0.49209737
+v -0.20412620 0.08757233 -0.09931232
+v -0.14243388 0.19604292 -0.32736445
+v -0.21669728 0.08625756 -0.23590079
+v -0.10433515 0.22244101 -0.45328788
+v -0.18265469 0.12980650 -0.09986298
+v -0.23135199 0.08600425 -0.40261074
+v -0.20057803 0.13121890 -0.45922813
+v -0.10414035 0.16145255 -0.49482030
+v -0.10095846 0.21581401 -0.31173535
+v -0.12980631 0.18265463 -0.09986299
+v -0.17358363 0.10260172 -0.48908458
+v -0.12848532 0.21036538 -0.45299509
+v -0.20988030 0.12823847 -0.40316142
+v -0.10243378 0.18840621 -0.47838632
+v -0.12823809 0.20988033 -0.40316146
+v -0.13736786 0.18282266 -0.16080903
+v -0.21825356 0.08705041 -0.46271952
+v -0.15797326 0.12767049 -0.48854899
+v -0.21032953 0.12846744 -0.45318832
+v -0.19604317 0.14243363 -0.32736444
+v -0.13123254 0.20060557 -0.45911764
+v -0.18282240 0.13736811 -0.16080903
+v -0.12767023 0.15797352 -0.48854899
+v -0.11635776 0.18599718 -0.47502663
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 9 6 1
+f 9 1 7
+f 11 7 4
+f 11 9 7
+f 12 5 6
+f 12 6 9
+f 12 9 11
+f 14 2 6
+f 16 11 4
+f 16 4 3
+f 16 3 15
+f 19 5 12
+f 20 3 2
+f 20 2 14
+f 20 15 3
+f 20 10 15
+f 21 15 10
+f 21 16 15
+f 21 8 16
+f 21 18 8
+f 21 10 18
+f 22 16 8
+f 22 11 16
+f 23 17 6
+f 23 6 5
+f 23 5 13
+f 23 13 17
+f 24 14 6
+f 24 6 17
+f 24 17 13
+f 25 13 5
+f 25 5 19
+f 26 25 19
+f 26 8 18
+f 26 18 25
+f 26 19 12
+f 26 12 11
+f 27 18 10
+f 27 25 18
+f 27 13 25
+f 28 26 11
+f 28 11 22
+f 28 22 8
+f 28 8 26
+f 29 14 24
+f 29 24 13
+f 29 13 27
+f 30 29 27
+f 30 20 14
+f 30 14 29
+f 30 27 10
+f 30 10 20
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_22.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e848cdee94bb94416dcc73bb218829c3cee178
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.15751546 0.07336200 0.45664020
+v 0.16516492 0.09241110 0.33185500
+v 0.15194038 0.11029074 0.40612000
+v 0.06933797 0.17437066 0.40638633
+v 0.10430883 0.07700956 0.47625798
+v 0.11971037 0.15301716 0.33185500
+v 0.10665309 0.13995971 0.45560199
+v 0.17111302 0.07292656 0.40644694
+v 0.14918250 0.12193356 0.33185500
+v 0.07425582 0.16816867 0.33185500
+v 0.13695631 0.10965687 0.45560199
+v 0.07177395 0.14814625 0.46305881
+v 0.11077437 0.15190689 0.40612000
+v 0.16557106 0.08546888 0.40612000
+v 0.15781309 0.07351363 0.33948311
+v 0.08940734 0.16816867 0.33185500
+v 0.15197713 0.08569161 0.45560199
+v 0.14056824 0.10238950 0.45965099
+v 0.07003286 0.15988061 0.45618374
+v 0.07339507 0.12102475 0.47183130
+v 0.08110455 0.16821074 0.40612000
+v 0.16720876 0.07058083 0.37155828
+v 0.08520207 0.14263425 0.35124901
+v 0.14525818 0.07483668 0.46339641
+v 0.09921436 0.14252805 0.45965099
+v 0.06711984 0.16931503 0.37158499
+v 0.08223013 0.15408257 0.45560199
+f 9 6 3
+f 9 2 6
+f 10 6 2
+f 13 3 6
+f 13 11 3
+f 13 7 11
+f 14 8 2
+f 14 1 8
+f 14 9 3
+f 14 2 9
+f 15 10 2
+f 16 10 4
+f 16 4 6
+f 16 6 10
+f 17 14 3
+f 17 1 14
+f 18 11 7
+f 18 1 17
+f 18 17 3
+f 18 3 11
+f 20 12 19
+f 21 13 6
+f 21 6 4
+f 22 15 2
+f 22 2 8
+f 22 8 1
+f 22 1 5
+f 22 5 15
+f 23 15 5
+f 23 10 15
+f 23 20 10
+f 23 5 20
+f 24 18 5
+f 24 5 1
+f 24 1 18
+f 25 18 7
+f 25 12 20
+f 25 20 5
+f 25 5 18
+f 25 19 12
+f 26 4 10
+f 26 10 20
+f 26 20 19
+f 26 19 4
+f 27 21 4
+f 27 4 19
+f 27 7 13
+f 27 13 21
+f 27 25 7
+f 27 19 25
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_23.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53878ce413587448cd531dced5618929c52a001a
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.21140692 0.02953008 0.00644672
+v 0.23034376 0.03012952 -0.23568000
+v 0.20861251 0.06851693 -0.03937382
+v 0.16432341 0.13702441 0.01081040
+v 0.13486189 0.03180504 -0.23484848
+v 0.17755170 0.15025282 -0.23016148
+v 0.19620004 0.08506406 0.00631938
+v 0.20790789 0.05927894 -0.00897983
+v 0.22572438 0.02939787 -0.17543704
+v 0.13486189 0.03180504 0.00757576
+v 0.20997145 0.09951237 -0.23622512
+v 0.20907999 0.04431306 0.00626381
+v 0.22568972 0.05969552 -0.23604581
+v 0.18691295 0.10320362 0.00683035
+f 6 5 4
+f 8 3 7
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 5 1
+f 10 1 4
+f 10 4 5
+f 11 5 6
+f 11 7 3
+f 12 7 4
+f 12 4 1
+f 12 8 7
+f 12 1 2
+f 12 2 8
+f 13 8 2
+f 13 3 8
+f 13 11 3
+f 13 2 5
+f 13 5 11
+f 14 11 6
+f 14 6 4
+f 14 4 7
+f 14 7 11
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_24.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d01a5f9611034cae0178c90f3c0c7cb8d73f47
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.14322411 -0.14322385 0.14652099
+v 0.15679184 0.12949257 0.14801060
+v 0.12253058 0.09523135 0.26536379
+v -0.10884231 0.10884256 0.26638828
+v -0.17757530 0.09749247 0.14739939
+v -0.11042564 -0.10742171 0.26422660
+v -0.09241084 0.09241110 0.14393939
+v 0.10891942 -0.10891917 0.26433930
+v -0.15235625 -0.13420097 0.14553036
+v -0.13438096 0.07548416 0.26494339
+v -0.13217175 -0.11401647 0.23904026
+v -0.12557727 -0.09227030 0.26422660
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 7 5 2
+f 7 2 1
+f 8 6 1
+f 8 1 3
+f 8 3 4
+f 8 4 6
+f 9 7 1
+f 9 5 7
+f 10 4 5
+f 11 9 1
+f 11 1 6
+f 11 5 9
+f 12 6 4
+f 12 4 10
+f 12 11 6
+f 12 10 5
+f 12 5 11
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_25.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52bcc51e07d90cacb41c4cad91dbd2c1eee90ad0
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.08399055 -0.18483646 0.14301309
+v 0.15985021 -0.15984996 -0.15634742
+v 0.13074913 -0.18739582 -0.15979421
+v 0.14331488 -0.14331462 0.14486746
+v 0.08940734 -0.13486163 -0.15909091
+v 0.12073042 -0.16617141 0.14238704
+v 0.08851470 -0.20886732 -0.15924355
+v 0.10835911 -0.17205717 0.14718025
+v 0.11260952 -0.19668278 -0.16030519
+v 0.08320641 -0.19844934 -0.00863614
+f 5 1 4
+f 5 4 2
+f 5 2 3
+f 6 3 2
+f 6 2 4
+f 7 3 6
+f 8 6 4
+f 8 4 1
+f 8 7 6
+f 8 1 7
+f 9 7 5
+f 9 5 3
+f 9 3 7
+f 10 7 1
+f 10 1 5
+f 10 5 7
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_26.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03863d9af1cfbea19ecfc9a18f3cbf4524aa4812
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.12915670 -0.18427045 -0.11461198
+v 0.22615105 -0.05676447 -0.23600956
+v 0.21949082 0.03081035 -0.09897849
+v 0.13486189 0.03180504 -0.09848485
+v 0.13486189 0.03180504 -0.23484848
+v 0.13395203 -0.17940632 -0.09858474
+v 0.13340317 -0.19260476 -0.23509793
+v 0.23034376 0.03012952 -0.23568000
+v 0.20789517 -0.08029905 -0.10004240
+v 0.14148370 -0.18693799 -0.23578497
+v 0.22389340 -0.01095233 -0.11497490
+v 0.19579985 -0.12731057 -0.23613973
+v 0.22343203 0.01388328 -0.11501116
+v 0.22384136 -0.05639864 -0.20588808
+v 0.21117929 -0.09712368 -0.23611987
+v 0.18032411 -0.13486931 -0.11529902
+v 0.19251603 -0.11048584 -0.10006222
+v 0.19163271 -0.12518728 -0.17589676
+v 0.14157317 -0.17187595 -0.09941151
+f 5 1 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 7 1 5
+f 7 6 1
+f 8 5 3
+f 9 3 6
+f 10 7 5
+f 10 6 7
+f 11 2 8
+f 11 3 9
+f 12 5 8
+f 12 10 5
+f 13 11 8
+f 13 8 3
+f 13 3 11
+f 14 11 9
+f 14 9 2
+f 14 2 11
+f 15 2 9
+f 15 12 8
+f 15 8 2
+f 16 6 10
+f 16 10 12
+f 17 9 6
+f 17 15 9
+f 18 17 16
+f 18 16 12
+f 18 12 15
+f 18 15 17
+f 19 17 6
+f 19 6 16
+f 19 16 17
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_27.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..713eaf9b5e2accd13e7bc5eb3b2c7ac1cde8e873
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.18905676 -0.15875348 -0.41238006
+v 0.21439351 -0.12163311 -0.41633783
+v 0.21927809 0.11197439 -0.41591223
+v 0.15001340 0.10756261 -0.41666667
+v 0.14594158 -0.11563829 -0.49783120
+v 0.20139839 -0.11501176 -0.46408911
+v 0.14879232 0.10694043 -0.50000000
+v 0.16699820 -0.13669491 -0.47746619
+v 0.19989609 -0.01195109 -0.48920376
+v 0.15782180 -0.11533664 -0.49299302
+v 0.20327200 0.10381891 -0.46676779
+v 0.18427605 -0.11400761 -0.47642296
+v 0.18634236 -0.06960589 -0.49024470
+v 0.18602808 0.07244969 -0.48964743
+v 0.19977616 0.01493619 -0.48899786
+v 0.17113156 -0.09987872 -0.49013211
+v 0.19717817 -0.09770995 -0.47320686
+v 0.17081723 0.10272249 -0.48953474
+v 0.19905178 0.08651702 -0.47588559
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 7 5 4
+f 7 4 3
+f 8 6 1
+f 8 1 5
+f 9 3 2
+f 9 2 6
+f 9 5 7
+f 10 8 5
+f 11 7 3
+f 12 6 8
+f 12 8 10
+f 13 10 5
+f 13 5 9
+f 15 11 3
+f 15 3 9
+f 15 9 7
+f 15 7 14
+f 16 13 12
+f 16 12 10
+f 16 10 13
+f 17 13 9
+f 17 9 6
+f 17 6 12
+f 17 12 13
+f 18 14 7
+f 18 7 11
+f 19 15 14
+f 19 11 15
+f 19 18 11
+f 19 14 18
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_28.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbbb99b6f8b37d8e6b7886b8b7c43593d525b2ea
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.12997350 -0.19399696 -0.23101614
+v 0.01364976 -0.15001314 -0.50000000
+v 0.01364976 -0.15001314 -0.23484848
+v -0.10756236 -0.01364951 -0.23484848
+v -0.10756236 -0.01364951 -0.50000000
+v 0.01364976 -0.01364951 -0.50000000
+v 0.01364976 -0.01364951 -0.23484848
+v -0.13422007 -0.20233124 -0.35150209
+v -0.10750530 -0.14990117 -0.50000000
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 4 1
+f 7 3 6
+f 7 6 5
+f 7 5 4
+f 8 2 3
+f 8 3 1
+f 8 1 4
+f 8 4 5
+f 9 8 5
+f 9 5 2
+f 9 2 8
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_29.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..635d6936632c52b3795ca400c6e82fdafde78c5e
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16407482 -0.16407456 -0.23330467
+v 0.14189700 -0.14189674 -0.48854899
+v 0.19399694 0.12997338 -0.23101614
+v 0.01364976 0.10756261 -0.23484848
+v 0.01364976 -0.15001314 -0.23484848
+v 0.01364976 0.10756261 -0.50000000
+v 0.01364976 -0.15001314 -0.50000000
+v 0.14879232 0.10694043 -0.50000000
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 7 5 6
+f 8 6 3
+f 8 3 2
+f 8 7 6
+f 8 2 7
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_3.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd941badba3222834e2aecc4cae6abc346c181f3
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01364976 0.10756261 0.00757576
+v 0.17755170 0.15025282 -0.23016148
+v 0.13163095 0.16493774 0.05433908
+v 0.01135503 0.21428653 0.00643695
+v 0.01364976 0.10756261 -0.35606061
+v 0.09591616 0.21181268 -0.23632640
+v 0.06213623 0.20246284 0.05453497
+v 0.15670237 0.14455461 0.01163714
+v 0.15404436 0.18735132 -0.35395452
+v 0.01195457 0.23322338 -0.23568976
+v 0.09219660 0.18822848 0.05609832
+v 0.05748217 0.20338153 0.05222528
+v 0.13486189 0.10756261 -0.35606061
+v 0.11405572 0.20252548 -0.23581544
+v 0.01122292 0.22860400 -0.17544679
+v 0.04152047 0.22856931 -0.23605558
+v 0.01364976 0.16816867 -0.35606061
+v 0.06862142 0.21119561 -0.06963282
+v 0.11006234 0.17953661 0.05138047
+v 0.07987550 0.19491564 0.05140028
+f 5 1 4
+f 8 2 3
+f 8 3 1
+f 9 3 2
+f 11 7 1
+f 11 1 3
+f 12 7 4
+f 12 4 1
+f 12 1 7
+f 13 2 8
+f 13 9 2
+f 13 8 1
+f 13 1 5
+f 14 9 6
+f 15 10 5
+f 15 5 4
+f 16 6 9
+f 16 9 10
+f 16 10 15
+f 16 15 4
+f 17 10 9
+f 17 5 10
+f 17 13 5
+f 17 9 13
+f 18 11 6
+f 18 6 16
+f 18 16 4
+f 18 4 7
+f 19 3 9
+f 19 9 14
+f 19 11 3
+f 19 14 6
+f 19 6 11
+f 20 18 7
+f 20 7 11
+f 20 11 18
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_30.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..837207f51ade0fada177a5151901138fee08a6e5
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15075578 -0.15075552 0.00932076
+v 0.16398405 -0.16398379 -0.23165114
+v 0.13486189 -0.01364951 -0.23484848
+v -0.10756236 -0.01364951 0.00757576
+v -0.15025276 -0.17755203 -0.23016147
+v 0.13486189 -0.01364951 0.00757576
+v -0.13702449 -0.16432376 0.01081043
+v -0.10756236 -0.01364951 -0.23484848
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_31.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a9d679eed3f213116a928ebce9d71bd4b95dacb
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13486189 -0.01364951 0.00757576
+v 0.17755170 0.15025282 -0.23016148
+v 0.16432341 0.13702441 0.01081040
+v 0.13486189 -0.01364951 -0.23484848
+v 0.01364976 0.10756261 -0.23484848
+v 0.01364976 0.10756261 0.00757576
+v 0.01364976 -0.01364951 0.00757576
+v 0.01364976 -0.01364951 -0.23484848
+f 1 2 3
+f 2 1 4
+f 5 2 4
+f 6 3 2
+f 6 2 5
+f 7 4 1
+f 7 6 5
+f 7 1 3
+f 7 3 6
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_4.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efaedada70c6bda6a350b206ddf2b3dd4bb4ade9
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.21309683 0.10110483 -0.28140734
+v 0.22039435 0.10482310 -0.45443405
+v 0.09513214 0.22542549 -0.38797562
+v -0.05923386 0.22578108 -0.23627475
+v -0.10756236 0.10756261 -0.50000000
+v 0.12610305 0.19643324 -0.23634626
+v 0.18614964 0.10281466 -0.47910158
+v -0.12267296 0.19782537 -0.23226449
+v -0.09828001 0.22570868 -0.45309016
+v 0.05630342 0.22624228 -0.23623849
+v 0.19545749 0.15300657 -0.41833133
+v -0.10756236 0.10756261 -0.41666667
+v 0.14743029 0.18073708 -0.23346859
+v 0.06933925 0.18882229 -0.48924938
+v -0.07340600 0.22591936 -0.26659123
+v -0.10097541 0.21584717 -0.45924329
+v 0.07990005 0.22526684 -0.29708037
+v -0.05941738 0.24209118 -0.44414499
+v 0.20716322 0.12838454 -0.37283344
+v 0.13486189 0.10756261 -0.28030303
+v 0.09591616 0.21181268 -0.23632640
+v 0.15000274 0.19846091 -0.41833135
+v 0.15877906 0.10430883 -0.49544765
+v 0.14982079 0.19827909 -0.45194863
+v -0.09805120 0.22525977 -0.40314160
+v -0.09830431 0.21060502 -0.23643165
+v -0.10255405 0.17349075 -0.48890740
+v 0.01090793 0.24176663 -0.34226979
+v -0.02970964 0.21554667 -0.47568894
+v 0.20954409 0.12959766 -0.45319399
+v 0.19315827 0.14033771 -0.28199920
+v 0.14080449 0.19554992 -0.31218080
+v 0.12524348 0.15855027 -0.48854899
+v 0.05605116 0.23980094 -0.45319399
+v 0.09583204 0.22679885 -0.45319399
+v -0.07228123 0.18870155 -0.48902000
+v -0.01383838 0.24130543 -0.34230604
+v -0.04420551 0.24170997 -0.45319399
+v 0.19527505 0.15282412 -0.45195016
+v 0.15554651 0.12824724 -0.48854899
+v 0.12531903 0.21004605 -0.38799548
+v 0.05635423 0.24171461 -0.43318297
+v 0.02673019 0.21569839 -0.47578464
+v 0.05699304 0.23059624 -0.46031033
+v 0.12849726 0.20113189 -0.45955589
+v -0.05996551 0.23040026 -0.46016048
+v 0.13919815 0.17250484 -0.47300518
+v 0.18381291 0.11677561 -0.47576060
+v 0.16950121 0.14220194 -0.47300518
+v 0.19859851 0.13174069 -0.46008593
+f 7 2 1
+f 7 1 5
+f 10 4 8
+f 12 8 5
+f 12 5 1
+f 13 8 1
+f 13 10 8
+f 16 8 9
+f 18 15 4
+f 19 1 2
+f 20 12 1
+f 20 1 8
+f 20 8 12
+f 21 13 6
+f 21 10 13
+f 21 17 10
+f 21 3 17
+f 22 13 11
+f 23 7 5
+f 23 5 14
+f 24 22 11
+f 25 9 8
+f 25 8 15
+f 25 18 9
+f 25 15 18
+f 26 15 8
+f 26 8 4
+f 26 4 15
+f 27 5 8
+f 27 8 16
+f 28 4 10
+f 30 19 2
+f 30 11 19
+f 30 2 7
+f 31 13 1
+f 31 1 19
+f 31 19 11
+f 31 11 13
+f 32 6 13
+f 32 13 22
+f 32 21 6
+f 32 3 21
+f 33 23 14
+f 35 3 22
+f 35 22 24
+f 36 14 5
+f 36 5 27
+f 36 27 16
+f 36 16 9
+f 37 28 18
+f 37 18 4
+f 37 4 28
+f 38 9 18
+f 39 24 11
+f 39 11 30
+f 40 23 33
+f 41 32 22
+f 41 22 3
+f 41 3 32
+f 42 18 28
+f 42 28 10
+f 42 10 17
+f 42 17 3
+f 42 35 34
+f 42 3 35
+f 42 38 18
+f 42 34 38
+f 43 38 34
+f 43 29 38
+f 43 36 29
+f 43 14 36
+f 44 35 14
+f 44 34 35
+f 44 43 34
+f 44 14 43
+f 45 33 14
+f 45 14 35
+f 45 35 24
+f 45 24 33
+f 46 36 9
+f 46 9 38
+f 46 38 29
+f 46 29 36
+f 47 33 24
+f 47 24 39
+f 48 7 23
+f 48 23 40
+f 49 47 39
+f 49 39 40
+f 49 40 33
+f 49 33 47
+f 50 48 40
+f 50 40 39
+f 50 39 30
+f 50 30 7
+f 50 7 48
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_5.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4c923d9386248f291339939057823caea98ae41
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.12825413 -0.15855691 0.14321392
+v 0.20789517 -0.08029905 -0.10004240
+v 0.19255871 -0.02594050 0.22422500
+v 0.11519754 0.15931167 0.22422500
+v 0.13486189 0.03180504 -0.09848485
+v 0.21949082 0.03081035 -0.09897849
+v 0.11647378 -0.10132201 0.26490790
+v 0.16794427 -0.09825472 0.22422500
+v 0.13395203 -0.17940632 -0.09858474
+v 0.20842108 -0.01090152 0.08196958
+v 0.17607915 0.08253210 0.22400355
+v 0.18022551 0.11552505 0.01152835
+v 0.18427061 -0.12915624 -0.11461200
+v 0.19308177 -0.06531981 0.15756282
+v 0.14739192 -0.05004812 0.26408995
+v 0.12651113 -0.17196542 0.03696195
+v 0.11906189 0.16689598 0.14382850
+v 0.20892727 -0.06788471 -0.03929270
+v 0.19245299 0.04407937 0.21826905
+v 0.16074415 0.11274164 0.22390093
+v 0.19036285 -0.11710891 -0.11408117
+v 0.18023334 -0.13477854 -0.11364549
+v 0.19291405 -0.04114824 0.21830528
+v 0.16617116 -0.12073067 0.14238703
+v 0.12407094 -0.09376765 0.26433930
+v 0.11497622 0.10282839 0.26479518
+v 0.20795971 0.01383247 0.08193332
+v 0.19291609 0.06823928 0.14239688
+v 0.19209457 0.02887100 0.22422500
+v 0.12676113 0.16006791 0.14305000
+v 0.17719596 -0.08009712 0.22422500
+v 0.17666086 -0.09497606 0.17260373
+v 0.15075448 -0.13560271 0.14734776
+v 0.13201173 -0.08023466 0.26407627
+v 0.12069948 0.15400627 0.22422500
+v 0.13080023 0.08262159 0.26400393
+v 0.17649499 0.09789540 0.15743777
+v 0.20907999 0.04431306 0.00626381
+v 0.18299176 -0.01167341 0.23280698
+v 0.12257348 0.09527404 0.26422659
+v 0.14618014 0.05243493 0.26401758
+v 0.19620004 0.08506406 0.00631938
+f 8 7 1
+f 12 6 5
+f 16 9 1
+f 16 1 7
+f 16 7 4
+f 17 5 9
+f 17 12 5
+f 17 16 4
+f 17 9 16
+f 18 2 6
+f 18 6 10
+f 18 14 2
+f 21 6 2
+f 21 13 5
+f 21 5 6
+f 22 9 5
+f 22 5 13
+f 23 10 3
+f 23 18 10
+f 23 14 18
+f 24 13 21
+f 24 21 2
+f 24 22 13
+f 25 15 7
+f 25 7 8
+f 26 4 7
+f 26 7 15
+f 27 10 6
+f 27 6 19
+f 28 11 19
+f 29 3 10
+f 29 27 19
+f 29 10 27
+f 29 19 11
+f 30 17 4
+f 30 20 12
+f 30 12 17
+f 31 14 23
+f 31 15 8
+f 31 23 3
+f 31 3 15
+f 32 8 24
+f 32 31 8
+f 32 14 31
+f 32 24 2
+f 32 2 14
+f 33 24 8
+f 33 8 1
+f 33 22 24
+f 33 1 9
+f 33 9 22
+f 34 25 8
+f 34 8 15
+f 34 15 25
+f 35 26 20
+f 35 4 26
+f 35 30 4
+f 35 20 30
+f 36 11 20
+f 37 20 11
+f 37 11 28
+f 37 28 12
+f 37 12 20
+f 38 28 19
+f 38 19 6
+f 39 15 3
+f 39 3 29
+f 40 36 20
+f 40 20 26
+f 40 26 36
+f 41 29 11
+f 41 11 36
+f 41 39 29
+f 41 15 39
+f 41 36 26
+f 41 26 15
+f 42 38 6
+f 42 6 12
+f 42 12 28
+f 42 28 38
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_6.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b43212fb1fdef4f602106a26d7586f50fdb9e37a
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.14231047 -0.18776476 -0.25084571
+v 0.23734169 -0.07128866 -0.45310785
+v 0.22382402 -0.07154741 -0.23619247
+v 0.19399694 0.12997338 -0.23101614
+v 0.15001340 0.10756261 -0.41666667
+v 0.23883498 0.07452917 -0.43317322
+v 0.14901407 -0.17931685 -0.23495820
+v 0.14208048 -0.18753477 -0.46302904
+v 0.23991413 0.00000000 -0.29672476
+v 0.22492472 0.09941137 -0.45319399
+v 0.19650627 -0.15105147 -0.45276631
+v 0.23814151 -0.07141531 -0.41807621
+v 0.22365117 0.07266879 -0.23625111
+v 0.20327200 0.10381891 -0.46676779
+v 0.22254249 0.09819756 -0.37281359
+v 0.23696345 0.07423282 -0.45292586
+v 0.19529669 -0.14984188 -0.38804594
+v 0.14594158 -0.11563829 -0.49783120
+v 0.14539108 -0.20154736 -0.45319399
+v 0.22794163 0.07414838 -0.46008704
+v 0.19579985 -0.12731057 -0.23613973
+v 0.15704852 -0.12674523 -0.48854899
+v 0.14398079 -0.12882902 -0.49313870
+v 0.14466659 -0.20012533 -0.38727797
+v 0.18463459 -0.15433131 -0.45782126
+v 0.20314026 0.04577202 -0.48276073
+v 0.19219155 -0.13963562 -0.26680280
+v 0.15782180 -0.11533664 -0.49299302
+v 0.14984214 -0.19529643 -0.38804594
+v 0.15433157 -0.18463434 -0.45782126
+v 0.21266860 0.04488143 -0.47549531
+v 0.18023464 -0.14993136 -0.25167248
+v 0.20732909 -0.12546491 -0.35766746
+v 0.22785760 -0.07218629 -0.46039220
+v 0.21284508 -0.04190527 -0.47572329
+v 0.15105172 -0.19650601 -0.45276631
+v 0.15663522 -0.17178648 -0.23578497
+v 0.22270853 -0.09527801 -0.35764760
+v 0.22254987 -0.08004591 -0.26675235
+f 5 1 4
+f 7 3 4
+f 7 4 1
+f 8 1 5
+f 12 9 3
+f 12 2 6
+f 12 6 9
+f 12 11 2
+f 13 9 6
+f 13 4 3
+f 13 3 9
+f 14 5 4
+f 14 4 10
+f 15 10 4
+f 15 6 10
+f 15 13 6
+f 15 4 13
+f 16 10 6
+f 16 6 2
+f 17 11 12
+f 18 5 14
+f 20 14 10
+f 20 10 16
+f 21 3 7
+f 23 8 5
+f 23 5 18
+f 23 22 8
+f 23 18 22
+f 24 1 8
+f 24 8 19
+f 25 11 19
+f 25 22 11
+f 26 18 14
+f 26 14 20
+f 28 22 18
+f 28 11 22
+f 29 17 1
+f 29 1 24
+f 29 11 17
+f 30 25 19
+f 30 19 8
+f 30 8 22
+f 30 22 25
+f 31 26 20
+f 31 20 16
+f 32 27 21
+f 33 27 17
+f 33 17 12
+f 33 21 27
+f 34 2 11
+f 34 11 28
+f 35 28 18
+f 35 18 26
+f 35 34 28
+f 35 26 31
+f 35 2 34
+f 35 31 16
+f 35 16 2
+f 36 29 24
+f 36 24 19
+f 36 19 11
+f 36 11 29
+f 37 32 21
+f 37 21 7
+f 37 7 1
+f 37 1 17
+f 37 17 27
+f 37 27 32
+f 38 33 12
+f 38 21 33
+f 39 38 12
+f 39 12 3
+f 39 3 21
+f 39 21 38
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_7.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d0a274467291415c9b0ca3997fc74f9f7f13c8
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.16766395 0.10160587 0.32941100
+v 0.11971037 0.09241110 0.00757576
+v 0.05803090 0.20684606 0.00704305
+v -0.04501707 0.18314527 0.40612000
+v -0.12163305 0.12351779 0.41492599
+v 0.07953985 0.18051453 0.32370850
+v 0.13411125 0.16741804 0.00915684
+v 0.01364976 0.09241110 0.40151515
+v -0.09241084 0.09241110 0.00757576
+v 0.01051459 0.19717126 0.32941100
+v 0.07672031 0.15785397 0.44754864
+v 0.16766774 0.10160770 0.31941250
+v 0.12144726 0.15556681 0.32941100
+v 0.11615458 0.17634165 0.05242226
+v 0.12253058 0.09523135 0.26536379
+v -0.08385596 0.19683352 0.00611284
+v -0.07976231 0.15792952 0.44755773
+v 0.04089473 0.18242458 0.40612000
+v 0.16317176 0.11115750 0.31941250
+v 0.06782804 0.20100778 0.05193110
+v 0.02613797 0.21195948 0.00625403
+v -0.01428549 0.21382532 0.00640069
+v -0.05704693 0.16976091 0.44540825
+v -0.08509035 0.16777089 0.40108198
+v 0.00050185 0.19778755 0.32941100
+v 0.06460031 0.16437021 0.44470149
+v 0.16316825 0.11115500 0.32941100
+v -0.07055406 0.18422932 0.32941100
+v -0.05478882 0.18203713 0.40106064
+v 0.01098920 0.21197684 0.03655843
+v -0.06809283 0.19563316 0.11206885
+v -0.01456752 0.19713824 0.32370850
+f 7 2 3
+f 9 8 5
+f 9 2 8
+f 10 6 3
+f 11 8 1
+f 12 1 2
+f 12 2 7
+f 13 6 11
+f 14 7 3
+f 14 13 7
+f 14 6 13
+f 15 8 2
+f 15 2 1
+f 15 1 8
+f 16 2 9
+f 16 9 5
+f 17 5 8
+f 17 8 11
+f 18 6 10
+f 19 12 7
+f 19 1 12
+f 20 14 3
+f 20 3 6
+f 20 6 14
+f 21 3 2
+f 21 2 16
+f 21 10 3
+f 22 21 16
+f 23 17 11
+f 23 18 4
+f 24 16 5
+f 24 5 17
+f 24 17 23
+f 25 18 10
+f 25 4 18
+f 26 11 6
+f 26 6 18
+f 26 23 11
+f 26 18 23
+f 27 19 7
+f 27 7 13
+f 27 13 11
+f 27 11 1
+f 27 1 19
+f 28 16 24
+f 29 24 23
+f 29 23 4
+f 29 28 24
+f 30 25 10
+f 30 10 21
+f 30 21 22
+f 30 22 25
+f 31 28 22
+f 31 22 16
+f 31 16 28
+f 32 25 22
+f 32 22 28
+f 32 28 29
+f 32 29 4
+f 32 4 25
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_8.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc2f8214528baf293e0cae9623e98edbd59f9d8c
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.13217175 -0.11401647 0.23904026
+v -0.17320566 -0.13989887 -0.09626831
+v -0.13438096 0.07548416 0.26494339
+v -0.17757530 0.09749247 0.14739939
+v -0.19497372 -0.01069578 0.22422500
+v -0.19743877 0.09989392 -0.09461433
+v -0.16488218 -0.11031576 0.21809048
+v -0.14900317 -0.08037586 0.35124901
+v -0.17315460 0.01744326 0.34267399
+v -0.21232698 0.06898920 -0.08476376
+v -0.21344727 -0.06935320 -0.09974972
+v -0.15235625 -0.13420097 0.14553036
+v -0.16284834 -0.07154482 0.33987689
+v -0.18272913 0.06923854 0.22422500
+v -0.16671004 0.02122215 0.35124901
+v -0.18394427 -0.06685367 0.22422500
+v -0.18995457 -0.11537062 -0.09922693
+v -0.21197707 -0.01098915 0.03655848
+v -0.21341316 0.06943273 -0.09982331
+v -0.19450958 0.01362628 0.22422500
+v -0.19563304 0.06809341 0.11206887
+v -0.19684098 -0.06570462 0.11217412
+v -0.18026129 -0.08012869 0.21811031
+v -0.19924168 -0.09723088 -0.09973792
+v -0.21151564 0.01391995 0.03652221
+v -0.21119586 -0.06862167 -0.06963276
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 1 3
+f 12 7 2
+f 12 2 1
+f 12 8 7
+f 12 1 8
+f 13 7 8
+f 13 9 5
+f 14 3 4
+f 15 8 3
+f 15 14 9
+f 15 3 14
+f 15 13 8
+f 15 9 13
+f 16 13 5
+f 17 2 7
+f 17 7 11
+f 19 6 2
+f 19 2 17
+f 19 4 6
+f 19 11 18
+f 20 5 9
+f 20 9 14
+f 21 14 4
+f 21 20 14
+f 21 19 10
+f 21 4 19
+f 22 16 5
+f 22 5 18
+f 23 7 13
+f 23 13 16
+f 23 16 22
+f 24 19 17
+f 24 17 11
+f 24 11 19
+f 25 19 18
+f 25 10 19
+f 25 18 5
+f 25 5 20
+f 25 21 10
+f 25 20 21
+f 26 22 18
+f 26 18 11
+f 26 23 22
+f 26 11 7
+f 26 7 23
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_9.obj b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82aaffc65a3fb2712d442a2824c4bce8f33daab0
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01364976 -0.01364951 0.00757576
+v 0.01364976 -0.01364951 -0.50000000
+v 0.01195457 0.23322338 -0.23568976
+v -0.02906842 0.21149829 0.00621778
+v -0.10756236 -0.01364951 -0.50000000
+v 0.01135503 0.21428653 0.00643695
+v 0.01364976 0.16816867 -0.41666667
+v -0.10756236 -0.01364951 0.00757576
+v -0.12904323 0.21032676 -0.41299335
+v -0.01378757 0.22583311 -0.14536156
+v -0.10199572 0.18754639 0.00662383
+v 0.01364976 0.10756261 -0.50000000
+v 0.01085710 0.22629431 -0.14532531
+v -0.06898945 0.21232674 -0.08476379
+v -0.04445093 0.22810811 -0.23609183
+v -0.10756236 0.10756261 -0.50000000
+v -0.08385596 0.19683352 0.00611284
+v -0.08625699 0.21669726 -0.23590082
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 9 3 7
+f 9 5 8
+f 10 4 6
+f 11 6 4
+f 11 9 8
+f 11 8 1
+f 11 1 6
+f 12 9 7
+f 12 7 2
+f 12 2 5
+f 13 10 6
+f 13 6 3
+f 13 3 10
+f 15 10 3
+f 15 3 9
+f 15 14 4
+f 15 4 10
+f 16 12 5
+f 16 5 9
+f 16 9 12
+f 17 14 11
+f 17 11 4
+f 17 4 14
+f 18 15 9
+f 18 14 15
+f 18 9 11
+f 18 11 14
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/model.xml b/objects/objaverse/shaker/shaker_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..76b513dad7a81bd3570580431f20022e396aae94
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="shaker_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09499999999999997 0.09499999999999997 0.09499999999999997" refquat="1.0 0.0 0.0 0.0"/>
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+    <material name="metalsalt.001" texture="image2" specular="0.5" shininess="0.25"/>
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+  <worldbody>
+    <body>
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diff --git a/objects/objaverse/shaker/shaker_2/visual/material.mtl b/objects/objaverse/shaker/shaker_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_2/visual/model_normalized_0.obj b/objects/objaverse/shaker/shaker_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a09e5dbc6c98d091d672b65c57650736ea9c2dd
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/visual/model_normalized_0.obj
@@ -0,0 +1,1621 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/objaverse/shaker/shaker_2/visual/model_normalized_1.obj b/objects/objaverse/shaker/shaker_2/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0adba4f8409a6d506c8218f723d92dde96e914
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_2/visual/model_normalized_1.obj
@@ -0,0 +1,5272 @@
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+f 1202/1202/1202 897/897/897 899/899/899
+f 897/897/897 1202/1202/1202 1203/1203/1203
+f 1203/1203/1203 893/893/893 897/897/897
+f 893/893/893 1203/1203/1203 1184/1184/1184
+f 1184/1184/1184 894/894/894 893/893/893
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_0.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3e342f53c26bb275250300ea0e1f3e0a2bc9aea
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.12727508 0.10840377 0.14393939
+v -0.12727508 0.10840377 -0.41666667
+v -0.12727508 0.23719163 0.14393939
+v -0.16009439 0.23719163 0.13642966
+v -0.26290385 0.10825746 -0.44696970
+v -0.23723382 0.23719165 -0.47343451
+v -0.25324721 0.10310903 0.13582000
+v -0.12727508 0.23719160 -0.41666667
+v -0.18788114 0.10840377 -0.49999993
+v -0.24697281 0.16970947 0.07062871
+v -0.25129760 0.16655279 -0.47343451
+v -0.21086471 0.19785560 -0.49691414
+v -0.24969624 0.11146504 0.13331088
+v -0.23310645 0.23719160 0.01358575
+v -0.21818418 0.23335471 -0.47612036
+v -0.21277311 0.16793252 -0.49969394
+v -0.23333570 0.23335471 -0.47612036
+v -0.22313190 0.16697832 -0.49271280
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 2 1
+f 8 6 3
+f 8 1 2
+f 8 3 1
+f 9 7 5
+f 9 2 7
+f 9 8 2
+f 10 6 5
+f 10 5 7
+f 11 9 5
+f 11 5 6
+f 12 8 9
+f 12 11 6
+f 13 10 7
+f 13 7 4
+f 13 4 10
+f 14 10 4
+f 14 4 6
+f 14 6 10
+f 15 6 8
+f 15 8 12
+f 16 12 9
+f 16 11 12
+f 17 15 12
+f 17 12 6
+f 17 6 15
+f 18 16 9
+f 18 9 11
+f 18 11 16
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_1.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3b041d199877434fa82d165d5c7d3939b8e6839
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.14503703 -0.17935818 0.18914719
+v 0.25811742 -0.11145750 0.12227248
+v 0.18960909 0.03004093 0.26515151
+v 0.16003147 0.22931104 0.14359929
+v 0.22088260 -0.14888829 0.12853848
+v 0.25536722 0.09118376 0.13631412
+v 0.15427044 0.11722203 0.26515152
+v 0.15661353 -0.11487879 0.26515151
+v 0.20164320 -0.16049499 0.14057375
+v 0.17675458 0.20692494 0.13552808
+v 0.27117577 0.00051153 0.13748979
+v 0.13246374 -0.17581986 0.21197731
+v 0.15729552 0.11414960 0.26515152
+v 0.19033311 -0.02546923 0.26515151
+v 0.22953988 -0.14325680 0.12358785
+v 0.16592768 0.22438036 0.13809841
+v 0.24222289 0.11373794 0.13484747
+v 0.26653974 -0.05824032 0.12870529
+v 0.15522261 0.22423480 0.15317748
+v 0.13728341 -0.14100321 0.24322778
+v 0.17267619 0.08396333 0.26515151
+v 0.17457173 -0.08024283 0.26515151
+v 0.25276135 -0.10795734 0.13328010
+v 0.27017182 -0.01069860 0.13622003
+v 0.23778477 0.09389632 0.16080695
+v 0.24916600 -0.08539545 0.14749044
+v 0.15919107 -0.11042911 0.26515151
+f 9 5 8
+f 11 6 3
+f 12 4 1
+f 12 9 8
+f 12 1 9
+f 13 4 7
+f 13 7 8
+f 14 3 13
+f 14 11 3
+f 15 8 5
+f 15 2 8
+f 15 10 2
+f 16 9 1
+f 16 1 4
+f 16 5 9
+f 16 15 5
+f 16 10 15
+f 17 6 2
+f 17 2 10
+f 17 10 16
+f 17 16 4
+f 17 4 13
+f 18 2 6
+f 18 6 11
+f 19 12 7
+f 19 7 4
+f 19 4 12
+f 20 12 8
+f 20 8 7
+f 20 7 12
+f 21 13 3
+f 21 3 6
+f 22 14 13
+f 23 2 18
+f 23 14 22
+f 23 8 2
+f 24 18 11
+f 24 11 14
+f 24 14 18
+f 25 21 6
+f 25 13 21
+f 25 17 13
+f 25 6 17
+f 26 23 18
+f 26 18 14
+f 26 14 23
+f 27 23 22
+f 27 8 23
+f 27 22 13
+f 27 13 8
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_10.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c34ce0ef7b957d7b5f519b37ba1369e81c79896
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.15833410 -0.23562673 0.13991116
+v 0.21290618 -0.13995867 0.14915965
+v 0.10597131 -0.16146246 0.26515151
+v -0.17398370 -0.12693936 0.21159910
+v -0.21092946 -0.14150536 0.13683927
+v 0.14146202 -0.13003030 0.26515151
+v -0.08808124 -0.22597232 0.20411726
+v 0.19601172 -0.17076315 0.13628081
+v -0.21131427 -0.12676050 0.15236740
+v -0.13994923 -0.13154310 0.26515151
+v 0.13388626 -0.13760606 0.26515151
+v 0.07965985 -0.22804512 0.20601147
+v -0.16134460 -0.23401581 0.13717272
+v -0.21613720 -0.13185727 0.14193604
+v 0.19805429 -0.12707982 0.18329243
+v -0.01831419 -0.19146644 0.26515151
+v -0.03283245 -0.22527503 0.21924158
+v 0.16411530 -0.22165390 0.13702123
+v -0.10356932 -0.16268636 0.26515151
+v 0.07578504 -0.17684312 0.26515151
+v 0.00648500 -0.19334000 0.26515151
+v -0.15925624 -0.22814701 0.14594688
+v -0.07338305 -0.17806705 0.26515151
+v 0.03542567 -0.22533419 0.21733190
+v -0.13237347 -0.13911886 0.26515151
+f 6 1 2
+f 8 5 2
+f 8 2 1
+f 10 6 4
+f 10 4 9
+f 11 6 3
+f 11 3 1
+f 11 1 6
+f 12 1 3
+f 13 1 12
+f 13 5 8
+f 14 9 2
+f 14 2 5
+f 14 5 13
+f 14 10 9
+f 15 6 2
+f 15 2 9
+f 15 9 4
+f 15 4 6
+f 16 3 6
+f 17 13 12
+f 17 7 13
+f 17 16 7
+f 18 13 8
+f 18 8 1
+f 18 1 13
+f 19 16 6
+f 19 6 10
+f 20 12 3
+f 20 3 16
+f 21 16 17
+f 21 20 16
+f 21 12 20
+f 22 13 7
+f 22 7 19
+f 22 14 13
+f 22 10 14
+f 23 19 7
+f 23 7 16
+f 23 16 19
+f 24 21 17
+f 24 17 12
+f 24 12 21
+f 25 22 19
+f 25 19 10
+f 25 10 22
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_12.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fddd845ef428d52bdead5cbde48c964a1fa6137
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.12727508 0.10840377 -0.41666667
+v -0.12727508 0.10840377 -0.49999993
+v -0.12727508 0.23719160 -0.41666667
+v -0.21818418 0.23719164 -0.41666667
+v -0.24956455 0.17525748 -0.44696970
+v -0.12727508 0.20589891 -0.49533937
+v -0.18788114 0.10840377 -0.41666667
+v -0.12727508 0.23335469 -0.47612034
+v -0.21086471 0.19785560 -0.49691414
+v -0.18788114 0.10840377 -0.49999993
+v -0.24956455 0.17525748 -0.41666667
+v -0.21818418 0.23335471 -0.47612036
+v -0.21361967 0.20841257 -0.49357983
+f 7 2 1
+f 8 4 3
+f 8 2 6
+f 8 1 2
+f 8 3 1
+f 9 6 2
+f 10 7 5
+f 10 2 7
+f 10 9 2
+f 10 5 9
+f 11 4 5
+f 11 5 7
+f 11 7 1
+f 11 1 3
+f 11 3 4
+f 12 8 6
+f 12 4 8
+f 12 5 4
+f 13 12 6
+f 13 6 9
+f 13 9 5
+f 13 5 12
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_13.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9673c7cdf0faec0073710bbb95e95575d803da7e
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.12629973 -0.14517104 0.39793850
+v 0.20569724 -0.02550292 0.29886158
+v 0.18872244 -0.06458138 0.38921634
+v 0.15612457 0.10641018 0.40512337
+v 0.16018483 0.10847900 0.26515151
+v 0.18736805 0.06857762 0.38825548
+v 0.16734760 -0.12561285 0.29886158
+v 0.12631051 -0.14518182 0.26515151
+v 0.20569724 -0.02550292 0.31024674
+v 0.18932474 0.08472611 0.31024674
+v 0.16092849 -0.11919374 0.38826074
+v 0.15219608 -0.14076436 0.29886158
+v 0.19033311 -0.02546923 0.26515151
+v 0.19617997 -0.06838118 0.29804141
+v 0.17643193 0.08587698 0.39124607
+v 0.20497321 0.03007461 0.29886158
+v 0.17583962 -0.11119188 0.31024674
+v 0.14577697 -0.13434525 0.38826075
+v 0.15919107 -0.11042911 0.26515151
+v 0.18960909 0.03004093 0.26515151
+v 0.19545365 0.07269743 0.29886158
+v 0.20497321 0.03007461 0.31024674
+v 0.19122028 -0.08100561 0.31024674
+v 0.13388626 -0.13760606 0.26515151
+v 0.17583962 -0.11119188 0.29886158
+v 0.17457173 -0.08024283 0.26515151
+v 0.18932474 0.08472611 0.29886158
+v 0.17880511 0.07193465 0.26515151
+v 0.19122028 -0.08100561 0.29886158
+f 1 3 4
+f 6 4 3
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 10 5 4
+f 11 3 1
+f 12 8 7
+f 12 1 8
+f 12 7 11
+f 14 2 9
+f 14 13 2
+f 14 9 3
+f 15 10 4
+f 15 4 6
+f 15 6 10
+f 16 9 2
+f 16 2 13
+f 17 11 7
+f 17 3 11
+f 18 12 11
+f 18 11 1
+f 18 1 12
+f 20 16 13
+f 20 13 5
+f 21 10 6
+f 21 16 20
+f 22 6 9
+f 22 9 16
+f 22 21 6
+f 22 16 21
+f 23 14 3
+f 23 3 17
+f 24 19 7
+f 24 7 8
+f 24 8 5
+f 24 5 19
+f 25 7 19
+f 25 23 17
+f 25 17 7
+f 26 13 14
+f 26 19 5
+f 26 5 13
+f 27 5 10
+f 27 10 21
+f 28 21 20
+f 28 20 5
+f 28 27 21
+f 28 5 27
+f 29 14 23
+f 29 23 25
+f 29 26 14
+f 29 25 19
+f 29 19 26
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_14.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1af80f844bce8792d7e012b7337b86399ff0c9f7
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.17950454 -0.12975237 0.19966451
+v -0.20158790 -0.14100442 0.15192616
+v -0.21204133 0.12935432 0.16235698
+v -0.18719396 0.04528911 0.26515151
+v -0.25329131 -0.10135860 0.13690506
+v -0.18001670 0.10439664 0.22870362
+v -0.18520622 -0.05783923 0.26515151
+v -0.26675992 0.03046647 0.13596393
+v -0.25324721 0.10310903 0.13582000
+v -0.17781442 0.08812301 0.24213438
+v -0.26737839 -0.02587034 0.13623666
+v -0.18682318 0.04763015 0.26515151
+v -0.22636078 -0.12664953 0.13711311
+v -0.17811815 -0.09874294 0.22915970
+v -0.18557701 -0.05549819 0.26515152
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 9 6 3
+f 10 1 6
+f 11 4 8
+f 11 5 7
+f 12 6 9
+f 12 10 6
+f 12 7 10
+f 12 9 8
+f 12 8 4
+f 13 9 3
+f 13 3 2
+f 13 2 5
+f 13 5 11
+f 13 11 8
+f 13 8 9
+f 14 10 7
+f 14 7 1
+f 14 1 10
+f 15 11 7
+f 15 4 11
+f 15 12 4
+f 15 7 12
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_15.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..950342289c698622fcbf4adc82c0245f9d8bb32e
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.16030159 0.10824984 0.26515151
+v 0.19953020 0.12823781 0.16662139
+v 0.15706948 0.23719161 0.13939684
+v -0.16009439 0.23719163 0.13642966
+v -0.24619758 0.10723715 0.14215040
+v -0.06006273 0.18485409 0.26515151
+v -0.23986718 0.10401165 0.15235567
+v -0.24103896 0.11709653 0.13826151
+v 0.06186074 0.18393801 0.26515151
+v -0.01727045 0.23010189 0.21742857
+v -0.16280076 0.10334476 0.26515152
+v 0.11639166 0.15510083 0.26515151
+v -0.09893877 0.23293200 0.18759899
+v 0.08057979 0.23007265 0.20387971
+v 0.02050922 0.22913461 0.21837014
+v -0.17368630 0.10117114 0.23890889
+v -0.11487882 0.15661357 0.26515151
+v -0.15724626 0.11424610 0.26515152
+v 0.14669468 0.12479779 0.26515152
+v -0.07944086 0.22974284 0.20438019
+v 0.10306395 0.22947451 0.18901229
+v -0.22015677 0.10168878 0.17909661
+f 1 2 3
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 11 5 7
+f 13 10 3
+f 13 3 4
+f 14 3 10
+f 14 9 12
+f 15 10 6
+f 15 6 9
+f 15 14 10
+f 15 9 14
+f 16 1 11
+f 17 13 4
+f 18 4 5
+f 18 5 11
+f 18 17 4
+f 18 6 17
+f 19 1 3
+f 19 3 12
+f 19 12 9
+f 19 9 6
+f 19 6 18
+f 19 18 11
+f 19 11 1
+f 20 6 10
+f 20 10 13
+f 20 17 6
+f 20 13 17
+f 21 14 12
+f 21 12 3
+f 21 3 14
+f 22 16 11
+f 22 11 7
+f 22 7 1
+f 22 1 16
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_16.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f983e2277b1b0e9a2481c419d3f070353b26da4d
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.09697205 -0.01280835 0.50000000
+v -0.09697205 -0.01280835 0.26515151
+v -0.08964499 0.16978118 0.28030303
+v -0.09181206 0.17403431 0.48523965
+v -0.20687167 0.01570296 0.29862837
+v -0.20707507 -0.01104884 0.29829889
+v -0.19981552 0.01458538 0.48066827
+v -0.18719396 0.04528911 0.26515151
+v -0.17062184 0.08445821 0.49533119
+v -0.20033287 -0.00998099 0.48099939
+v -0.09577391 0.16665834 0.26515151
+v -0.19260013 -0.01115600 0.26515151
+v -0.09370510 0.16259808 0.50000000
+v -0.18870106 0.08594995 0.31024674
+v -0.18898326 -0.01058315 0.49858412
+v -0.12059404 0.17104907 0.29886158
+v -0.15857670 0.12455388 0.47977219
+v -0.20255812 0.04532279 0.31024674
+v -0.18512055 0.04496072 0.49611199
+v -0.15724626 0.11424610 0.26515152
+v -0.11765254 0.16527605 0.47902615
+v -0.15604662 0.11337452 0.49510796
+v -0.16349166 0.12946884 0.29886158
+v -0.18765531 0.07026560 0.48151482
+v -0.19329662 0.07313998 0.29778598
+v -0.11487882 0.15661357 0.26515151
+v -0.11369619 0.15543095 0.49543686
+v -0.17332040 0.11613622 0.31024674
+v -0.20255812 0.04532279 0.29886158
+v -0.17205252 0.08518717 0.26515152
+v -0.17332040 0.11613622 0.29886158
+v -0.18870106 0.08594995 0.29886158
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 10 7 5
+f 10 5 6
+f 11 3 2
+f 12 6 5
+f 12 5 8
+f 12 2 6
+f 12 11 2
+f 13 1 4
+f 15 10 6
+f 15 6 1
+f 15 7 10
+f 15 1 13
+f 16 4 3
+f 16 3 11
+f 18 5 7
+f 19 7 15
+f 19 15 13
+f 19 13 9
+f 21 13 4
+f 21 4 16
+f 22 9 13
+f 23 21 16
+f 23 17 21
+f 24 22 17
+f 24 9 22
+f 24 19 9
+f 24 7 19
+f 24 18 7
+f 24 14 18
+f 25 18 14
+f 26 16 11
+f 26 8 20
+f 26 12 8
+f 26 11 12
+f 26 23 16
+f 26 20 23
+f 27 21 17
+f 27 17 22
+f 27 22 13
+f 27 13 21
+f 28 17 23
+f 28 24 17
+f 28 14 24
+f 29 25 8
+f 29 8 5
+f 29 5 18
+f 29 18 25
+f 30 20 8
+f 30 8 25
+f 31 23 20
+f 31 28 23
+f 31 14 28
+f 32 30 25
+f 32 25 14
+f 32 14 31
+f 32 31 20
+f 32 20 30
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_17.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab2414376358a0a1202067991579fd00cd4d94e5
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.12157547 -0.14347238 0.40512337
+v -0.09697205 -0.01280835 0.26515151
+v -0.09697205 -0.01280835 0.40151515
+v -0.19397233 -0.01137334 0.39571653
+v -0.15856749 -0.11165297 0.26515151
+v -0.19260013 -0.01115600 0.26515151
+v -0.12479773 -0.14669461 0.26515151
+v -0.17098927 -0.11026210 0.38140421
+v -0.18741313 -0.06545585 0.39043392
+v -0.17521604 -0.11241575 0.29886158
+v -0.16116173 -0.11297481 0.39330836
+v -0.20796428 -0.01118968 0.29886158
+v -0.18636996 -0.08007584 0.38140421
+v -0.18791805 -0.04071746 0.26515152
+v -0.20796428 -0.01118968 0.31024674
+v -0.19059673 -0.08222949 0.29886158
+v -0.20328220 -0.04075114 0.31024674
+v -0.20328220 -0.04075114 0.29886158
+v -0.17394817 -0.08146671 0.26515152
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 9 1 4
+f 10 7 1
+f 10 1 8
+f 10 5 7
+f 11 8 1
+f 11 1 9
+f 13 10 8
+f 13 11 9
+f 13 8 11
+f 14 6 5
+f 15 9 4
+f 15 4 6
+f 15 6 12
+f 16 10 13
+f 16 5 10
+f 17 13 9
+f 17 9 15
+f 17 16 13
+f 17 15 12
+f 18 14 16
+f 18 12 6
+f 18 6 14
+f 18 17 12
+f 18 16 17
+f 19 16 14
+f 19 14 5
+f 19 5 16
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_18.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27bbdd0476fcdaed9940d60031010a4cf63dce8
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.20844740 0.16250709 0.12135140
+v 0.24254039 0.16722348 -0.47935494
+v 0.23826526 0.23201134 0.01118113
+v 0.15706948 0.23719161 0.13939684
+v 0.16060370 0.16900983 -0.49999993
+v 0.24589140 0.16306927 0.07783173
+v 0.22520047 0.16678778 -0.49131878
+v 0.17975420 0.17921209 0.15532146
+v 0.16060370 0.23335470 -0.47612035
+v 0.16099700 0.23690510 0.13516787
+v 0.23723390 0.23719161 -0.47343451
+v 0.19724983 0.16452172 0.13880683
+v 0.21758710 0.23476563 0.04187190
+v 0.23967777 0.21210809 -0.47518522
+v 0.21456138 0.20956014 -0.49277653
+v 0.16060370 0.20589892 -0.49533938
+f 7 1 5
+f 7 6 1
+f 7 2 6
+f 8 4 5
+f 10 6 3
+f 10 8 6
+f 10 4 8
+f 11 3 6
+f 11 9 4
+f 12 8 5
+f 12 5 1
+f 12 1 6
+f 12 6 8
+f 13 10 3
+f 13 4 10
+f 13 11 4
+f 13 3 11
+f 14 11 6
+f 14 6 2
+f 14 2 11
+f 15 7 5
+f 15 9 11
+f 15 11 2
+f 15 2 7
+f 16 15 5
+f 16 9 15
+f 16 5 4
+f 16 4 9
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_19.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317698ce463b13b973ec41a97ed378d94bb54885
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.15833410 -0.23562673 0.13991116
+v 0.22120555 -0.23021327 -0.47832243
+v 0.20629429 -0.23588362 0.05931683
+v 0.22156346 -0.13432718 0.14420902
+v 0.16060369 -0.13402047 -0.50000000
+v 0.16113866 -0.23596774 0.13525207
+v 0.16060368 -0.23022420 -0.47833069
+v 0.18693435 -0.15685313 0.16401154
+v 0.21916025 -0.13361242 -0.49999993
+v 0.16060368 -0.21293353 -0.49042360
+v 0.21853073 -0.21439787 -0.48939013
+f 3 2 4
+f 6 3 4
+f 6 4 1
+f 7 6 1
+f 7 2 3
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 2
+f 10 5 9
+f 10 7 1
+f 10 1 5
+f 11 10 9
+f 11 9 2
+f 11 2 7
+f 11 7 10
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_2.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e596466f09d978072719191962d01e198f13536c
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.20158790 -0.14100442 0.15192616
+v -0.18788114 -0.13402047 -0.41666667
+v -0.18788114 -0.01280835 0.14393939
+v -0.26924141 -0.01105995 0.13749416
+v -0.25626509 -0.14160217 -0.44696970
+v -0.18788114 -0.01280835 -0.35606061
+v -0.26354421 -0.10139278 0.12143011
+v -0.27029416 -0.01216563 -0.35606061
+v -0.26459578 -0.08749213 -0.44696970
+v -0.25163087 -0.12133082 0.11703590
+v -0.25201568 -0.10658597 0.13256403
+v -0.18788114 -0.08856592 -0.41666667
+v -0.26345610 -0.10255743 -0.44696970
+v -0.25992630 -0.08511191 0.13120668
+v -0.25799815 -0.13289746 -0.44696970
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 8 4 6
+f 8 7 4
+f 9 8 6
+f 10 7 5
+f 10 5 1
+f 11 1 4
+f 11 10 1
+f 11 7 10
+f 12 9 6
+f 12 6 2
+f 12 2 5
+f 12 5 9
+f 13 9 5
+f 13 7 8
+f 13 8 9
+f 14 11 4
+f 14 4 7
+f 14 7 11
+f 15 13 5
+f 15 5 7
+f 15 7 13
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_20.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8fd5ad086e914ed5b0077a512948648a2287ee4
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.25469708 0.10220669 0.13455295
+v 0.25671600 0.10642313 -0.47793341
+v 0.25279130 0.15905068 0.07512080
+v 0.17975420 0.17921209 0.15532146
+v 0.16060370 0.10840377 -0.49999993
+v 0.25141303 0.16597339 -0.47343451
+v 0.22901727 0.10694163 -0.49687839
+v 0.19953020 0.12823781 0.16662139
+v 0.25480758 0.13634620 -0.47515361
+v 0.16060370 0.16900983 -0.49999993
+v 0.22520047 0.16678778 -0.49131878
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 10 5 4
+f 10 7 5
+f 11 10 4
+f 11 4 6
+f 11 7 10
+f 11 6 9
+f 11 9 2
+f 11 2 7
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_21.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..147e1e3def0bcb6325b1acadfa0f4c721ba5eaca
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.18989992 -0.01024913 0.49723443
+v 0.19488899 -0.01103932 0.39436683
+v 0.14347244 0.12157554 0.40512337
+v -0.13438385 0.13066404 0.40512337
+v -0.09697205 -0.01280835 0.40151515
+v 0.17643193 0.08587698 0.39124607
+v -0.09697205 0.09325226 0.50000000
+v -0.09697205 -0.01280835 0.50000000
+v 0.19102634 0.04541692 0.39189474
+v 0.17193123 0.08358376 0.49411367
+v 0.18896469 0.06939114 0.48029729
+v 0.18770992 0.02974015 0.49583284
+v 0.19056132 0.07020467 0.42766089
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 8 7 4
+f 8 4 5
+f 9 2 5
+f 9 5 6
+f 10 3 7
+f 11 1 2
+f 11 3 10
+f 12 10 7
+f 12 7 1
+f 12 11 10
+f 12 1 11
+f 13 11 2
+f 13 2 9
+f 13 9 6
+f 13 6 3
+f 13 3 11
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_22.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd464805ba417fbf36ac15ac6a7ef617f103ed6d
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.11514916 -0.11886895 0.50000000
+v 0.13066402 -0.13438381 0.40512337
+v 0.11514916 -0.01280835 0.40151515
+v -0.18898326 -0.01058315 0.49858412
+v -0.16931538 -0.10940921 0.47925281
+v 0.11514916 -0.01280835 0.50000000
+v -0.15666102 -0.11068159 0.49617596
+v -0.18741313 -0.06545585 0.39043392
+v -0.16116173 -0.11297481 0.39330836
+v -0.18563791 -0.04035633 0.49644309
+v -0.17209787 -0.09567544 0.39031775
+v -0.19397233 -0.01137334 0.39571653
+v -0.17197627 -0.08046199 0.49629212
+v -0.18463065 -0.07918961 0.47936898
+v -0.17091200 -0.11022273 0.42870534
+v -0.18622727 -0.08000313 0.42858917
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 4
+f 9 7 5
+f 9 2 7
+f 11 8 3
+f 11 3 2
+f 11 2 9
+f 12 4 3
+f 12 3 8
+f 13 7 4
+f 13 4 10
+f 14 13 10
+f 14 5 7
+f 14 7 13
+f 14 10 4
+f 14 4 12
+f 15 11 9
+f 15 9 5
+f 15 5 14
+f 16 14 12
+f 16 12 8
+f 16 15 14
+f 16 8 11
+f 16 11 15
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_24.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d6b5ca78f19aa08bdf120160d9b3c89b81fdf6
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.15833410 -0.23562673 0.13991116
+v 0.16060368 -0.23022420 -0.47833069
+v 0.15706948 0.23719161 0.13939684
+v -0.12727508 0.23719163 0.14393939
+v -0.12727508 -0.23020951 -0.47832199
+v 0.16060370 0.23335470 -0.47612035
+v -0.12727508 -0.23719163 0.14393939
+v -0.12727508 0.20589891 -0.49533937
+v 0.16060370 0.20589892 -0.49533938
+v -0.12727508 -0.21292254 -0.49042286
+v -0.12727508 0.23335469 -0.47612034
+v 0.16060368 -0.21293353 -0.49042360
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 9 8 6
+f 9 6 2
+f 10 2 5
+f 10 5 4
+f 10 4 8
+f 11 8 4
+f 11 6 8
+f 11 4 3
+f 11 3 6
+f 12 9 2
+f 12 2 10
+f 12 10 8
+f 12 8 9
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_25.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72c5d0f8ad4290cca057f7dfb0acd43fe5e0a50e
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.18693435 -0.15685313 0.16401154
+v 0.22740395 -0.13223712 -0.49452841
+v 0.26186392 0.11348120 -0.09848485
+v 0.19953020 0.12823781 0.16662139
+v 0.16060370 0.10840377 -0.49999993
+v 0.23022074 -0.12869569 0.13925839
+v 0.16060369 -0.13402047 -0.50000000
+v 0.16060370 -0.13402047 -0.09848485
+v 0.22901727 0.10694163 -0.49687839
+v 0.23720707 0.10929758 0.14476716
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 3 2
+f 9 7 5
+f 9 2 7
+f 9 5 4
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 10 4 1
+f 10 1 6
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_26.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516883553728588bfaad43e66770041eb79e3b50
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18693435 -0.15685313 0.16401154
+v 0.19953020 0.12823781 0.16662139
+v 0.14903778 -0.12245454 0.26515151
+v -0.14518184 0.12631052 0.26515151
+v -0.12727508 0.10840377 0.14393939
+v 0.16030159 0.10824984 0.26515151
+v -0.13237348 -0.13911886 0.26515152
+v -0.12727508 -0.13402047 0.14393939
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 8 1 7
+f 8 7 4
+f 8 4 5
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_27.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb2bef55741fe3f2806074982947c4cdfbd59040
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13823977 -0.12680805 0.40512337
+v 0.14146202 -0.13003030 0.26515151
+v 0.16018483 0.10847900 0.26515151
+v -0.13438385 0.13066404 0.40512337
+v -0.12479773 -0.14669461 0.26515151
+v 0.15612457 0.10641018 0.40512337
+v -0.12157547 -0.14347238 0.40512337
+v -0.13760610 0.13388627 0.26515151
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_28.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73b87e5b003f9b312d25f875e4cd4e6d34d453d7
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.12727508 -0.01280835 0.14393939
+v -0.12727508 -0.01280835 -0.35606061
+v -0.12727508 0.10840377 0.14393939
+v -0.26320037 0.10593791 0.12070654
+v -0.27029416 -0.01216563 -0.35606061
+v -0.12727508 0.10840377 -0.35606061
+v -0.26924141 -0.01105995 0.13749416
+v -0.26310361 0.10721709 -0.35606061
+v -0.25324721 0.10310903 0.13582000
+v -0.27029416 -0.01216563 0.12878788
+v -0.26116623 0.07490751 0.13225560
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 8 6 2
+f 8 2 5
+f 9 7 3
+f 9 3 4
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 5
+f 11 9 4
+f 11 4 7
+f 11 7 9
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_29.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68ef83ee10fe9f8ceb1059bcc1d17853406be50e
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.18788114 -0.08856592 -0.35606061
+v -0.18788114 -0.08856592 -0.41666667
+v -0.18788114 0.10840377 -0.35606061
+v -0.26310361 0.10721709 -0.35606061
+v -0.26459578 -0.08749213 -0.41666667
+v -0.26459578 -0.08749213 -0.35606061
+v -0.18788114 0.10840377 -0.41666667
+v -0.26310361 0.10721709 -0.41666667
+f 1 2 3
+f 5 2 1
+f 6 5 1
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 8 4 3
+f 8 3 7
+f 8 6 4
+f 8 5 6
+f 8 7 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_3.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f760ee232e94e377688d50580b5edd2cd5442fa
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.17802857 0.08669051 0.48328789
+v 0.18215326 0.08879214 0.29602160
+v 0.12299606 0.16982523 0.31024674
+v -0.03353738 0.19660520 0.48099436
+v -0.09697205 0.09325226 0.50000000
+v 0.07709274 0.18409599 0.48162870
+v 0.16500451 0.12795609 0.29886158
+v -0.13760610 0.13388627 0.26515151
+v 0.13021841 0.15377606 0.47880595
+v 0.03761078 0.20322086 0.29851661
+v 0.16549307 0.08802344 0.50000000
+v 0.18007298 0.10288370 0.29886158
+v 0.16955335 0.09009225 0.26515151
+v -0.08743294 0.18059132 0.47914231
+v 0.16052145 0.12347303 0.47880595
+v 0.06481217 0.19947140 0.31024674
+v 0.11564092 0.15435007 0.49447061
+v 0.17394407 0.11491238 0.29886158
+v 0.06186074 0.18393801 0.26515151
+v -0.08870531 0.16793696 0.49606543
+v -0.06430703 0.19955137 0.29886158
+v 0.17364945 0.09961075 0.48018114
+v 0.03651007 0.19627119 0.48078059
+v 0.14594395 0.12404704 0.49447061
+v 0.16342443 0.10212092 0.26515152
+v 0.17394407 0.11491238 0.31024674
+v 0.11639166 0.15510083 0.26515151
+v 0.12299606 0.16982523 0.29886158
+v 0.06481217 0.19947140 0.29886158
+v -0.05940647 0.18283434 0.49610934
+v -0.09040777 0.18642975 0.29886158
+v -0.06006273 0.18485409 0.26515151
+v -0.06430703 0.19955137 0.31024674
+v 0.16099511 0.10088312 0.49710426
+v 0.06106576 0.18237777 0.49556122
+v 0.14669468 0.12479779 0.26515152
+v 0.13470148 0.15825912 0.29886158
+v -0.08964499 0.16978118 0.26515151
+v -0.03460599 0.20335219 0.29830391
+f 5 2 1
+f 9 3 6
+f 11 5 1
+f 12 1 2
+f 13 2 5
+f 13 5 8
+f 13 12 2
+f 15 7 3
+f 15 3 9
+f 16 6 3
+f 17 9 6
+f 18 12 13
+f 19 13 8
+f 20 14 8
+f 20 8 5
+f 22 1 12
+f 22 11 1
+f 23 16 10
+f 23 10 4
+f 23 6 16
+f 24 17 11
+f 24 15 9
+f 24 9 17
+f 25 18 13
+f 25 7 18
+f 26 18 7
+f 26 7 15
+f 26 15 22
+f 26 22 12
+f 26 12 18
+f 27 25 13
+f 27 13 19
+f 28 16 3
+f 28 27 19
+f 29 19 10
+f 29 10 16
+f 29 28 19
+f 29 16 28
+f 30 4 14
+f 30 14 20
+f 30 23 4
+f 30 20 5
+f 30 5 11
+f 31 8 14
+f 32 19 8
+f 32 31 21
+f 32 10 19
+f 33 14 4
+f 33 31 14
+f 33 21 31
+f 34 22 15
+f 34 11 22
+f 34 24 11
+f 34 15 24
+f 35 17 6
+f 35 6 23
+f 35 23 30
+f 35 30 11
+f 35 11 17
+f 36 27 7
+f 36 7 25
+f 36 25 27
+f 37 28 3
+f 37 3 7
+f 37 7 27
+f 37 27 28
+f 38 32 8
+f 38 8 31
+f 38 31 32
+f 39 32 21
+f 39 10 32
+f 39 21 33
+f 39 33 4
+f 39 4 10
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_30.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3344dccde2f9c4350babd1f1b938e4ced207c14d
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.12727508 -0.13402047 -0.35606061
+v -0.12727508 -0.13402047 -0.49999993
+v -0.12727508 0.10840377 -0.35606061
+v -0.18788114 0.10840377 -0.35606061
+v -0.18788114 -0.13402047 -0.49999993
+v -0.18788114 0.10840377 -0.49999993
+v -0.18788114 -0.13402047 -0.35606061
+v -0.12727508 0.10840377 -0.49999993
+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/shaker/shaker_3/collision/model_normalized_collision_31.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e5dc25d24a76e8903f60ace4409b074425d9dec
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.12727508 -0.01280835 0.26515151
+v -0.12727508 -0.01280835 0.14393939
+v -0.12727508 0.10840377 0.14393939
+v -0.14518184 0.12631052 0.26515151
+v -0.21204133 0.12935432 0.16235698
+v -0.19222934 -0.01349704 0.26515151
+v -0.18788114 -0.01280835 0.14393939
+v -0.17205252 0.08518717 0.26515152
+v -0.16280076 0.10334476 0.26515152
+f 1 2 3
+f 1 3 4
+f 5 4 3
+f 6 2 1
+f 7 5 3
+f 7 3 2
+f 7 6 5
+f 7 2 6
+f 8 5 6
+f 8 6 1
+f 9 4 5
+f 9 5 8
+f 9 8 1
+f 9 1 4
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_5.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44419819c3d319564b6064f57262f13f4c462964
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.10866677 -0.16675261 0.48339839
+v 0.18746446 -0.07166048 0.33846699
+v 0.18989992 -0.01024913 0.49723443
+v 0.11514916 -0.01280835 0.50000000
+v 0.11514916 -0.01280835 0.40151515
+v 0.11003141 -0.15427936 0.50000000
+v 0.16219558 -0.12046084 0.48030256
+v 0.11223237 -0.15859898 0.39745392
+v 0.19488899 -0.01103932 0.39436683
+v 0.19031908 -0.06539490 0.48125815
+v 0.11902724 -0.16382699 0.48008129
+v 0.17214921 -0.10188009 0.33835083
+v 0.10948029 -0.16834925 0.42455979
+v 0.15797037 -0.10980712 0.49495837
+v 0.19191571 -0.06620843 0.42670003
+v 0.11731506 -0.15133789 0.49596723
+v 0.17774175 -0.09700954 0.33396590
+v 0.12008606 -0.16528434 0.42785674
+v 0.17328561 -0.07958752 0.49507453
+v 0.16346268 -0.12172793 0.42765563
+v 0.18822725 -0.02513572 0.49616391
+f 5 1 4
+f 5 4 3
+f 6 3 4
+f 6 4 1
+f 9 5 3
+f 9 2 5
+f 10 9 3
+f 11 6 1
+f 12 8 5
+f 13 1 5
+f 13 5 8
+f 14 7 10
+f 15 2 9
+f 15 9 10
+f 15 10 7
+f 16 11 7
+f 16 6 11
+f 16 14 6
+f 16 7 14
+f 17 12 5
+f 17 5 2
+f 17 2 15
+f 17 8 12
+f 18 11 1
+f 18 1 13
+f 18 13 8
+f 18 8 17
+f 18 7 11
+f 19 14 10
+f 19 3 6
+f 19 6 14
+f 20 17 15
+f 20 15 7
+f 20 18 17
+f 20 7 18
+f 21 19 10
+f 21 10 3
+f 21 3 19
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_6.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ff4b87596315b78004ba9dd00e78aa3c778bb7f
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.25308926 -0.09159683 0.13987766
+v 0.26575261 -0.07219923 -0.47343451
+v 0.26406994 0.05969995 0.13196134
+v 0.23720707 0.10929758 0.14476716
+v 0.22957321 -0.08805241 -0.49785079
+v 0.25671600 0.10642313 -0.47793341
+v 0.24999611 -0.06073336 0.15297857
+v 0.26578427 -0.07178076 0.12614417
+v 0.25706541 -0.08783977 -0.47867233
+v 0.26653991 0.06179364 -0.47343451
+v 0.25469708 0.10220669 0.13455295
+v 0.22901727 0.10694163 -0.49687839
+v 0.26457810 -0.05513963 0.13251169
+v 0.26281059 -0.08786768 0.12623306
+f 7 5 1
+f 7 4 5
+f 9 5 2
+f 9 1 5
+f 10 2 5
+f 10 8 2
+f 10 3 8
+f 11 6 4
+f 11 10 6
+f 11 3 10
+f 11 7 3
+f 11 4 7
+f 12 5 4
+f 12 4 6
+f 12 10 5
+f 12 6 10
+f 13 8 3
+f 13 3 7
+f 14 1 9
+f 14 8 13
+f 14 13 7
+f 14 7 1
+f 14 9 2
+f 14 2 8
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_8.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc6a11260e30c3e3b09d94f3c2dbdac294d2ef72
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.06250991 -0.19238581 0.48041706
+v 0.14146202 -0.13003030 0.26515151
+v 0.11514916 -0.11886895 0.50000000
+v -0.08182054 -0.11886895 0.50000000
+v -0.09187389 -0.18462083 0.29827023
+v -0.03636599 -0.11886895 0.26515151
+v -0.07276040 -0.17684501 0.49496072
+v 0.13062546 -0.14949677 0.38826075
+v 0.06477961 -0.19937119 0.29879659
+v -0.09154064 -0.16881528 0.28030303
+v 0.07534042 -0.17597052 0.49434034
+v -0.06242597 -0.19212744 0.48084157
+v -0.09235298 -0.17040958 0.39508372
+v 0.13823977 -0.12680805 0.40512337
+v 0.12328001 -0.16968044 0.29886158
+v -0.07338305 -0.17806705 0.26515151
+v 0.10556002 -0.16065527 0.49422418
+v -0.06457041 -0.19872736 0.29837866
+v -0.08797386 -0.17696659 0.38898638
+v 0.13704457 -0.15591588 0.29886158
+v 0.07654781 -0.19349169 0.31024674
+v 0.07578504 -0.17684312 0.26515151
+v -0.07951197 -0.17494420 0.26515151
+v 0.13603835 -0.13975815 0.39309962
+v 0.09136740 -0.17768875 0.48040779
+v -0.07414583 -0.19471561 0.31024674
+v 0.07654781 -0.19349169 0.29886158
+v 0.11873475 -0.15275758 0.26515151
+v -0.07414583 -0.19471561 0.29886158
+v 0.10673408 -0.17811101 0.31024674
+v 0.10597131 -0.16146246 0.26515151
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 10 4 6
+f 11 7 1
+f 11 3 7
+f 12 1 7
+f 12 9 1
+f 13 7 4
+f 13 10 5
+f 13 4 10
+f 14 2 3
+f 16 6 2
+f 17 3 11
+f 17 14 3
+f 17 11 1
+f 18 9 12
+f 18 16 9
+f 19 12 7
+f 19 7 13
+f 19 13 5
+f 19 5 12
+f 20 2 14
+f 20 8 17
+f 21 1 9
+f 22 16 2
+f 22 9 16
+f 23 5 10
+f 23 10 6
+f 23 6 16
+f 24 17 8
+f 24 14 17
+f 24 20 14
+f 24 8 20
+f 25 17 1
+f 25 20 17
+f 25 15 20
+f 25 1 21
+f 26 18 12
+f 26 12 5
+f 27 21 9
+f 27 15 21
+f 27 9 22
+f 28 22 2
+f 28 20 15
+f 28 2 20
+f 29 5 23
+f 29 26 5
+f 29 18 26
+f 29 23 16
+f 29 16 18
+f 30 25 21
+f 30 21 15
+f 30 15 25
+f 31 28 15
+f 31 22 28
+f 31 27 22
+f 31 15 27
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_9.obj b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96a0d4fcb54e952fef6d243a054e96f59fa023ee
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.02462889 -0.20103277 0.46212121
+v -0.03777701 -0.18838382 0.26515151
+v -0.02121448 -0.11886895 0.50000000
+v -0.15187851 -0.11316935 0.50000000
+v -0.12795603 -0.16500445 0.29886158
+v -0.07744316 -0.17088392 0.50000000
+v -0.02121448 -0.11886895 0.40151515
+v -0.09230342 -0.18546384 0.29886158
+v -0.11872351 -0.16340893 0.48088873
+v -0.02228341 -0.18622399 0.40512337
+v -0.03636599 -0.11886895 0.26515151
+v -0.15856749 -0.11165297 0.28030303
+v -0.10356932 -0.16268636 0.26515151
+v -0.10297999 -0.16152975 0.49484456
+v -0.16025090 -0.12154174 0.48126884
+v -0.10433209 -0.17933492 0.31024674
+v -0.08878738 -0.17856322 0.48102819
+v -0.10433209 -0.17933492 0.29886158
+v -0.15510074 -0.11639158 0.26515151
+v -0.14567341 -0.12211576 0.49693350
+v -0.15825905 -0.13470141 0.31024674
+v -0.16275836 -0.11378834 0.48535017
+v -0.12795603 -0.16500445 0.31024674
+v -0.07586715 -0.18294235 0.48413494
+v -0.14752498 -0.12396734 0.26515151
+v -0.15825905 -0.13470141 0.29886158
+v -0.16489488 -0.12618572 0.29803078
+f 6 1 3
+f 6 3 4
+f 8 2 1
+f 10 1 2
+f 10 2 7
+f 10 7 3
+f 10 3 1
+f 11 7 2
+f 12 4 3
+f 12 3 7
+f 12 7 11
+f 13 2 8
+f 14 6 4
+f 15 9 4
+f 17 14 9
+f 17 16 8
+f 17 9 16
+f 18 13 8
+f 18 5 13
+f 18 16 5
+f 18 8 16
+f 19 12 11
+f 20 14 4
+f 20 4 9
+f 20 9 14
+f 21 9 15
+f 22 15 4
+f 22 4 12
+f 23 16 9
+f 23 5 16
+f 23 21 5
+f 23 9 21
+f 24 17 8
+f 24 8 1
+f 24 1 6
+f 24 6 14
+f 24 14 17
+f 25 13 5
+f 25 5 19
+f 25 2 13
+f 25 19 11
+f 25 11 2
+f 26 19 5
+f 26 5 21
+f 27 21 15
+f 27 15 22
+f 27 26 21
+f 27 22 12
+f 27 12 19
+f 27 19 26
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/visual/material.mtl b/objects/objaverse/shaker/shaker_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/shaker/shaker_3/visual/model_normalized_0.obj b/objects/objaverse/shaker/shaker_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..578a5938ac49ea6ad2706b21c7f26d4ea67e4b8e
--- /dev/null
+++ b/objects/objaverse/shaker/shaker_3/visual/model_normalized_0.obj
@@ -0,0 +1,2126 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.19490348 0.06332798 0.31024674
+v 0.16579481 0.12045699 0.31024674
+v 0.16579481 0.12045699 0.33396590
+v 0.19490348 0.06332798 0.33396590
+v 0.12045698 0.16579482 0.31024674
+v 0.12045698 0.16579482 0.33396590
+v 0.06332798 0.19490350 0.31024674
+v 0.06332798 0.19490350 0.33396590
+v 0.00000000 0.20493365 0.31024674
+v 0.00000000 0.20493365 0.33396590
+v -0.06332798 0.19490348 0.31024674
+v -0.06332798 0.19490348 0.33396590
+v -0.12045694 0.16579478 0.31024674
+v -0.12045694 0.16579478 0.33396590
+v -0.16579474 0.12045695 0.31024674
+v -0.16579474 0.12045695 0.33396590
+v -0.19490344 0.06332796 0.31024674
+v -0.19490344 0.06332796 0.33396590
+v -0.20493357 -0.00000001 0.31024674
+v -0.20493357 -0.00000001 0.33396590
+v -0.19490344 -0.06332799 0.31024674
+v -0.19490344 -0.06332799 0.33396590
+v -0.16579472 -0.12045695 0.31024674
+v -0.16579472 -0.12045695 0.33396590
+v -0.12045691 -0.16579477 0.31024674
+v -0.12045691 -0.16579477 0.33396590
+v -0.06332795 -0.19490345 0.31024674
+v -0.06332795 -0.19490345 0.33396590
+v -0.00000000 -0.20493360 0.31024674
+v -0.00000000 -0.20493360 0.33396590
+v -0.00000000 -0.20493360 0.31024674
+v 0.06332794 -0.19490343 0.31024674
+v 0.06332794 -0.19490343 0.33396590
+v -0.00000000 -0.20493360 0.33396590
+v 0.12045690 -0.16579475 0.31024674
+v 0.12045690 -0.16579475 0.33396590
+v 0.16579470 -0.12045694 0.31024674
+v 0.16579470 -0.12045694 0.33396590
+v 0.19490337 -0.06332797 0.31024674
+v 0.19490337 -0.06332797 0.33396590
+v 0.20493352 -0.00000001 0.31024674
+v 0.20493352 -0.00000001 0.33396590
+v 0.15351372 0.11153426 0.35768506
+v 0.18046619 0.05863702 0.35768506
+v 0.11153425 0.15351372 0.35768506
+v 0.05863701 0.18046620 0.35768506
+v 0.00000000 0.18975339 0.35768506
+v -0.05863701 0.18046618 0.35768506
+v -0.11153421 0.15351369 0.35768506
+v -0.15351366 0.11153422 0.35768506
+v -0.18046612 0.05863699 0.35768506
+v -0.18975329 -0.00000001 0.35768506
+v -0.18046612 -0.05863701 0.35768506
+v -0.15351364 -0.11153422 0.35768506
+v -0.11153418 -0.15351367 0.35768506
+v -0.05863699 -0.18046614 0.35768506
+v -0.00000000 -0.18975334 0.35768506
+v 0.05863698 -0.18046613 0.35768506
+v -0.00000000 -0.18975334 0.35768506
+v 0.11153416 -0.15351367 0.35768506
+v 0.15351361 -0.11153421 0.35768506
+v 0.18046608 -0.05863700 0.35768506
+v 0.18975326 -0.00000001 0.35768506
+v 0.16579481 0.12045699 0.38140422
+v 0.19490348 0.06332798 0.38140422
+v 0.12045698 0.16579482 0.38140422
+v 0.06332798 0.19490350 0.38140422
+v 0.00000000 0.20493365 0.38140422
+v -0.06332798 0.19490348 0.38140422
+v -0.12045694 0.16579478 0.38140422
+v -0.16579474 0.12045695 0.38140422
+v -0.19490344 0.06332796 0.38140422
+v -0.20493357 -0.00000001 0.38140422
+v -0.19490344 -0.06332799 0.38140422
+v -0.16579472 -0.12045695 0.38140422
+v -0.12045691 -0.16579477 0.38140422
+v -0.06332795 -0.19490345 0.38140422
+v -0.00000000 -0.20493360 0.38140422
+v 0.06332794 -0.19490343 0.38140422
+v -0.00000000 -0.20493360 0.38140422
+v 0.12045690 -0.16579475 0.38140422
+v 0.16579470 -0.12045694 0.38140422
+v 0.19490337 -0.06332797 0.38140422
+v 0.20493352 -0.00000001 0.38140422
+v 0.15351372 0.11153426 0.40512337
+v 0.18046619 0.05863702 0.40512337
+v 0.11153425 0.15351372 0.40512337
+v 0.05863701 0.18046620 0.40512337
+v 0.00000000 0.18975339 0.40512337
+v -0.05863701 0.18046618 0.40512337
+v -0.11153421 0.15351369 0.40512337
+v -0.15351366 0.11153422 0.40512337
+v -0.18046612 0.05863699 0.40512337
+v -0.18975329 -0.00000001 0.40512337
+v -0.18046612 -0.05863701 0.40512337
+v -0.15351364 -0.11153422 0.40512337
+v -0.11153418 -0.15351367 0.40512337
+v -0.05863699 -0.18046614 0.40512337
+v -0.00000000 -0.18975334 0.40512337
+v 0.05863698 -0.18046613 0.40512337
+v -0.00000000 -0.18975334 0.40512337
+v 0.11153416 -0.15351367 0.40512337
+v 0.15351361 -0.11153421 0.40512337
+v 0.18046608 -0.05863700 0.40512337
+v 0.18975326 -0.00000001 0.40512337
+v 0.16579481 0.12045699 0.42884253
+v 0.19490348 0.06332798 0.42884253
+v 0.12045698 0.16579482 0.42884253
+v 0.06332798 0.19490350 0.42884253
+v 0.00000000 0.20493365 0.42884253
+v -0.06332798 0.19490348 0.42884253
+v -0.12045694 0.16579478 0.42884253
+v -0.16579474 0.12045695 0.42884253
+v -0.19490344 0.06332796 0.42884253
+v -0.20493357 -0.00000001 0.42884253
+v -0.19490344 -0.06332799 0.42884253
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_0.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b326e195f3c48780e00efc0c96692498330bee
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.06537779 -0.46645565 0.08355817
+v 0.27353702 -0.26475592 -0.24318140
+v 0.27078912 -0.26652382 0.34066003
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+v -0.23135649 -0.25168698 -0.30147216
+v 0.12428669 -0.24946919 -0.32485567
+v 0.00508734 -0.34689279 0.32812505
+v 0.25590299 -0.40526921 -0.03191737
+v -0.22815990 -0.43572841 0.02683811
+v -0.09927686 -0.25325536 0.38118179
+v -0.21495884 -0.24944080 -0.31137522
+v 0.19918794 -0.37409913 0.25623859
+v 0.25651630 -0.40381591 0.14204105
+v 0.10882881 -0.39015550 -0.20406962
+v -0.19918568 -0.40593960 0.21297515
+v 0.14582917 -0.26418779 0.38617604
+v -0.09630771 -0.45336758 0.15664300
+v 0.25533862 -0.34507273 0.26939031
+v 0.18402123 -0.41857140 0.16955487
+v 0.13925607 -0.45109705 -0.00373957
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+v -0.12399757 -0.38995577 -0.20634965
+v -0.21416448 -0.34575470 0.29857941
+v 0.14303752 -0.31686557 0.34374094
+v -0.05054388 -0.33337072 0.34249037
+v 0.12546333 -0.41988114 0.19812046
+v -0.19734738 -0.43383546 0.14125654
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+v 0.16912766 -0.43464111 0.12684579
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_10.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..688503a0835051848e594e1276e2e7fda7245a3d
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.37960911 -0.25799575 0.25055848
+v -0.35606059 -0.24191836 0.13143817
+v -0.35606059 0.19747557 0.13143817
+v -0.39845453 0.22771910 0.26431194
+v -0.49254419 -0.05757727 0.12978952
+v -0.42525418 -0.25481299 0.13651264
+v -0.47328266 -0.04093051 0.23081182
+v -0.47499935 -0.13103201 0.12907877
+v -0.45651855 0.20165379 0.13251608
+v -0.44313770 -0.14384512 0.23025959
+v -0.49350548 0.07421963 0.13068677
+v -0.47329367 -0.09984434 0.18628869
+v -0.42029993 -0.23582830 0.18741609
+v -0.45895244 -0.10008218 0.22936996
+v -0.48932400 -0.01275237 0.18854077
+v -0.45664399 0.14487090 0.22943868
+v -0.48881881 -0.05696066 0.15911259
+v -0.44257127 -0.17360766 0.20032547
+v -0.41248881 -0.21735384 0.22965031
+v -0.47221765 -0.07029677 0.21526203
+v -0.45062343 0.19216223 0.18872228
+v -0.47430303 0.07313533 0.23106674
+v -0.47292619 -0.13027522 0.14333946
+v -0.40310235 -0.23512007 0.23145243
+v -0.43548921 0.19226868 0.23274359
+v -0.47414177 0.11752174 0.20216390
+v -0.48976811 0.04440658 0.18825835
+v -0.41152287 -0.23246516 0.21419493
+v -0.46054717 0.16056436 0.20146839
+v -0.44431105 0.17446256 0.23049513
+v -0.46335216 0.16168289 0.18871159
+v -0.47382531 0.10248471 0.21596078
+v -0.49082442 0.07398427 0.15993480
+v -0.44351973 0.18898412 0.21554184
+f 1 2 3
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_12.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50713e2c3e287e57662ce8e87dcabf0e65bfae45
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00876173 -0.15141962 0.41523502
+v 0.00757577 -0.15100927 0.23749877
+v 0.00757577 0.22777860 0.23749877
+v -0.23341134 0.22240556 0.37963057
+v -0.23484847 -0.15100927 0.23749877
+v 0.00758446 0.22671644 0.39661782
+v 0.01279915 -0.09801671 0.40291912
+v -0.23114097 -0.14798574 0.42105185
+v -0.23484847 0.22777860 0.23749877
+v -0.23317945 0.11854103 0.41782720
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_13.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ace957e73b2e780e39421f0b6b6bfd76d44465a
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.17076204 -0.35443583 -0.22415325
+v 0.28500736 -0.27593085 -0.22571445
+v 0.14393940 -0.25706988 -0.20189516
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_14.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41c79ddc4ec394140f833e955489af9317f6b192
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 0.22777860 -0.17159213
+v 0.19224378 0.32359535 -0.26796224
+v 0.14289509 0.41940975 -0.16886336
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+v -0.00447587 0.40716779 -0.20712574
+v 0.10988871 0.40561348 -0.20465397
+v 0.06612743 0.30569472 -0.32092384
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+v -0.07823353 0.41056729 -0.16481786
+v -0.23312898 0.35914593 -0.16910354
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+v -0.00458790 0.37770672 -0.24926660
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+v -0.05160507 0.22082471 -0.37145132
+v -0.04748554 0.40652899 -0.19111092
+v -0.21200104 0.30083861 -0.26206697
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+v -0.01928044 0.31933878 -0.30654186
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_15.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aebc5e4b0d5c293bd006e89d00358c78d647d0e9
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26004609 -0.41032155 0.09972160
+v 0.43367511 -0.22169769 -0.00201815
+v 0.41727942 -0.22002171 0.23082894
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+v 0.26388510 -0.33072139 0.28126638
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+v 0.40080691 -0.22055180 -0.10437254
+v 0.26854315 -0.24544815 -0.26078283
+v 0.41309283 -0.27701751 0.02794500
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+v 0.38374696 -0.30238691 0.17040245
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+v 0.38391356 -0.27274085 0.22813749
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+v 0.27622762 -0.32622820 0.27750368
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+v 0.28159362 -0.23100708 -0.26026979
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+v 0.42764993 -0.24832749 0.02768618
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_16.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc462dc7ea5c55913ed7b7af3874fed585371745
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22945723 -0.42632770 0.12834739
+v -0.22737385 -0.33515547 -0.22205047
+v -0.23484847 -0.24191836 0.23749877
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+v -0.40017645 -0.30323804 -0.03122974
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+v -0.23074499 -0.38390473 0.23201549
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+v -0.22793366 -0.26156218 -0.29511694
+v -0.28658803 -0.23290993 -0.28088172
+v -0.22860630 -0.40819857 0.18569027
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+v -0.22934681 -0.42579871 -0.03185443
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+v -0.26933955 -0.27229950 -0.26091686
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+v -0.28441222 -0.38977384 0.15606677
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+v -0.22827787 -0.39450704 -0.11955429
+v -0.38415356 -0.30307936 0.17024894
+v -0.41329455 -0.29098997 0.08409806
+v -0.36939674 -0.28919595 0.22803103
+v -0.25505649 -0.42117472 0.09856628
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+f 64 25 9
+f 64 9 43
+f 64 62 25
+f 64 43 24
+f 64 24 62
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_17.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17bc015c2ca3443c08ceb00841a6d60e8843d09d
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.43630479 -0.22247914 0.01226796
+v 0.49132561 -0.01449716 0.01040812
+v 0.47692174 -0.08635317 0.01286441
+v 0.26515152 -0.01464564 0.01022605
+v 0.26515152 -0.22676685 -0.15644062
+v 0.26515152 -0.22676685 0.01022605
+v 0.26515152 -0.01464564 -0.15644062
+v 0.44084953 -0.01364519 -0.15330818
+v 0.38362347 -0.24073076 -0.12473586
+v 0.47346694 -0.02638603 -0.06070313
+v 0.46183901 -0.01210702 -0.10552423
+v 0.38151446 -0.21916397 -0.14548333
+v 0.47457159 -0.08573919 -0.00188713
+v 0.44345599 -0.13010714 -0.07377597
+v 0.44972629 -0.01267396 -0.13544125
+v 0.47592812 -0.01245548 -0.06086666
+v 0.37837114 -0.23828742 -0.13681788
+v 0.45963091 -0.13108722 -0.01597321
+v 0.41307954 -0.21984226 -0.07373675
+v 0.45832095 -0.05588135 -0.08920066
+v 0.41157049 -0.17481232 -0.11740508
+v 0.38297510 -0.23388303 -0.13180502
+v 0.42770394 -0.21952112 -0.02961884
+v 0.45956107 -0.02583103 -0.10494076
+v 0.42687972 -0.08447010 -0.14664250
+v 0.38780704 -0.23652311 -0.12007603
+v 0.44494277 -0.04056003 -0.13328552
+v 0.44281054 -0.11485151 -0.08779041
+f 3 2 4
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+f 7 5 4
+f 8 5 7
+f 9 6 5
+f 9 1 6
+f 11 7 4
+f 12 5 8
+f 13 10 2
+f 13 2 3
+f 15 8 7
+f 15 7 11
+f 16 11 4
+f 16 4 2
+f 16 2 10
+f 17 9 5
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+f 18 13 3
+f 18 3 1
+f 18 10 13
+f 20 18 14
+f 20 10 18
+f 21 14 19
+f 22 17 12
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+f 23 1 9
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+f 23 19 14
+f 23 14 18
+f 24 10 20
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+f 24 15 11
+f 25 21 12
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+f 26 23 9
+f 26 19 23
+f 27 25 8
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+f 28 14 21
+f 28 21 25
+f 28 25 27
+f 28 27 20
+f 28 20 14
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_18.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37fe1d2a3b4684d15dbc666e80ac820c454d870c
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.27501017 -0.34855230 0.24787324
+v 0.44886664 -0.13292142 0.23183309
+v 0.28761903 -0.14595551 0.40019797
+v 0.26150512 0.19436133 0.37931915
+v 0.26515152 0.19747557 0.23749877
+v 0.43017092 0.05840792 0.30073361
+v 0.26066215 -0.16025594 0.40501559
+v 0.35579750 -0.22976483 0.31353608
+v 0.33106690 -0.32053688 0.23097287
+v 0.34440867 0.04288556 0.38626518
+v 0.42521063 0.19467518 0.23368426
+v 0.26019379 -0.32468881 0.29098178
+v 0.28626204 -0.21411282 0.37023846
+v 0.39972343 -0.08735450 0.32869034
+v 0.41727942 -0.22002171 0.23082894
+v 0.26220944 0.04337468 0.41890674
+v 0.35669777 0.17652552 0.32741316
+v 0.46502236 0.08823051 0.23180074
+v 0.43436799 0.17708666 0.23041534
+v 0.32744490 -0.28584195 0.28349470
+v 0.25912889 -0.24749406 0.36003828
+v 0.26059786 0.14929677 0.39036032
+v 0.34360993 -0.17397272 0.35766475
+v 0.28781663 -0.18692060 0.38408458
+v 0.42954629 -0.04271116 0.30023675
+v 0.39862493 -0.17445506 0.30155472
+v 0.26090234 -0.08904087 0.41990155
+v 0.30366800 0.06982489 0.39957458
+v 0.40065812 0.08442005 0.32705488
+v 0.31358873 0.19245983 0.35528934
+v 0.44708358 0.14632654 0.23023888
+v 0.38617650 -0.25957944 0.24307381
+v 0.28411000 -0.31569484 0.28408618
+v 0.32798556 -0.31631674 0.24181576
+v 0.30113547 -0.24469054 0.34233303
+v 0.32977330 -0.10320922 0.38607083
+v 0.27399641 -0.16018809 0.40104332
+v 0.30113444 -0.17185149 0.38513889
+v 0.34407038 -0.02798669 0.38578998
+v 0.45911598 -0.04259241 0.24405700
+v 0.36960134 -0.18777869 0.32728109
+v 0.42702357 -0.18793200 0.24245072
+v 0.41353792 -0.13083704 0.29970393
+v 0.31678598 0.04350190 0.40111477
+v 0.27575917 0.04202598 0.41620052
+v 0.37275298 0.06978272 0.35733285
+v 0.39922305 0.17543070 0.28342344
+v 0.28727638 0.19122817 0.36958090
+v 0.46442455 -0.04305873 0.23190555
+v 0.44358088 0.11656258 0.25744956
+v 0.37025550 -0.25754814 0.26955292
+v 0.39803634 -0.21613270 0.27080498
+v 0.38962862 -0.26324808 0.23135993
+v 0.32796121 -0.25752087 0.31271392
+v 0.27222829 -0.24507844 0.35630648
+v 0.31440902 -0.21519247 0.35439276
+v 0.35770305 -0.14537520 0.35699941
+v 0.30099580 -0.11701935 0.40048087
+v 0.31446749 -0.18716969 0.37051132
+v 0.46109017 0.08653184 0.24114106
+v 0.44350831 -0.10164286 0.25897286
+v 0.36953359 -0.22911864 0.29825334
+v 0.43102837 -0.18972843 0.23085243
+v 0.41376377 -0.07211570 0.31509720
+f 9 1 5
+f 11 5 4
+f 12 5 1
+f 19 9 5
+f 19 5 11
+f 22 4 5
+f 22 5 12
+f 22 12 21
+f 22 16 4
+f 24 21 13
+f 24 7 21
+f 25 6 10
+f 27 7 3
+f 27 16 22
+f 27 22 21
+f 27 21 7
+f 30 11 4
+f 31 15 9
+f 31 9 19
+f 33 12 1
+f 34 1 9
+f 34 33 1
+f 34 20 33
+f 37 3 7
+f 37 7 24
+f 38 37 24
+f 38 3 37
+f 39 25 10
+f 39 14 25
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+f 44 10 30
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+f 53 15 32
+f 54 20 8
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+f 58 39 27
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+f 59 38 24
+f 59 24 13
+f 59 13 56
+f 59 56 23
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+f 60 31 50
+f 60 49 18
+f 60 40 49
+f 61 40 25
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+f 61 2 49
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+f 61 25 43
+f 62 41 8
+f 62 26 41
+f 62 52 26
+f 62 8 51
+f 62 51 52
+f 63 42 15
+f 63 2 42
+f 63 49 2
+f 63 15 31
+f 63 31 49
+f 64 43 25
+f 64 25 14
+f 64 14 43
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_19.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0346cf8a6cb7adcc789833a42e7fd3f493bde500
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.22777860 0.22234726
+v 0.25777558 0.22253024 -0.29918819
+v 0.25517353 0.42125893 -0.00276164
+v 0.14003862 0.45510581 0.12854019
+v 0.14393940 0.22777860 0.22234726
+v 0.13921594 0.36408259 -0.24966277
+v 0.25842198 0.38073607 0.21540735
+v 0.25495493 0.40746009 -0.07551844
+v 0.24274342 0.22110815 -0.31053425
+v 0.13908401 0.43945443 0.18737776
+v 0.25679214 0.42102324 0.08376646
+v 0.13951597 0.42696901 0.21587323
+v 0.25251146 0.33255507 -0.21882047
+v 0.14087727 0.45540959 -0.06284647
+v 0.14355721 0.22723415 -0.35228479
+v 0.13948112 0.27861853 -0.32320773
+v 0.22647987 0.42012722 0.15501848
+v 0.25388826 0.36377185 -0.17628318
+v 0.25294336 0.30422898 -0.24703860
+v 0.21109554 0.43639934 -0.04698894
+v 0.14031505 0.42303000 -0.16298069
+v 0.18359516 0.22153213 -0.33981685
+v 0.14008989 0.25053397 -0.34055867
+v 0.25636784 0.40621540 0.15651436
+v 0.18234898 0.42007668 0.19897207
+v 0.21277349 0.43531251 0.11294459
+v 0.18269779 0.43567343 0.15630037
+v 0.25445654 0.39305104 -0.11881475
+v 0.21035104 0.36087830 -0.21773328
+v 0.25451676 0.26317634 -0.27671110
+v 0.18122540 0.30390078 -0.29017343
+v 0.24091426 0.42208590 -0.04700255
+v 0.18340946 0.45202475 0.06887150
+v 0.15434635 0.43715554 -0.12032371
+v 0.16673049 0.24733889 -0.33353705
+v 0.25595022 0.39045497 0.19802239
+v 0.24171925 0.39017629 0.21269274
+v 0.15303616 0.43575109 0.18554987
+v 0.24163789 0.42086268 0.12686116
+v 0.15427357 0.45155848 0.12785925
+v 0.19547049 0.40559936 -0.16130072
+v 0.23832572 0.37514061 -0.17560986
+v 0.25532444 0.23447715 -0.29409874
+v 0.20938271 0.30424284 -0.27497439
+v 0.15345300 0.36184221 -0.24703396
+v 0.19719818 0.43641509 -0.07573433
+v 0.22710568 0.43663991 0.05494265
+v 0.18268370 0.45161521 -0.01805583
+v 0.14101777 0.43995741 -0.12157733
+v 0.15300589 0.27697677 -0.32014337
+v 0.19658150 0.27550892 -0.30408954
+v 0.15337109 0.42317933 0.21397587
+v 0.15449756 0.41971595 -0.16260205
+v 0.21010991 0.39031890 -0.17562082
+v 0.22457782 0.40514498 -0.13315704
+v 0.23880678 0.39005652 -0.14684303
+v 0.23736838 0.26135416 -0.28919502
+v 0.15542532 0.45249425 -0.06231732
+v 0.16884298 0.45185642 -0.04749776
+v 0.22671747 0.43648010 0.01118949
+v 0.18131856 0.23309002 -0.33504569
+v 0.16762979 0.39079876 -0.20468438
+v 0.23896986 0.23222930 -0.30625588
+f 8 1 2
+f 9 2 1
+f 9 1 5
+f 11 7 1
+f 11 8 3
+f 11 1 8
+f 12 5 1
+f 12 1 7
+f 14 10 4
+f 16 10 6
+f 16 12 10
+f 16 5 12
+f 19 18 2
+f 19 13 18
+f 21 6 10
+f 21 10 14
+f 22 9 5
+f 22 5 15
+f 23 15 5
+f 23 5 16
+f 24 7 11
+f 27 17 26
+f 28 8 2
+f 28 2 18
+f 29 13 19
+f 30 19 2
+f 31 16 6
+f 32 20 3
+f 32 3 8
+f 33 14 4
+f 35 15 23
+f 36 24 17
+f 36 7 24
+f 36 17 25
+f 37 12 7
+f 37 36 25
+f 37 7 36
+f 38 10 12
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+f 38 25 17
+f 38 17 27
+f 39 24 11
+f 39 11 26
+f 39 26 17
+f 39 17 24
+f 40 4 10
+f 40 10 27
+f 40 27 26
+f 40 33 4
+f 40 26 33
+f 42 18 13
+f 42 13 29
+f 43 30 2
+f 43 2 9
+f 44 29 19
+f 45 31 6
+f 45 44 31
+f 45 29 44
+f 46 32 8
+f 46 20 32
+f 47 11 3
+f 47 33 26
+f 47 26 11
+f 48 14 33
+f 49 21 14
+f 50 35 23
+f 50 23 16
+f 50 16 31
+f 51 31 44
+f 51 50 31
+f 51 35 50
+f 52 37 25
+f 52 12 37
+f 52 38 12
+f 52 25 38
+f 53 34 41
+f 53 49 34
+f 53 21 49
+f 54 42 29
+f 55 41 34
+f 55 34 46
+f 55 46 8
+f 55 8 28
+f 55 54 41
+f 55 42 54
+f 56 28 18
+f 56 18 42
+f 56 55 28
+f 56 42 55
+f 57 30 43
+f 57 51 44
+f 57 44 19
+f 57 19 30
+f 58 46 34
+f 58 49 14
+f 58 34 49
+f 59 48 20
+f 59 20 46
+f 59 46 58
+f 59 58 14
+f 59 14 48
+f 60 47 3
+f 60 3 20
+f 60 20 48
+f 60 48 33
+f 60 33 47
+f 61 51 9
+f 61 9 22
+f 61 35 51
+f 61 22 15
+f 61 15 35
+f 62 53 41
+f 62 45 6
+f 62 6 21
+f 62 21 53
+f 62 41 54
+f 62 54 29
+f 62 29 45
+f 63 57 43
+f 63 43 9
+f 63 9 51
+f 63 51 57
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_2.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc476f063e7078eec35747dedccf6c76896fb25
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.25706988 0.23749877
+v 0.28500736 -0.27593085 -0.22571445
+v 0.26515152 0.22777860 0.23749877
+v -0.23484847 0.22777860 0.23749877
+v -0.23484847 -0.25706988 0.23749877
+v 0.15344751 0.24592668 -0.33916846
+v 0.26423439 0.22709177 -0.29155166
+v -0.23746814 0.23116379 -0.31236164
+v 0.27321299 -0.15553259 -0.30470387
+v -0.23135649 -0.25168698 -0.30147216
+v 0.14535597 -0.25953341 -0.31204096
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 9 7 2
+f 9 6 7
+f 10 2 5
+f 10 5 8
+f 10 8 6
+f 11 9 2
+f 11 2 10
+f 11 10 6
+f 11 6 9
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_21.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd55b0ce04f3f9335b0e1ec7824e07a9e70b50f
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.40189806 0.19144973 0.27183123
+v 0.46303276 0.19215763 -0.01766631
+v 0.41331474 0.29064918 0.14115009
+v 0.25903275 0.41233030 0.12854974
+v 0.26462252 0.19715919 -0.30729001
+v 0.34148650 0.34652417 -0.07364388
+v 0.32847599 0.30266714 0.26793449
+v 0.46402500 0.19264481 0.12946371
+v 0.28431145 0.19116807 -0.29433457
+v 0.41491861 0.29160472 -0.01636893
+v 0.25713331 0.36848717 -0.16528427
+v 0.38493172 0.28962262 0.21191367
+v 0.26150512 0.19436133 0.37931915
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_22.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19dc43d87459e9d8b8238e7fa23d3a83d794d337
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.37693738 -0.22282186 -0.15094668
+v 0.43308744 -0.05648344 -0.14988284
+v 0.41873338 0.17775453 -0.14905730
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+v 0.25822061 -0.05826062 -0.34162295
+v 0.38933290 -0.19194319 -0.14976824
+v 0.26515152 -0.22676685 -0.15644062
+v 0.39914008 0.07328761 -0.21895272
+v 0.25885054 0.19342263 -0.31301171
+v 0.35270566 -0.11440017 -0.24882718
+v 0.25897835 -0.22168704 -0.28331162
+v 0.43582737 0.11885388 -0.15007214
+v 0.41014982 0.19472987 -0.15253225
+v 0.31245575 0.07317837 -0.30604966
+v 0.39744748 -0.12917538 -0.17567887
+v 0.39881326 -0.02674026 -0.21866695
+v 0.33925183 -0.20300501 -0.21829618
+v 0.31106572 -0.11582285 -0.28998754
+v 0.25660813 0.16291801 -0.32563661
+v 0.39813814 0.13152100 -0.20378960
+v 0.38174344 -0.17397056 -0.17472766
+v 0.41227278 -0.05475951 -0.18953122
+v 0.42879822 -0.01210340 -0.17615789
+v 0.29818954 -0.01318672 -0.32083056
+v 0.35382251 -0.21884500 -0.18955788
+v 0.25845132 -0.16167300 -0.31216270
+v 0.30947064 -0.18752641 -0.26099276
+v 0.33941815 -0.07105181 -0.27637893
+v 0.31035008 0.14597576 -0.29035403
+v 0.42804076 0.08751878 -0.17502966
+v 0.41321538 0.14653561 -0.17512171
+v 0.38355957 -0.18980347 -0.16174888
+v 0.35257588 -0.17347556 -0.21834182
+v 0.41200179 -0.08450399 -0.17548086
+v 0.42754652 -0.05518634 -0.16207643
+v 0.29808851 0.02967513 -0.32116976
+v 0.28298031 -0.08663888 -0.31967283
+v 0.26960183 -0.21766009 -0.27808572
+v 0.36711746 -0.18872602 -0.18889730
+v 0.31009755 -0.15871164 -0.27509396
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+v 0.26879130 -0.15970150 -0.30611466
+v 0.28239179 -0.20294926 -0.27640734
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_24.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc7725ca3fc9d56bb0c404840c51e332a3f6c42c
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23945645 -0.37316354 0.24405666
+v -0.22913286 -0.34884518 0.28709239
+v -0.46231864 -0.08598345 0.23148265
+v -0.35736380 0.18752124 0.34268096
+v -0.23484847 0.19747557 0.23749877
+v -0.29978129 -0.11645980 0.39975020
+v -0.35492021 -0.27292749 0.27143817
+v -0.31669354 -0.33549154 0.23015234
+v -0.43548921 0.19226868 0.23274359
+v -0.44430740 0.03005358 0.30153104
+v -0.23366607 0.17596342 0.40234812
+v -0.28420387 -0.23165554 0.36929261
+v -0.28903119 -0.35303382 0.23195929
+v -0.38709734 -0.26259444 0.23020171
+v -0.29925867 -0.30066674 0.29964710
+v -0.23360886 0.19317295 0.39499712
+v -0.35883044 0.05673768 0.38579833
+v -0.46432472 0.11807789 0.23206769
+v -0.38504428 -0.14402911 0.32845454
+v -0.23030386 -0.16245458 0.41802252
+v -0.32779522 -0.30119939 0.27097400
+v -0.31312725 -0.24551712 0.34143127
+v -0.25692051 -0.28717968 0.34164552
+v -0.27001027 -0.32991917 0.28502052
+v -0.30068788 0.17345069 0.38434398
+v -0.40036567 0.09977495 0.34240377
+v -0.45822639 -0.02598233 0.27387205
+v -0.44898730 0.16169050 0.23236750
+v -0.32801844 -0.15978480 0.37088463
+v -0.39801400 -0.18770928 0.28655243
+v -0.38717619 -0.05560725 0.35739213
+v -0.27017415 -0.17597754 0.39972183
+v -0.30315233 -0.01263653 0.41614090
+v -0.23317945 0.11854103 0.41782720
+v -0.31323909 -0.33073239 0.24250402
+v -0.29958381 -0.25864503 0.34191586
+v -0.23098261 -0.23345701 0.38942462
+v -0.28601539 -0.34801086 0.24341636
+v -0.24140779 -0.34488268 0.28472782
+v -0.25665476 -0.31540530 0.31318787
+v -0.31578689 0.18756265 0.36994857
+v -0.27435124 0.18888799 0.38711413
+v -0.33032534 0.13144212 0.38497601
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+v -0.34525805 0.10165502 0.38452385
+v -0.37138367 0.12965329 0.35677333
+v -0.33018709 0.17274519 0.36997499
+f 5 2 1
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+f 64 4 63
+f 64 25 41
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_26.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670e592c6b399c58e00618e76c3e2af584f29c40
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15050932 -0.27982551 0.37488722
+v 0.14393940 -0.25706988 0.23749877
+v 0.15212811 0.24586619 0.38705499
+v 0.00688861 0.23801155 0.39454394
+v 0.00711387 -0.28075516 0.38247795
+v 0.00757577 0.22777860 0.23749877
+v 0.00757577 -0.25706988 0.23749877
+v 0.14393940 0.22777860 0.23749877
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 4
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_27.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94bafd927efb890569bdf74147783bb5d2f1bce4
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00711387 -0.28075516 0.38247795
+v 0.00757577 -0.25706988 0.23749877
+v 0.00757577 -0.15100927 0.34355938
+v -0.23484847 -0.15100927 0.34355938
+v -0.23484847 -0.25706988 0.23749877
+v -0.23484847 -0.15100927 0.23749877
+v -0.24096512 -0.27102495 0.36168016
+v 0.00757577 -0.15100927 0.23749877
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 6 5
+f 7 4 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_28.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..962a8366c568bafeb1313a71b586ad7d53fbd006
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23484847 -0.24191836 0.23749877
+v -0.23484847 -0.24191836 -0.18674364
+v -0.23484847 0.19747557 0.23749877
+v -0.39845453 0.22771910 0.26431194
+v -0.37960911 -0.25799575 0.25055848
+v -0.37828196 0.20948394 -0.20085614
+v -0.23484847 0.19747557 -0.18674364
+v -0.36447357 -0.24724829 -0.19324224
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_3.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2da41eecdfbb07d363fdc0b00a772a5e89f9915
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.10930392 -0.44992936 0.12746066
+v 0.14629392 -0.44798566 0.08708908
+v 0.14340978 -0.35872914 0.29459405
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+v 0.14924245 -0.39395999 0.23982112
+v 0.00692207 -0.47300160 0.08472706
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+v -0.08080578 -0.40674432 0.25550902
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+v -0.08136827 -0.46951992 0.08430679
+v -0.00842199 -0.40632946 0.25600148
+v -0.06654745 -0.35554846 0.32003321
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_30.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b0cb46f2cbbea36d5f43cf24183a2348b65d27
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.01464564 0.34355938
+v 0.26515152 -0.01464564 0.23749877
+v 0.27070863 0.23522467 0.35730711
+v 0.15212811 0.24586619 0.38705499
+v 0.14393940 -0.01464564 0.23749877
+v 0.14393940 -0.01464564 0.34355938
+v 0.14393940 0.22777860 0.23749877
+v 0.26515152 0.22777860 0.23749877
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 2 5
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+f 7 5 6
+f 8 3 2
+f 8 2 7
+f 8 7 4
+f 8 4 3
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_8.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b365f0e7fa702ebe78ea64c36a278eecc1b9d8
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.15050932 -0.27982551 0.37488722
+v 0.26515152 -0.25706988 0.23749877
+v 0.25858205 -0.13076623 0.41415759
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+v 0.14393940 -0.01464564 0.23749877
+v 0.14349238 -0.14948957 0.42550965
+v 0.26693120 -0.26005430 0.34742715
+v 0.14393940 -0.25706988 0.23749877
+v 0.26515152 -0.01464564 0.23749877
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+v 0.26261696 -0.01465014 0.42367498
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+f 10 7 3
+f 10 1 7
+f 11 3 7
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+f 11 10 3
+f 11 4 6
+f 11 6 10
+f 11 9 5
+f 11 5 4
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_9.obj b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fb56a1198d09eed46248d71c5cadb68d00722d1
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.08331518 -0.19974658 0.41751684
+v 0.26515152 -0.01464564 0.34355938
+v 0.26261696 -0.01465014 0.42367498
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+f 24 11 1
+f 24 1 21
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/visual/material.mtl b/objects/objaverse/tomato/tomato_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_0/visual/model_normalized_0.obj b/objects/objaverse/tomato/tomato_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57df00e29a5b2b868a256e20bbbff0ae3b4ed2bb
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_0/visual/model_normalized_0.obj
@@ -0,0 +1,135605 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.13556098 0.01668821 -0.42151848
+v -0.11480296 0.00737057 -0.42651991
+v -0.13967162 -0.00718468 -0.42179038
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\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_0.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b28b9c55905d37dd5c15095c34c6399e33e9150d
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_0.obj
@@ -0,0 +1,168 @@
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+f 38 30 19
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+f 39 6 15
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+f 41 38 19
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+f 44 43 8
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+f 46 24 35
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+f 49 13 42
+f 50 43 34
+f 50 34 23
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+f 50 36 45
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+f 51 46 26
+f 51 26 15
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+f 52 39 26
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+f 53 52 47
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+f 54 4 27
+f 54 27 48
+f 55 49 42
+f 55 42 29
+f 55 29 49
+f 56 51 15
+f 56 15 45
+f 56 45 51
+f 57 53 6
+f 57 6 39
+f 57 39 53
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_1.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5457c5431bcf3f1eaf8d13f6a50f6dbcc7ec01a
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_1.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01186327 0.05830870 0.17051913
+v -0.01601782 0.06117778 0.17224060
+v -0.10238828 0.05842936 0.16767081
+v -0.14671064 0.34811504 0.11234839
+v -0.10301408 0.23300245 0.22110800
+v -0.13494304 0.33918832 0.08536857
+v -0.07703745 0.07690312 0.18700960
+v -0.07396426 0.16922219 0.21732477
+v -0.14904838 0.19131430 0.20552026
+v -0.01739902 0.12434555 0.17111822
+v -0.08559527 0.06911377 0.18132937
+v -0.09430295 0.10752107 0.20003776
+v -0.14789594 0.27461485 0.18726027
+v -0.13458605 0.16990634 0.21803755
+v -0.11731317 0.08795015 0.17050565
+v -0.03930820 0.14030213 0.19340731
+v -0.13599281 0.34427002 0.09005661
+v -0.10798572 0.10535810 0.20132721
+v -0.13719106 0.22122665 0.21616087
+v -0.14179370 0.31460850 0.15900222
+v -0.15244441 0.34375857 0.11984946
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+v -0.13849976 0.33899871 0.08581895
+v -0.14577196 0.18571421 0.21123215
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+v -0.11427233 0.12827781 0.20728730
+v -0.14917423 0.23331497 0.20533274
+v -0.12667992 0.23366169 0.21728739
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+v -0.14914880 0.33787815 0.10557070
+v -0.15052628 0.31559928 0.15851054
+v -0.14968914 0.34806919 0.10639848
+v -0.13889373 0.26048582 0.20023627
+v -0.14087669 0.34664520 0.09638403
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+f 7 1 2
+f 8 2 1
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+f 16 8 1
+f 16 10 5
+f 17 10 6
+f 17 4 5
+f 17 5 10
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+f 20 5 4
+f 21 20 4
+f 22 14 8
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+f 22 16 5
+f 22 8 16
+f 23 6 3
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+f 23 17 6
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+f 24 9 15
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+f 25 1 10
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+f 26 14 18
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+f 28 19 5
+f 28 27 19
+f 29 5 20
+f 29 28 5
+f 30 15 9
+f 30 9 21
+f 30 23 15
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+f 31 29 20
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+f 32 23 30
+f 32 30 21
+f 32 21 4
+f 33 13 27
+f 33 27 28
+f 33 28 29
+f 33 31 13
+f 33 29 31
+f 34 32 4
+f 34 4 17
+f 34 17 23
+f 34 23 32
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_10.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e1ef1c5bbd6fb11c061f5f7b51de8d0b6b6e78
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_10.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.11019695 -0.01800370 -0.35606060
+v 0.20968961 0.10853761 -0.42933466
+v 0.11019695 0.16381448 -0.35606060
+v -0.19635479 0.18746245 -0.38436697
+v -0.07067932 -0.01700828 -0.49452886
+v 0.10482676 0.15511771 -0.45715977
+v -0.17768183 -0.01800370 -0.35606060
+v 0.19749346 0.16062881 -0.41142820
+v 0.10741166 -0.01758020 -0.49447206
+v -0.08239515 0.12564568 -0.47314683
+v -0.20029461 -0.01778165 -0.46046739
+v 0.14743459 0.15427240 -0.44277008
+v 0.19137616 0.06818059 -0.45432810
+v -0.08180901 0.15433713 -0.45962190
+v 0.01862475 0.08474753 -0.49004949
+v -0.08495077 0.05551608 -0.49203410
+v -0.17292971 0.09952198 -0.45325449
+v 0.18951784 0.13946293 -0.42841540
+v 0.10738488 0.04006412 -0.49084217
+v 0.14879486 0.11201399 -0.46033480
+v 0.03277857 0.14216061 -0.47409815
+v -0.05510777 0.08455569 -0.49006671
+v -0.18453196 0.06078023 -0.45942162
+v -0.11167657 0.11034155 -0.47255324
+v -0.16780795 0.15112912 -0.42806777
+v 0.17580886 0.15423793 -0.42887878
+v 0.19213834 0.15597099 -0.41795502
+v 0.17977455 0.09895374 -0.45050260
+v 0.17867910 0.06182098 -0.46263539
+v 0.10594117 0.11220473 -0.47349120
+v -0.03902707 0.14078786 -0.47453232
+v -0.15621598 0.09742815 -0.46220228
+v -0.08427942 0.06975008 -0.48981724
+v -0.16832011 0.12411961 -0.44403958
+v 0.17546763 0.12569173 -0.44244740
+v 0.19721702 0.10060005 -0.44026561
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+v -0.15406544 0.10983717 -0.45791709
+v -0.13959194 0.12361231 -0.45736300
+v 0.07796166 0.06912338 -0.48952821
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+f 11 7 4
+f 11 5 9
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+f 11 1 7
+f 12 6 8
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+f 16 15 9
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+f 24 14 10
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+f 29 13 9
+f 29 9 19
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+f 31 22 10
+f 31 21 15
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+f 32 23 17
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+f 33 24 10
+f 33 10 22
+f 34 17 4
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+f 35 20 12
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+f 36 13 28
+f 36 28 35
+f 36 35 18
+f 36 18 2
+f 37 21 6
+f 37 6 30
+f 38 32 17
+f 38 17 34
+f 38 24 32
+f 39 34 25
+f 39 25 14
+f 39 38 34
+f 39 14 24
+f 39 24 38
+f 40 15 21
+f 40 21 37
+f 40 19 15
+f 40 37 30
+f 40 30 19
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_11.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a294ee0c62770463476f3c6cb5e2f80887c812
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.10615190 -0.35156860 0.00192173
+v 0.21594603 -0.29037165 0.00737638
+v 0.03414286 -0.19594452 0.17144548
+v -0.27331072 -0.01494814 0.12924518
+v -0.26859091 -0.01800370 0.00757576
+v 0.20114491 -0.01801146 0.14410396
+v -0.16731861 -0.28795166 0.06859072
+v 0.13236161 -0.26043963 0.11086686
+v 0.20110604 -0.01800370 0.00757576
+v 0.00528806 -0.01223964 0.19006849
+v -0.20667701 -0.05270926 0.18792936
+v -0.17200171 -0.32365524 0.00242987
+v 0.16083919 -0.28867069 0.06827721
+v -0.02481065 -0.31921635 0.08576429
+v 0.14501882 -0.03960281 0.19610377
+v 0.17734039 -0.32172746 0.00140371
+v -0.08269963 -0.24873378 0.13975503
+v -0.29667558 -0.20066714 0.02445225
+v -0.20366852 -0.01548072 0.16029820
+v 0.04656577 -0.30486981 0.09843820
+v -0.08377149 -0.35277283 0.00273957
+v 0.10520328 -0.20850302 0.15717027
+v 0.15414372 -0.01773657 0.18982329
+v 0.06229307 -0.08431560 0.19759704
+v 0.18731384 -0.21964173 0.11034435
+v 0.20972178 -0.29776198 0.00344273
+v -0.14155561 -0.33619074 0.00199220
+v 0.11832424 -0.31854842 0.05576731
+v -0.15368091 -0.23348170 0.12691535
+v -0.05478231 -0.18144072 0.17244767
+v -0.11113559 -0.28890592 0.09849989
+v -0.25488820 -0.16329382 0.09887544
+v -0.16999623 -0.31920973 0.01473439
+v -0.27999914 -0.01693681 0.12389565
+v -0.24661745 -0.01490997 0.14456894
+v -0.05270254 -0.27595042 0.12644923
+v 0.07471459 -0.33212280 0.05572273
+v 0.07582745 -0.24765802 0.14244912
+v 0.06280455 -0.18178820 0.17185750
+v 0.16097747 -0.26034601 0.09657627
+v 0.20825794 -0.28206104 0.03171255
+v 0.18873795 -0.18068452 0.12554032
+v 0.14720863 -0.23249832 0.12605213
+v 0.14896169 -0.33659552 0.00149695
+v 0.13300858 -0.28916506 0.08304873
+v -0.12793935 -0.19242400 0.15552942
+v -0.02471539 -0.23646688 0.15573515
+v -0.02523144 -0.19468499 0.17154091
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+v -0.11134872 -0.27548334 0.11182060
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+v -0.05315172 -0.34861041 0.03029788
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+v 0.09009408 -0.22117154 0.15578546
+v 0.20295190 -0.28953809 0.02754869
+f 9 6 2
+f 10 6 9
+f 10 9 5
+f 10 5 4
+f 15 10 11
+f 16 5 9
+f 18 5 12
+f 19 11 10
+f 23 15 6
+f 23 6 10
+f 23 10 15
+f 24 15 11
+f 26 16 9
+f 26 9 2
+f 27 12 5
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+f 27 1 21
+f 30 24 11
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+f 33 7 18
+f 34 4 5
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+f 55 36 14
+f 55 8 38
+f 55 45 8
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+f 57 31 56
+f 57 50 31
+f 57 17 50
+f 58 55 14
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+f 59 37 28
+f 59 58 37
+f 59 20 58
+f 59 45 20
+f 59 28 45
+f 60 37 1
+f 60 28 37
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+f 61 14 49
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+f 63 22 39
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+f 63 62 38
+f 63 43 22
+f 63 38 43
+f 64 26 2
+f 64 2 41
+f 64 16 26
+f 64 41 13
+f 64 13 16
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_12.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8086c38315e04061320862631c0b0af07fe6209a
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.17768183 -0.19982187 0.00757576
+v -0.17768183 -0.19982187 -0.23484848
+v -0.17768183 0.17896599 0.00757576
+v -0.31548964 0.17990221 0.00811029
+v -0.35078446 -0.13526623 -0.24464591
+v -0.29043937 -0.21450552 0.02056853
+v -0.17768183 0.17896599 -0.23484848
+v -0.33073683 -0.12995253 0.01566958
+v -0.30174802 -0.22368028 -0.24656328
+v -0.31396856 0.17892482 -0.23482466
+f 1 2 3
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+f 7 3 2
+f 7 4 3
+f 8 6 4
+f 8 4 5
+f 8 5 6
+f 9 6 5
+f 9 2 1
+f 9 1 6
+f 9 7 2
+f 9 5 7
+f 10 7 5
+f 10 5 4
+f 10 4 7
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_13.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..549c860078a6dda8ec9cc0d5ac791d63ecec1e4e
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32776013 0.15863349 -0.23169432
+v 0.32424497 0.15661614 -0.24534713
+v 0.16137950 0.32603618 -0.24413761
+v -0.05423078 0.36138434 -0.23044036
+v -0.32416053 0.16121465 -0.23319555
+v 0.16287322 0.32910698 -0.23046505
+v 0.28093365 0.23029391 -0.23038058
+v -0.31640471 0.15700121 -0.25947349
+v 0.06278103 0.36098156 -0.23058892
+v 0.29363338 0.21452252 -0.22967159
+v 0.16407450 0.15689876 -0.43370883
+v 0.17625670 0.31334297 -0.25851820
+v -0.19797838 0.30078027 -0.22902555
+v 0.12054121 0.34638061 -0.23080934
+v 0.32205870 0.17012806 -0.22982895
+v -0.24221860 0.15527080 -0.37452536
+v -0.02364941 0.24135531 -0.41545995
+v 0.24492730 0.19604703 -0.34206785
+v -0.27002930 0.24146007 -0.22837993
+v -0.11144601 0.34631626 -0.22987667
+v 0.09092708 0.31231482 -0.32955415
+v 0.28869051 0.19616838 -0.27170376
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+v -0.05409211 0.15738028 -0.46458185
+v -0.12259414 0.26753615 -0.35544600
+v 0.18821247 0.26742723 -0.32798023
+v -0.28088813 0.18140321 -0.29960744
+v 0.09002982 0.34137026 -0.27258399
+v 0.06205814 0.24169746 -0.41467665
+v -0.02462662 0.32731939 -0.31497050
+v 0.31862718 0.16806129 -0.24320700
+v 0.27931799 0.15668885 -0.33205915
+v 0.27393883 0.22476455 -0.25666791
+v -0.11256386 0.15583457 -0.44910754
+v -0.13671546 0.31073030 -0.28466112
+v 0.11859564 0.31231215 -0.31535629
+v 0.18851224 0.21105668 -0.38435009
+v -0.28567239 0.15619050 -0.31772078
+v -0.29852299 0.19824712 -0.24319964
+v -0.22360969 0.25305206 -0.28411129
+v 0.11937785 0.34276543 -0.24429179
+v 0.06206433 0.19835840 -0.44408591
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+v -0.25168348 0.18006138 -0.34212635
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+v -0.22485507 0.26836362 -0.25657459
+v -0.16639721 0.25298686 -0.34151298
+f 8 2 1
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+f 15 1 2
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+f 53 25 35
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+f 53 26 46
+f 53 52 26
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+f 54 36 13
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+f 56 37 21
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+f 56 42 3
+f 56 3 12
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+f 57 27 18
+f 57 18 38
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+f 57 38 44
+f 57 44 55
+f 58 38 24
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+f 58 30 44
+f 58 43 30
+f 58 11 43
+f 59 39 28
+f 59 16 39
+f 60 39 8
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+f 60 23 40
+f 61 40 23
+f 61 23 19
+f 61 19 40
+f 62 19 41
+f 62 28 60
+f 62 60 40
+f 62 40 19
+f 62 59 28
+f 62 41 59
+f 63 41 19
+f 63 19 13
+f 63 13 36
+f 63 36 41
+f 64 41 36
+f 64 36 26
+f 64 59 41
+f 64 26 52
+f 64 52 16
+f 64 16 59
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_14.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87c759f398d6db1a676b6fa4a0020122f2607ec9
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_14.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.17768183 -0.18467036 -0.23484848
+v -0.17130047 -0.17821377 -0.43466014
+v -0.17768183 0.16381448 -0.23484848
+v -0.32813061 0.15581129 -0.22948529
+v -0.32513661 -0.19152838 -0.23804800
+v -0.17059706 0.14033060 -0.43356524
+v -0.34607385 0.11333388 -0.23026795
+v -0.17223337 0.15685577 -0.42179256
+v -0.28069097 0.11178873 -0.35728676
+v -0.32470606 0.11096608 -0.28570821
+v -0.22661881 -0.04717325 -0.44444457
+v -0.22503331 0.13855363 -0.40008971
+v -0.32443457 0.15400448 -0.24285660
+v -0.31703767 -0.12024675 -0.33316512
+v -0.17120484 0.06946462 -0.46421286
+v -0.21199136 0.15284275 -0.40063963
+v -0.23866819 0.03825826 -0.42921338
+v -0.34198924 0.11224776 -0.24371254
+v -0.28065765 0.15307323 -0.32858839
+v -0.35919068 0.05769738 -0.23474823
+v -0.29736605 0.00960944 -0.37355451
+v -0.25320405 -0.10372291 -0.41446654
+v -0.29565365 -0.17373028 -0.32878995
+v -0.17065762 0.11201970 -0.44884101
+v -0.17204519 -0.10472084 -0.46155337
+v -0.18462848 0.15375275 -0.41700958
+v -0.23921817 0.08162443 -0.41511331
+v -0.19776514 0.02480518 -0.45901435
+v -0.30951320 0.11060321 -0.31448000
+v -0.26717705 0.13963818 -0.35811202
+v -0.33983400 0.08295717 -0.27168012
+v -0.22640473 -0.00398554 -0.44431454
+v -0.34521743 0.05483077 -0.27434269
+v -0.29615016 -0.09019632 -0.37242755
+v -0.21143461 -0.17420728 -0.41373044
+v -0.28218322 -0.16041812 -0.35757472
+v -0.19643085 0.12377619 -0.42807756
+v -0.21262851 -0.10351511 -0.44369434
+v -0.18263353 0.06785324 -0.45865620
+v -0.28084562 0.03822862 -0.38704340
+v -0.19900202 -0.06130453 -0.45921795
+v -0.29458597 0.12488923 -0.32871956
+v -0.22489387 0.11068950 -0.41474276
+v -0.31027668 0.08230021 -0.32923533
+v -0.31199566 0.03886827 -0.34501523
+v -0.24003097 -0.08959600 -0.42924702
+v -0.29591231 -0.13198170 -0.35715582
+v -0.22477405 -0.15936726 -0.41299379
+v -0.18240086 0.13791227 -0.42854629
+v -0.18391757 -0.14647840 -0.44336216
+v -0.18220151 0.10953304 -0.44361058
+v -0.28065275 0.08136101 -0.37193949
+v -0.18473805 -0.10338635 -0.45710127
+v -0.28150455 -0.10375175 -0.38599420
+v -0.31086824 -0.11832091 -0.34324985
+v -0.17184127 -0.14870615 -0.44787540
+v -0.19774543 -0.13186851 -0.44236440
+v -0.18288464 -0.17532580 -0.42984933
+v -0.29562153 0.06744160 -0.35803010
+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 8 4 3
+f 8 3 6
+f 13 7 4
+f 18 13 10
+f 18 7 13
+f 19 10 13
+f 19 13 4
+f 19 4 8
+f 19 8 16
+f 20 14 5
+f 20 5 7
+f 20 7 18
+f 23 5 14
+f 24 6 2
+f 24 2 15
+f 25 15 2
+f 26 16 8
+f 26 8 6
+f 29 10 19
+f 30 19 16
+f 30 16 12
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+f 34 21 11
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+f 36 35 23
+f 37 12 16
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+f 39 28 17
+f 39 15 28
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+f 41 15 25
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+f 42 30 9
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+f 46 41 38
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+f 57 56 50
+f 57 53 56
+f 57 50 35
+f 57 35 48
+f 58 50 2
+f 58 2 35
+f 58 35 50
+f 59 52 40
+f 59 40 45
+f 59 45 44
+f 59 44 9
+f 59 9 52
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_15.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8b5288d4931ed673fa8b85c1c3e558d7844495
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_15.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.06890254 -0.36615882 -0.04053761
+v -0.07332060 -0.31472847 -0.34652842
+v -0.07162122 -0.21497339 0.00757576
+v -0.17768183 -0.21497339 0.00757576
+v -0.16914507 -0.33361147 -0.21636197
+v -0.07162122 -0.21497339 -0.34090908
+v -0.06947349 -0.35541001 0.00385203
+v -0.06906967 -0.36571151 -0.21679341
+v -0.19865745 -0.24384552 -0.36866421
+v -0.16919092 -0.33105014 -0.01434058
+v -0.12589023 -0.34845423 -0.23098927
+v -0.11265341 -0.36374541 -0.11461277
+v -0.12590573 -0.34690134 -0.01359245
+v -0.17200171 -0.32365524 0.00242987
+v -0.08291980 -0.36322543 -0.21640881
+v -0.16914962 -0.28933417 -0.33073357
+v -0.15591521 -0.34776688 -0.07004310
+v -0.15439411 -0.34743365 -0.17157932
+v -0.11228857 -0.36387914 -0.14310861
+v -0.08311483 -0.36347544 -0.04086610
+v -0.11142459 -0.34670389 0.00061698
+v -0.15498828 -0.33178186 0.00010059
+v -0.09736929 -0.36392962 -0.18723687
+v -0.09762885 -0.36382918 -0.06981800
+f 6 4 3
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 8 6 1
+f 8 2 6
+f 9 4 6
+f 9 6 2
+f 14 7 4
+f 14 4 9
+f 14 9 5
+f 14 5 10
+f 15 11 2
+f 15 2 8
+f 16 9 2
+f 16 2 11
+f 16 11 5
+f 16 5 9
+f 17 10 5
+f 17 13 10
+f 18 5 11
+f 18 17 5
+f 19 8 1
+f 19 1 12
+f 19 12 17
+f 19 17 18
+f 20 1 7
+f 20 13 17
+f 21 7 14
+f 21 20 7
+f 21 13 20
+f 22 14 10
+f 22 10 13
+f 22 21 14
+f 22 13 21
+f 23 15 8
+f 23 8 19
+f 23 11 15
+f 23 19 18
+f 23 18 11
+f 24 20 17
+f 24 17 12
+f 24 12 1
+f 24 1 20
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_16.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5a0949c457c8a923089a03371989663e4ecdbe6
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_16.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.17151174 -0.33705173 -0.04104425
+v -0.17044060 -0.20580343 -0.41813065
+v -0.18227248 -0.18866442 0.13778256
+v -0.28533072 -0.17841135 0.05782109
+v -0.32617400 -0.20443551 -0.20128826
+v -0.20023010 -0.17729135 -0.41887778
+v -0.18250817 -0.28890897 0.05573211
+v -0.17029206 -0.23532007 0.11630227
+v -0.17172569 -0.30966675 -0.29028846
+v -0.28205384 -0.26070067 -0.04303723
+v -0.17624472 -0.18335332 -0.42936440
+v -0.22830164 -0.17858442 0.11438182
+v -0.33143534 -0.17715972 -0.24603715
+v -0.17128159 -0.33756166 -0.18724247
+v -0.17060066 -0.29334991 0.05916423
+v -0.23837346 -0.24472097 -0.32876872
+v -0.33118794 -0.19340242 -0.05576653
+v -0.25291557 -0.24575161 0.04033706
+v -0.22570099 -0.28800055 0.01302109
+v -0.19720163 -0.18852941 -0.41394305
+v -0.22557097 -0.18986121 0.11065275
+v -0.24231667 -0.17652989 -0.38903840
+v -0.31550239 -0.17669423 -0.28906898
+v -0.17090190 -0.27778679 -0.34696287
+v -0.24146261 -0.30369725 -0.07096923
+v -0.21067681 -0.24507717 0.08196403
+v -0.25477307 -0.28813861 -0.20012663
+v -0.31137461 -0.23291185 -0.07106133
+v -0.33429019 -0.17881152 -0.23232991
+v -0.31266973 -0.20589589 -0.01403526
+v -0.26654644 -0.25973630 -0.00137364
+v -0.23879241 -0.25960994 0.04047537
+v -0.18435520 -0.31869958 0.00035494
+v -0.18207603 -0.20279963 -0.41358397
+v -0.18262760 -0.23153776 0.11198143
+v -0.28150787 -0.19044989 0.05492200
+v -0.23851877 -0.18775712 -0.38479534
+v -0.29685200 -0.23159799 -0.24373294
+v -0.22525786 -0.27272181 -0.30142779
+v -0.18375707 -0.33184132 -0.04219185
+v -0.21054506 -0.25929943 0.06795733
+v -0.25269649 -0.21766710 0.06761113
+v -0.24145298 -0.30309680 -0.17155768
+v -0.19748988 -0.31654965 -0.22980444
+v -0.31198131 -0.23311924 -0.17210484
+v -0.30291289 -0.17979712 0.03111073
+v -0.31064160 -0.21816643 -0.02859911
+v -0.25374085 -0.28851651 -0.04283155
+v -0.28178659 -0.23219924 0.01327351
+v -0.25256995 -0.27364084 -0.00100789
+v -0.22432409 -0.23203184 0.08258428
+v -0.17200171 -0.32365524 0.00242987
+v -0.19630156 -0.24390177 -0.37037512
+v -0.21109889 -0.21633544 -0.38496892
+v -0.30053507 -0.17663686 -0.31810201
+v -0.29629201 -0.21718197 -0.27236498
+v -0.31075917 -0.21833420 -0.22955440
+v -0.18313685 -0.27325629 -0.34401458
+v -0.25264835 -0.25839364 -0.28662847
+v -0.18358208 -0.33193656 -0.18623369
+v -0.19783887 -0.31708035 -0.01398710
+v -0.19760948 -0.30268544 -0.27301159
+v -0.32548790 -0.20525390 -0.05657335
+v -0.29732175 -0.24639643 -0.20079074
+f 8 2 3
+f 11 6 3
+f 11 3 2
+f 12 3 6
+f 15 1 14
+f 15 2 8
+f 20 6 11
+f 21 3 12
+f 22 12 6
+f 23 13 4
+f 23 4 12
+f 23 12 22
+f 24 14 9
+f 24 15 14
+f 24 2 15
+f 26 15 8
+f 28 25 10
+f 29 5 17
+f 32 19 7
+f 33 15 7
+f 33 7 19
+f 34 20 11
+f 34 11 2
+f 35 8 3
+f 35 3 21
+f 35 26 8
+f 36 21 12
+f 36 12 4
+f 37 22 6
+f 37 6 20
+f 40 14 1
+f 41 7 15
+f 41 15 26
+f 41 32 7
+f 42 36 18
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+f 47 28 10
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+f 48 10 25
+f 49 31 18
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+f 49 30 47
+f 49 18 36
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+f 50 19 32
+f 50 48 19
+f 50 31 10
+f 50 10 48
+f 50 32 18
+f 50 18 31
+f 51 18 32
+f 51 42 18
+f 51 21 42
+f 51 35 21
+f 51 26 35
+f 51 41 26
+f 51 32 41
+f 52 1 15
+f 52 15 33
+f 53 2 24
+f 54 37 20
+f 54 20 34
+f 54 34 2
+f 54 2 53
+f 54 53 16
+f 54 16 37
+f 55 23 22
+f 55 22 37
+f 55 37 16
+f 56 13 23
+f 56 23 55
+f 56 55 16
+f 57 29 13
+f 57 56 38
+f 57 13 56
+f 57 5 29
+f 58 24 9
+f 58 9 39
+f 58 39 16
+f 58 53 24
+f 58 16 53
+f 59 39 27
+f 59 27 38
+f 59 38 56
+f 59 56 16
+f 59 16 39
+f 60 40 25
+f 60 14 40
+f 60 25 43
+f 60 44 14
+f 60 43 44
+f 61 40 1
+f 61 33 19
+f 61 19 48
+f 61 48 25
+f 61 25 40
+f 61 52 33
+f 61 1 52
+f 62 39 9
+f 62 9 44
+f 62 44 27
+f 62 27 39
+f 63 45 28
+f 63 17 5
+f 63 5 45
+f 63 28 47
+f 63 47 30
+f 63 30 17
+f 64 27 43
+f 64 43 45
+f 64 38 27
+f 64 57 38
+f 64 45 5
+f 64 5 57
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_17.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c8f77367a41fd411368d80c9d7a4b60f6028a2c
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_17.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.10562696 -0.36390251 -0.04142351
+v 0.10752600 -0.35645684 -0.23217836
+v 0.11019695 -0.21497339 0.00757576
+v -0.07162122 -0.21497339 0.00757576
+v -0.06877836 -0.36293237 -0.23046268
+v 0.11019695 -0.21497339 -0.23484848
+v -0.06947349 -0.35541001 0.00385203
+v 0.10615190 -0.35156860 0.00192173
+v 0.04802342 -0.37987990 -0.15753040
+v -0.07162122 -0.21497339 -0.23484848
+v 0.06363984 -0.36339246 -0.01180863
+v 0.07693933 -0.36346549 -0.23027457
+v 0.10583717 -0.36452693 -0.20088833
+v -0.02461883 -0.38000234 -0.09944140
+v 0.09140748 -0.36388849 -0.02719911
+v -0.01022290 -0.38015737 -0.17211129
+v 0.04827619 -0.38053895 -0.09970865
+v -0.06839805 -0.36360521 -0.02649427
+v 0.03314183 -0.37951792 -0.17177820
+v -0.02460507 -0.38045636 -0.15768873
+v 0.03377196 -0.38015745 -0.08515403
+v -0.05357428 -0.36288868 -0.01218862
+v -0.01026506 -0.38025785 -0.08492409
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 3 7
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 10 6 2
+f 10 2 5
+f 11 8 7
+f 12 5 2
+f 13 2 1
+f 13 12 2
+f 15 1 8
+f 15 8 11
+f 16 5 12
+f 17 13 1
+f 17 9 13
+f 17 1 15
+f 18 7 5
+f 19 16 12
+f 19 9 16
+f 19 13 9
+f 19 12 13
+f 20 5 16
+f 20 18 5
+f 20 14 18
+f 20 16 9
+f 20 9 17
+f 21 17 15
+f 21 15 11
+f 22 11 7
+f 22 7 18
+f 23 20 17
+f 23 14 20
+f 23 17 21
+f 23 21 11
+f 23 11 22
+f 23 22 18
+f 23 18 14
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_18.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9ba0daeb93c2ffcee94b6315e1cabc096037a2a
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_18.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.30899414 0.17087776 0.00083599
+v 0.32511126 0.17198544 -0.21629774
+v 0.24543891 0.28876462 -0.01662244
+v 0.17883525 0.31744821 -0.05779009
+v 0.18595453 0.17896599 -0.23484848
+v 0.18901485 0.31107344 -0.24349497
+v 0.18595453 0.17896599 0.00757576
+v 0.31958285 0.19801506 -0.08580949
+v 0.26060925 0.26866778 -0.18563281
+v 0.20438121 0.31283338 -0.20098863
+v 0.17928401 0.28918677 -0.30400136
+v 0.23619737 0.28693233 -0.00187128
+v 0.32482710 0.17205232 -0.04176142
+v 0.29069908 0.24125017 -0.15730144
+v 0.17824326 0.31678641 -0.24556055
+v 0.20493340 0.31151787 -0.08731820
+v 0.23197195 0.28379705 -0.22868784
+v 0.24707907 0.28400473 -0.17198189
+v 0.18003954 0.28813974 -0.00025466
+v 0.19740087 0.25286585 -0.33716822
+v 0.31890016 0.18317633 -0.04340096
+v 0.31911591 0.19818697 -0.17162784
+v 0.30448267 0.21225486 -0.20013659
+v 0.29038743 0.24059572 -0.10015424
+v 0.20237743 0.29678419 -0.25756331
+v 0.23541963 0.22997516 -0.31782846
+v 0.18109933 0.27747796 -0.32061845
+v 0.30450777 0.21150976 -0.05798940
+v 0.27424120 0.23941808 -0.22776572
+v 0.31908974 0.18318907 -0.21451787
+v 0.31745289 0.17608061 -0.23318964
+v 0.20267561 0.28301381 -0.28636211
+v 0.30524129 0.19811686 -0.22889266
+v 0.22972223 0.23966434 -0.31388459
+v 0.19184482 0.27242125 -0.31717404
+v 0.19009758 0.28403936 -0.30097933
+v 0.21591951 0.25396055 -0.31415013
+f 5 2 1
+f 7 5 1
+f 11 5 7
+f 12 7 1
+f 12 1 3
+f 12 3 4
+f 13 1 2
+f 13 2 8
+f 15 10 6
+f 15 4 10
+f 16 10 4
+f 16 4 3
+f 16 3 10
+f 17 6 10
+f 18 10 3
+f 18 17 10
+f 18 9 17
+f 18 14 9
+f 18 3 14
+f 19 11 7
+f 19 15 11
+f 19 4 15
+f 19 12 4
+f 19 7 12
+f 21 13 8
+f 21 3 1
+f 21 1 13
+f 22 14 8
+f 22 8 2
+f 23 9 14
+f 23 14 22
+f 24 14 3
+f 24 3 8
+f 24 8 14
+f 25 15 6
+f 25 11 15
+f 25 6 17
+f 26 5 20
+f 27 20 5
+f 27 5 11
+f 28 21 8
+f 28 8 3
+f 28 3 21
+f 29 17 9
+f 29 9 23
+f 30 23 22
+f 30 22 2
+f 31 2 5
+f 31 5 26
+f 31 30 2
+f 32 25 17
+f 33 31 26
+f 33 26 29
+f 33 29 23
+f 33 23 30
+f 33 30 31
+f 34 29 26
+f 34 26 20
+f 34 32 17
+f 34 17 29
+f 35 20 27
+f 36 11 25
+f 36 25 32
+f 36 32 35
+f 36 35 27
+f 36 27 11
+f 37 34 20
+f 37 20 35
+f 37 35 32
+f 37 32 34
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_19.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1688bbbbe67fdd93d3d5bcc1c1b597b79dcea934
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_19.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.21196798 -0.22489646 -0.36753130
+v 0.18991747 -0.20455839 -0.40085080
+v 0.22246258 0.18024767 -0.37901531
+v 0.11019695 0.16381448 -0.35606060
+v 0.11019695 -0.21497339 -0.35606060
+v 0.10746310 0.02588476 -0.49259992
+v 0.19080625 -0.06081429 -0.45888961
+v 0.10759996 -0.20998129 -0.43866020
+v 0.11893441 0.17748122 -0.44205086
+v 0.19033081 -0.11755008 -0.44370593
+v 0.19074758 0.05332351 -0.45846765
+v 0.14629518 -0.20330356 -0.42746361
+v 0.10608900 -0.19288096 -0.44833914
+v 0.10705280 0.09874965 -0.47744613
+v 0.16280170 -0.04610005 -0.47445210
+v 0.19749346 0.16062881 -0.41142820
+v 0.17488610 -0.17461021 -0.42786551
+v 0.11974147 -0.19125694 -0.44492587
+v 0.10575525 -0.16317710 -0.46214995
+v 0.14852222 0.06932424 -0.47350133
+v 0.16344237 0.03986883 -0.47378722
+v 0.14818410 -0.08919763 -0.47272837
+v 0.19155847 0.09672528 -0.44494978
+v 0.14654048 -0.17519212 -0.44241452
+v 0.10681160 -0.04654631 -0.49229327
+v 0.12068560 0.02557514 -0.48975004
+v 0.16269117 0.09703776 -0.45977021
+v 0.16191107 -0.11767978 -0.45864895
+v 0.11941466 -0.16162131 -0.45859295
+v 0.10627420 -0.11949654 -0.47814185
+v 0.12027935 -0.04605749 -0.48899264
+v 0.12070966 0.09775857 -0.47448210
+v 0.17634317 0.08208205 -0.45805518
+v 0.16085947 -0.16044284 -0.44222677
+v 0.11976610 -0.11846779 -0.47454843
+f 1 3 4
+f 5 1 4
+f 7 3 1
+f 8 1 5
+f 9 4 3
+f 10 7 1
+f 10 1 2
+f 11 3 7
+f 12 2 1
+f 12 1 8
+f 13 8 5
+f 13 5 4
+f 14 4 9
+f 16 9 3
+f 17 10 2
+f 17 2 12
+f 18 12 8
+f 18 8 13
+f 19 13 4
+f 19 4 14
+f 19 18 13
+f 21 11 7
+f 21 7 15
+f 21 20 11
+f 22 15 7
+f 23 16 3
+f 23 3 11
+f 24 17 12
+f 24 12 18
+f 25 19 14
+f 25 14 6
+f 26 6 14
+f 26 20 21
+f 26 21 15
+f 26 25 6
+f 27 9 16
+f 27 16 23
+f 28 22 7
+f 28 7 10
+f 29 24 18
+f 29 18 19
+f 29 28 24
+f 30 19 25
+f 31 15 22
+f 31 30 25
+f 31 22 30
+f 31 26 15
+f 31 25 26
+f 32 26 14
+f 32 20 26
+f 32 27 20
+f 32 14 9
+f 32 9 27
+f 33 27 23
+f 33 23 11
+f 33 11 20
+f 33 20 27
+f 34 28 10
+f 34 10 17
+f 34 17 24
+f 34 24 28
+f 35 29 19
+f 35 19 30
+f 35 28 29
+f 35 30 22
+f 35 22 28
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_2.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b6b2f554c6e0411b9f5b949490adf051643eafa
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.16046401 -0.01863966 0.20189740
+v 0.33486799 0.06913637 0.03177981
+v 0.16276099 0.25680510 0.08338457
+v -0.09901971 0.34742984 0.00285608
+v -0.26859091 -0.01800370 0.00757576
+v 0.23688122 0.28238595 0.00083559
+v -0.15693080 0.19983257 0.13979021
+v 0.26322161 0.11156548 0.09554423
+v 0.20110604 -0.01800370 0.00757576
+v 0.02965088 0.34218575 0.02790097
+v -0.26999509 0.24196636 0.00073817
+v -0.04193395 0.25971549 0.12597988
+v -0.24661745 -0.01490997 0.14456894
+v 0.28125739 0.05413282 0.09924890
+v 0.16071435 0.19753624 0.12554498
+v 0.26143430 0.16847714 0.06605960
+v 0.19802914 -0.01737217 0.14482219
+v 0.14655944 -0.02058213 0.20334244
+v 0.30899414 0.17087776 0.00083599
+v 0.06055072 0.34702353 0.00083748
+v 0.18872735 0.27347430 0.05113360
+v -0.18117853 0.28291439 0.05572158
+v 0.02840097 0.31346304 0.06789853
+v -0.34085919 0.13214838 0.00626133
+v 0.25140547 0.08375263 0.11175742
+v 0.27834544 0.11232177 0.08312246
+v 0.15703781 0.00216550 0.19724896
+v 0.11825183 0.21770204 0.12656833
+v 0.23552754 0.15357893 0.09456869
+v 0.20308075 0.25636900 0.05316177
+v -0.26364369 -0.01611053 0.13540262
+v -0.22993710 0.07063301 0.15537305
+v -0.05715907 0.16299514 0.15689958
+v 0.31403972 0.15949572 0.00355805
+v 0.27516596 0.16780656 0.05304201
+v 0.27971785 0.21377392 -0.00022220
+v -0.25565133 0.25652414 0.00057385
+v 0.05825110 0.34181697 0.01237748
+v -0.25474711 0.15369239 0.11225607
+v -0.09665280 0.31277167 0.06903619
+v 0.01501484 0.32839258 0.05502495
+v -0.33088217 0.15690368 0.00287301
+v 0.27925516 0.06821493 0.09699745
+v 0.13946714 0.17231844 0.14288323
+v 0.01425546 0.27240103 0.11018833
+v 0.17652488 0.22508315 0.09523680
+v 0.23177969 0.27779475 0.00994745
+v -0.21723403 -0.01407035 0.15627954
+v -0.25856723 -0.00038189 0.14081617
+v -0.15874004 0.15810397 0.15600284
+v -0.00056394 0.21765576 0.13924019
+v 0.30441770 0.16815823 0.01230654
+v 0.30931706 0.15676612 0.01525898
+v -0.19884722 0.30176238 0.00225447
+v -0.25234204 0.25295958 0.01280026
+v 0.22820270 0.28890793 0.00123969
+v -0.16829300 0.24025682 0.11062269
+v -0.14001040 0.32843196 0.01472529
+v -0.06825913 0.34229540 0.02930582
+v -0.06892528 0.32777859 0.05699426
+v -0.31480869 0.18457049 0.00196979
+v -0.31264990 0.13995928 0.05696792
+v 0.02808693 0.28503162 0.09604896
+v 0.22409828 0.28407788 0.01118090
+f 17 9 2
+f 17 14 1
+f 17 2 14
+f 18 5 9
+f 18 17 1
+f 18 9 17
+f 19 9 5
+f 20 4 10
+f 25 8 1
+f 26 16 8
+f 27 1 8
+f 27 8 15
+f 27 18 1
+f 28 15 3
+f 29 16 15
+f 29 15 8
+f 29 8 16
+f 30 21 3
+f 31 5 18
+f 31 24 5
+f 33 18 27
+f 34 2 9
+f 34 9 19
+f 35 16 26
+f 36 6 19
+f 36 20 6
+f 37 4 20
+f 37 36 11
+f 37 20 36
+f 38 20 10
+f 38 10 21
+f 41 21 10
+f 41 23 3
+f 41 3 21
+f 42 5 24
+f 43 8 25
+f 43 26 8
+f 43 14 2
+f 43 2 26
+f 43 25 1
+f 43 1 14
+f 44 27 15
+f 44 15 28
+f 45 12 28
+f 45 41 12
+f 45 28 3
+f 46 30 3
+f 46 3 15
+f 46 15 16
+f 46 16 30
+f 47 30 16
+f 47 21 30
+f 47 35 6
+f 47 16 35
+f 48 31 18
+f 48 13 31
+f 48 18 32
+f 49 31 13
+f 49 48 32
+f 49 13 48
+f 50 33 12
+f 50 12 7
+f 50 32 18
+f 50 18 33
+f 50 39 32
+f 50 7 39
+f 51 33 27
+f 51 12 33
+f 51 27 44
+f 51 44 28
+f 51 28 12
+f 52 19 6
+f 52 6 35
+f 52 34 19
+f 53 35 26
+f 53 26 2
+f 53 52 35
+f 53 2 34
+f 53 34 52
+f 54 4 37
+f 55 37 11
+f 55 54 37
+f 55 22 54
+f 55 39 22
+f 56 38 21
+f 56 6 20
+f 56 20 38
+f 57 39 7
+f 57 22 39
+f 57 40 22
+f 57 7 12
+f 57 12 40
+f 58 22 40
+f 58 54 22
+f 58 4 54
+f 59 41 10
+f 59 10 4
+f 60 40 12
+f 60 12 41
+f 60 41 59
+f 60 59 4
+f 60 58 40
+f 60 4 58
+f 61 11 36
+f 61 36 19
+f 61 19 5
+f 61 5 42
+f 62 42 24
+f 62 61 42
+f 62 39 55
+f 62 55 11
+f 62 11 61
+f 62 24 31
+f 62 31 49
+f 62 49 32
+f 62 32 39
+f 63 23 41
+f 63 41 45
+f 63 45 3
+f 63 3 23
+f 64 47 6
+f 64 21 47
+f 64 56 21
+f 64 6 56
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_20.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..463c5037cb77b7c34c5c9ede5f1fe73f884c53f0
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24071693 -0.24380685 0.03322145
+v 0.21196798 -0.22489646 -0.36753130
+v 0.22246258 0.18024767 -0.37901531
+v -0.17768183 0.17896599 0.00757576
+v -0.19399627 -0.23693624 -0.37897648
+v 0.20110604 0.17896599 0.00757576
+v -0.17768183 -0.21497339 0.00757576
+v -0.19635479 0.18746245 -0.38436697
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_21.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa780dad453ea056e177631918fccc4f94d6cfc0
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_21.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.07162122 0.26987508 0.00757576
+v -0.07162122 0.26987508 -0.15909091
+v -0.06829228 0.36167202 -0.02612856
+v -0.07009568 0.35257077 0.00452394
+v -0.18198563 0.30224424 0.02419080
+v -0.16253031 0.26987508 -0.15909091
+v -0.12439867 0.34091961 0.00014274
+v -0.11144601 0.34631626 -0.22987667
+v -0.08293058 0.35844274 -0.02640894
+v -0.07036561 0.36920409 -0.18808185
+v -0.16448796 0.31882431 -0.23630419
+v -0.12596303 0.35697595 -0.08527704
+v -0.12614888 0.33536031 -0.24275843
+v -0.11201814 0.35699269 -0.05645355
+v -0.12485294 0.35759481 -0.15690624
+v -0.15417688 0.34271482 -0.05635543
+v -0.15352662 0.32786633 -0.22821291
+v -0.11075898 0.35843650 -0.18601294
+v -0.15368273 0.34275894 -0.17140995
+v -0.15395328 0.32784832 0.00142222
+v -0.12403866 0.34170510 -0.22821803
+v -0.08321049 0.36355322 -0.20096452
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 7 5 4
+f 9 7 4
+f 9 4 3
+f 10 3 2
+f 10 2 8
+f 11 2 6
+f 11 6 5
+f 12 3 10
+f 13 8 2
+f 13 2 11
+f 14 9 3
+f 14 3 12
+f 14 7 9
+f 15 12 10
+f 16 14 12
+f 16 7 14
+f 16 12 15
+f 17 13 11
+f 18 15 10
+f 19 11 5
+f 19 5 16
+f 19 16 15
+f 19 17 11
+f 19 15 18
+f 20 16 5
+f 20 5 7
+f 20 7 16
+f 21 8 13
+f 21 13 17
+f 21 18 8
+f 21 19 18
+f 21 17 19
+f 22 18 10
+f 22 10 8
+f 22 8 18
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_22.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d41ec66203bac55011e82903be0de806ac685cb
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_22.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.17184396 -0.10918533 0.45340316
+v 0.16925878 -0.04356179 0.23997445
+v 0.16956147 -0.01805905 0.26020449
+v 0.14471300 0.00764835 0.18888059
+v 0.13017144 -0.05150352 0.19145745
+v 0.15689250 0.00272896 0.19383655
+v 0.15469130 -0.09094484 0.42727409
+v 0.17280479 -0.10806241 0.45437509
+v 0.16025204 -0.05986126 0.25702018
+v 0.16851075 -0.01234869 0.23606415
+v 0.15312871 0.00863456 0.18904682
+v 0.15639836 -0.03614745 0.20478311
+v 0.16729990 -0.03286277 0.30510379
+v 0.15689519 -0.10215746 0.43091573
+v 0.12998055 -0.01837267 0.18087923
+v 0.16999982 -0.05112830 0.25579327
+v 0.16537555 -0.10109123 0.45413242
+v 0.13416713 -0.05284996 0.19615724
+v 0.16219436 -0.00308034 0.21195509
+v 0.16675385 -0.03327475 0.30577995
+v 0.17272431 -0.10578176 0.45524369
+v 0.16422577 -0.10818824 0.43873427
+v 0.16641687 -0.10717305 0.45223370
+v 0.16557340 -0.09725068 0.44779202
+v 0.16206382 -0.10741602 0.43725057
+v 0.14040358 -0.05920925 0.22708354
+v 0.15272647 -0.09425681 0.39286720
+f 10 3 2
+f 11 3 10
+f 12 6 2
+f 12 11 6
+f 13 11 4
+f 13 3 11
+f 14 7 5
+f 15 7 4
+f 15 5 7
+f 15 4 11
+f 15 12 5
+f 15 11 12
+f 16 8 1
+f 16 2 3
+f 16 3 8
+f 16 1 9
+f 17 7 14
+f 18 16 9
+f 18 2 16
+f 18 12 2
+f 18 5 12
+f 19 10 2
+f 19 2 6
+f 19 11 10
+f 19 6 11
+f 20 13 4
+f 20 4 7
+f 21 8 3
+f 21 3 13
+f 22 5 18
+f 22 9 1
+f 23 1 8
+f 23 21 17
+f 23 8 21
+f 23 22 1
+f 23 17 14
+f 24 13 20
+f 24 21 13
+f 24 17 21
+f 24 20 7
+f 24 7 17
+f 25 5 22
+f 25 23 14
+f 25 22 23
+f 26 22 18
+f 26 18 9
+f 26 9 22
+f 27 25 14
+f 27 14 5
+f 27 5 25
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_23.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa69ff3df5b9a814d76ac0bba909e5f44377bad
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_23.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.35460170 0.07012797 -0.01234136
+v 0.36872613 0.06993479 -0.18714123
+v 0.33366987 0.16920399 -0.07165731
+v 0.20110604 0.17896599 0.00757576
+v 0.20110604 0.07290539 -0.23484848
+v 0.30318873 0.17643825 0.00540266
+v 0.36503669 0.09795619 -0.10009972
+v 0.36696576 0.06943338 -0.05614177
+v 0.20110604 0.07290539 0.00757576
+v 0.32205870 0.17012806 -0.22982895
+v 0.34848219 0.11185616 -0.02874632
+v 0.33617871 0.08163970 0.02294678
+v 0.35869558 0.07103720 -0.23220353
+v 0.34890512 0.14073892 -0.17179962
+v 0.20110604 0.17896599 -0.23484848
+v 0.33335337 0.16888360 -0.18618071
+v 0.33439299 0.15461901 -0.04309169
+v 0.36376958 0.08291044 -0.05648843
+v 0.34907331 0.14092772 -0.08562006
+v 0.34827059 0.09727553 -0.01468325
+v 0.36405347 0.09811102 -0.17158433
+v 0.34862810 0.11196135 -0.22965110
+v 0.32482710 0.17205232 -0.04176142
+v 0.33457317 0.15464302 -0.21518556
+v 0.36566077 0.08380688 -0.18676400
+f 8 5 2
+f 8 2 7
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 12 6 4
+f 12 4 9
+f 12 9 1
+f 13 2 5
+f 15 5 4
+f 15 4 6
+f 15 6 10
+f 15 13 5
+f 15 10 13
+f 16 10 6
+f 16 3 14
+f 17 6 11
+f 18 1 8
+f 18 8 7
+f 19 17 11
+f 19 3 17
+f 19 14 3
+f 19 7 14
+f 19 18 7
+f 19 11 18
+f 20 11 6
+f 20 6 12
+f 20 12 1
+f 20 18 11
+f 20 1 18
+f 21 14 7
+f 21 7 2
+f 22 13 10
+f 22 14 21
+f 23 16 6
+f 23 3 16
+f 23 17 3
+f 23 6 17
+f 24 16 14
+f 24 14 22
+f 24 22 10
+f 24 10 16
+f 25 22 21
+f 25 21 2
+f 25 2 13
+f 25 13 22
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_24.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d05f2dd3f1d97529060a433edd9c1fb8d0209a
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_24.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.10769859 -0.24043135 0.13756271
+v 0.21499119 -0.03268149 0.13948045
+v 0.10644115 -0.19612690 0.16091794
+v 0.20094444 0.02737400 0.14316566
+v 0.12110248 -0.23783790 0.13406260
+v 0.21131296 -0.03142486 0.14061734
+v 0.10828487 -0.06285313 0.15072190
+v 0.21484179 0.02686348 0.13979296
+v 0.16736356 -0.18324637 0.13786248
+v 0.11751813 -0.23170963 0.14004685
+v 0.13269741 -0.18079429 0.15542126
+v 0.19815706 0.02602542 0.14383794
+v 0.10442236 -0.23418399 0.14335581
+v 0.21186181 0.02574841 0.14069995
+v 0.11138159 -0.06311359 0.15000361
+v 0.15191852 -0.21139595 0.13665061
+v 0.16157004 -0.18102920 0.14154306
+v 0.10839484 -0.09780441 0.15911338
+v 0.11924165 -0.19470855 0.15732813
+v 0.14670521 -0.20726881 0.14120754
+v 0.13436718 -0.11082544 0.15556350
+f 7 5 1
+f 8 2 5
+f 8 6 2
+f 8 7 4
+f 10 1 5
+f 11 6 3
+f 11 2 6
+f 12 3 6
+f 12 4 7
+f 13 7 1
+f 13 3 7
+f 13 1 10
+f 14 8 4
+f 14 6 8
+f 14 12 6
+f 14 4 12
+f 15 8 5
+f 15 5 7
+f 15 7 8
+f 16 5 2
+f 16 2 9
+f 16 10 5
+f 17 9 2
+f 17 2 11
+f 18 12 7
+f 18 7 3
+f 19 13 10
+f 19 3 13
+f 19 11 3
+f 20 16 9
+f 20 9 17
+f 20 17 11
+f 20 11 19
+f 20 19 10
+f 20 10 16
+f 21 18 3
+f 21 3 12
+f 21 12 18
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_25.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1809919c26851e7d50df65fdea1b1565762e01f8
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.29113178 -0.12720017 0.39392454
+v -0.19630804 -0.11364374 0.22021815
+v -0.27538662 -0.12108750 0.38548110
+v -0.27952901 -0.11001953 0.36431943
+v -0.24649843 -0.08543250 0.22148181
+v -0.25342105 -0.10862093 0.33304402
+v -0.29101130 -0.12486604 0.39342683
+v -0.29087838 -0.12714687 0.39377405
+v -0.22813720 -0.10707431 0.22738499
+v -0.20784058 -0.10880516 0.24082265
+v -0.27350661 -0.11083769 0.36421136
+v -0.28275405 -0.11324962 0.37242385
+v -0.25551119 -0.09242059 0.24789350
+v -0.21579011 -0.09313267 0.21368444
+v -0.25400906 -0.09424354 0.24535249
+v -0.19715529 -0.10456592 0.21637893
+v -0.25461715 -0.09222931 0.24490094
+v -0.24036035 -0.09751090 0.22780685
+f 7 1 3
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 2 1
+f 10 6 3
+f 10 3 2
+f 11 3 6
+f 11 6 5
+f 11 5 4
+f 12 7 3
+f 12 11 4
+f 12 3 11
+f 13 1 7
+f 13 7 12
+f 13 12 4
+f 13 4 5
+f 14 9 5
+f 14 2 9
+f 14 5 6
+f 15 9 1
+f 16 10 2
+f 16 2 14
+f 16 14 6
+f 16 6 10
+f 17 15 1
+f 17 1 13
+f 17 13 5
+f 17 5 15
+f 18 15 5
+f 18 5 9
+f 18 9 15
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_26.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ae1218a98f17ee5b61e712ce23606022e4d265
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_26.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.32251539 -0.19486859 -0.09656686
+v 0.36417077 -0.06054104 -0.22953829
+v 0.37227939 0.07037908 -0.09938728
+v 0.20110604 0.07290539 -0.09848485
+v 0.20110604 -0.18467036 -0.23484848
+v 0.20110604 0.07290539 -0.23484848
+v 0.36545946 -0.10397899 -0.09987485
+v 0.32409269 -0.17724098 -0.23111441
+v 0.20110604 -0.18467036 -0.09848485
+v 0.35869558 0.07103720 -0.23220353
+v 0.36400162 -0.10347616 -0.18617261
+v 0.36479732 0.04011849 -0.22944726
+v 0.34979502 -0.11848992 -0.23041840
+v 0.34905357 -0.14608079 -0.18684483
+v 0.36354526 0.06876621 -0.21540141
+v 0.34981287 -0.14612449 -0.10006467
+v 0.33105217 -0.18089049 -0.18857024
+v 0.34882955 -0.13261642 -0.21534581
+v 0.33350138 -0.16002027 -0.22971453
+f 1 3 4
+f 6 5 4
+f 7 3 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 8 5
+f 10 5 6
+f 10 6 4
+f 10 4 3
+f 11 2 3
+f 11 3 7
+f 12 3 2
+f 12 2 10
+f 13 10 2
+f 13 8 10
+f 13 2 11
+f 14 11 7
+f 15 12 10
+f 15 10 3
+f 15 3 12
+f 16 14 7
+f 16 7 1
+f 17 1 8
+f 17 16 1
+f 17 14 16
+f 18 13 11
+f 18 11 14
+f 19 17 8
+f 19 14 17
+f 19 18 14
+f 19 8 13
+f 19 13 18
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_27.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29075dc20e7766c2ddddcd1e2199d1ed2053ac47
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_27.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32409269 -0.17724098 -0.23111441
+v 0.35353116 -0.10492303 -0.23129195
+v 0.33682387 0.14130924 -0.23024629
+v 0.20110604 0.16381448 -0.23484848
+v 0.19400995 -0.09037338 -0.45021254
+v 0.20110604 -0.18467036 -0.23484848
+v 0.33873396 -0.14823435 -0.23114599
+v 0.30513420 0.01157567 -0.35885747
+v 0.19686895 -0.18107812 -0.41050274
+v 0.19383644 -0.13438648 -0.43520785
+v 0.35249665 0.09876775 -0.23060745
+v 0.30399381 -0.10330450 -0.34276345
+v 0.19749346 0.16062881 -0.41142820
+v 0.19431770 -0.16416331 -0.42131159
+v 0.31822898 0.09693544 -0.31514755
+v 0.34959180 0.04044009 -0.27317090
+v 0.33262013 -0.13137385 -0.27283377
+v 0.23246761 -0.11736045 -0.41463876
+v 0.21851045 0.03959284 -0.44394906
+v 0.32776013 0.15863349 -0.23169432
+v 0.19352314 0.08352887 -0.44853698
+v 0.33270777 0.09728459 -0.28635595
+v 0.31935098 0.05473376 -0.33000254
+v 0.33448472 -0.07607617 -0.30225349
+v 0.35014229 -0.10408041 -0.24515892
+v 0.31766804 -0.17384292 -0.25837497
+v 0.20457726 -0.13184985 -0.42939191
+v 0.27586891 -0.07479611 -0.38689572
+v 0.26097717 -0.17426809 -0.35712420
+v 0.21854861 -0.14581921 -0.41355029
+v 0.25991517 0.10944775 -0.38552064
+v 0.19532090 0.14373443 -0.42262801
+v 0.21878631 -0.03116807 -0.44475551
+v 0.33360455 0.13963222 -0.24339961
+v 0.34762190 0.08360239 -0.25813224
+v 0.33309030 0.06882373 -0.30085305
+v 0.30508760 -0.03213528 -0.35841149
+v 0.31791569 -0.11722560 -0.31438852
+v 0.33552917 -0.14664412 -0.24497429
+v 0.34931879 -0.08998619 -0.25893804
+v 0.20435500 -0.08881153 -0.44411691
+v 0.29007537 -0.17467194 -0.31537614
+v 0.28877215 -0.11777266 -0.35663269
+v 0.20505003 -0.16133585 -0.41554672
+v 0.21740971 -0.17419191 -0.39949971
+v 0.28973673 0.09653524 -0.35778807
+v 0.27373105 0.15347623 -0.34218865
+v 0.21793536 0.09618853 -0.42848224
+v 0.21777937 0.15400226 -0.39988744
+v 0.24723716 -0.07450086 -0.41506423
+v 0.34872311 0.09804330 -0.24398239
+v 0.32034704 0.15472603 -0.25857065
+v 0.31951004 -0.07539818 -0.32975333
+v 0.29080002 -0.06073781 -0.37288258
+v 0.34886578 -0.06117702 -0.27288566
+v 0.28816531 -0.14530998 -0.34281317
+v 0.30434157 0.08290482 -0.34386778
+v 0.27521123 0.06840078 -0.38669519
+v 0.28871047 0.12448493 -0.34260295
+v 0.20422606 0.08188605 -0.44273755
+v 0.20493664 0.14023532 -0.41757741
+v 0.24556033 0.10964021 -0.39940689
+v 0.23305273 -0.06022461 -0.42972224
+v 0.28959305 -0.16002133 -0.32946018
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 9 1 6
+f 11 7 2
+f 11 3 7
+f 14 9 6
+f 14 6 4
+f 14 4 10
+f 16 11 2
+f 20 13 4
+f 20 4 3
+f 21 10 4
+f 21 5 10
+f 23 16 8
+f 24 8 16
+f 25 2 7
+f 27 10 5
+f 27 14 10
+f 30 27 18
+f 30 18 29
+f 32 21 4
+f 32 4 13
+f 33 21 19
+f 33 5 21
+f 33 19 8
+f 34 3 11
+f 34 20 3
+f 35 11 16
+f 36 16 23
+f 36 35 16
+f 36 22 35
+f 36 23 15
+f 36 15 22
+f 37 8 24
+f 38 24 17
+f 39 25 7
+f 39 17 25
+f 39 26 17
+f 39 7 1
+f 39 1 26
+f 40 25 17
+f 40 17 24
+f 40 2 25
+f 41 27 5
+f 41 18 27
+f 41 5 33
+f 42 26 1
+f 42 1 9
+f 42 9 29
+f 42 38 17
+f 42 17 26
+f 43 28 12
+f 43 29 18
+f 43 18 28
+f 44 9 14
+f 44 14 27
+f 44 27 30
+f 45 30 29
+f 45 29 9
+f 45 44 30
+f 45 9 44
+f 47 13 20
+f 49 47 31
+f 49 13 47
+f 50 28 18
+f 50 18 41
+f 51 34 11
+f 51 22 34
+f 51 35 22
+f 51 11 35
+f 52 34 22
+f 52 22 15
+f 52 47 20
+f 52 20 34
+f 53 37 24
+f 53 38 12
+f 53 24 38
+f 54 33 8
+f 54 8 37
+f 54 37 53
+f 54 53 12
+f 54 12 28
+f 55 40 24
+f 55 24 16
+f 55 16 2
+f 55 2 40
+f 56 43 12
+f 56 12 38
+f 56 29 43
+f 57 46 15
+f 57 15 23
+f 58 8 19
+f 58 31 46
+f 58 19 48
+f 58 46 57
+f 58 57 23
+f 58 23 8
+f 59 46 31
+f 59 31 47
+f 59 15 46
+f 59 52 15
+f 59 47 52
+f 60 48 19
+f 60 19 21
+f 60 21 32
+f 60 32 48
+f 61 32 13
+f 61 13 49
+f 61 48 32
+f 62 49 31
+f 62 61 49
+f 62 48 61
+f 62 58 48
+f 62 31 58
+f 63 50 41
+f 63 41 33
+f 63 33 54
+f 63 54 28
+f 63 28 50
+f 64 56 38
+f 64 38 42
+f 64 42 29
+f 64 29 56
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_28.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deba847a574c1e7cd112c016ba9240a7f0c86030
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_28.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.06300387 -0.32404522 -0.33385879
+v 0.21769495 -0.23033338 -0.35670005
+v -0.17383182 -0.28342740 -0.33624062
+v -0.17486861 -0.21153397 -0.41179829
+v 0.06261649 -0.20852392 -0.45046554
+v -0.19865745 -0.24384552 -0.36866421
+v -0.05399270 -0.27517052 -0.40211385
+v 0.19577402 -0.26851364 -0.33590068
+v 0.19519000 -0.20950213 -0.39359085
+v -0.05502238 -0.32468798 -0.33459346
+v 0.06180671 -0.27478687 -0.40053322
+v -0.08353027 -0.20801741 -0.44990442
+v -0.11062725 -0.27377072 -0.38643841
+v -0.15665191 -0.29395239 -0.33344789
+v 0.18851874 -0.24484572 -0.37071695
+v -0.03984833 -0.28941289 -0.38785733
+v 0.01827796 -0.24699506 -0.43023122
+v 0.13322618 -0.28861894 -0.35854857
+v 0.17895513 -0.20799143 -0.40600530
+v -0.16837305 -0.23127709 -0.40011980
+v -0.11070010 -0.24536434 -0.41486615
+v -0.16870539 -0.25925726 -0.37232363
+v 0.17960452 -0.28084837 -0.33435743
+v -0.12694140 -0.30773205 -0.33278326
+v 0.19136252 -0.22057834 -0.38856248
+v 0.18803908 -0.25887487 -0.35648915
+v -0.05446769 -0.31854845 -0.34516664
+v 0.04781468 -0.28900038 -0.38720468
+v -0.08273590 -0.30416979 -0.35919306
+v 0.08996906 -0.23345406 -0.42910209
+v -0.03992291 -0.24674306 -0.43027763
+v 0.12110568 -0.20799945 -0.43530939
+v -0.15786980 -0.20844266 -0.42295373
+v -0.17090190 -0.27778679 -0.34696287
+v -0.13976426 -0.27397027 -0.37220199
+v 0.12136902 -0.30933917 -0.33401511
+v 0.17563214 -0.21908932 -0.40077886
+v 0.17621118 -0.27546216 -0.34558003
+v 0.14655561 -0.25905661 -0.38554058
+v 0.06207754 -0.31769953 -0.34474702
+v 0.10461202 -0.28850509 -0.37272165
+v 0.04745576 -0.26104014 -0.41569886
+v 0.06157396 -0.21937312 -0.44438729
+v -0.08211287 -0.21853262 -0.44394520
+v -0.05425895 -0.26076274 -0.41634575
+v -0.12825643 -0.20820841 -0.43532427
+v -0.13967796 -0.23139973 -0.41474242
+v -0.15513240 -0.21903652 -0.41675941
+v -0.15387934 -0.28830424 -0.34425828
+v -0.12479714 -0.30182734 -0.34338488
+v 0.16094344 -0.23293617 -0.40002069
+v 0.10441297 -0.24689426 -0.41473545
+v 0.09039204 -0.30292369 -0.35859294
+v -0.12628674 -0.21872949 -0.42953127
+v 0.13295615 -0.23279440 -0.41429136
+v 0.11926361 -0.30344722 -0.34476426
+v 0.11897492 -0.21868136 -0.42942974
+f 6 3 2
+f 6 2 4
+f 8 2 3
+f 9 4 2
+f 14 8 3
+f 17 16 7
+f 20 6 4
+f 21 7 13
+f 22 6 20
+f 23 8 14
+f 24 10 1
+f 24 23 14
+f 25 9 2
+f 25 2 15
+f 26 15 2
+f 26 2 8
+f 27 1 10
+f 29 13 7
+f 29 7 16
+f 29 16 27
+f 29 27 10
+f 29 10 24
+f 31 12 5
+f 31 5 17
+f 31 17 7
+f 32 5 12
+f 32 12 19
+f 32 30 5
+f 33 4 9
+f 33 9 19
+f 34 3 6
+f 34 6 22
+f 35 21 13
+f 35 34 22
+f 36 18 23
+f 36 24 1
+f 36 23 24
+f 37 19 9
+f 37 9 25
+f 38 26 8
+f 38 8 23
+f 38 23 18
+f 39 15 26
+f 39 38 18
+f 39 26 38
+f 40 1 27
+f 40 27 16
+f 40 16 28
+f 41 28 11
+f 41 39 18
+f 42 11 28
+f 42 28 16
+f 42 16 17
+f 43 17 5
+f 43 5 30
+f 43 42 17
+f 43 30 42
+f 44 12 31
+f 45 31 7
+f 45 7 21
+f 45 44 31
+f 45 21 44
+f 46 33 19
+f 46 19 12
+f 46 12 44
+f 47 21 35
+f 47 35 22
+f 47 22 20
+f 48 20 4
+f 48 4 33
+f 48 47 20
+f 49 14 3
+f 49 3 34
+f 49 34 35
+f 49 24 14
+f 50 29 24
+f 50 49 35
+f 50 24 49
+f 50 35 13
+f 50 13 29
+f 51 37 25
+f 51 25 15
+f 51 15 39
+f 51 19 37
+f 52 42 30
+f 52 11 42
+f 52 41 11
+f 52 39 41
+f 53 36 1
+f 53 1 40
+f 53 40 28
+f 53 28 41
+f 54 46 44
+f 54 44 21
+f 54 21 47
+f 54 33 46
+f 54 48 33
+f 54 47 48
+f 55 51 39
+f 55 39 52
+f 55 32 19
+f 55 19 51
+f 56 53 41
+f 56 41 18
+f 56 18 36
+f 56 36 53
+f 57 55 52
+f 57 52 30
+f 57 30 32
+f 57 32 55
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_29.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e458e597a80b8d5958bb8cce59722b7b0ce697b
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_29.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.29043937 -0.21450552 0.02056853
+v -0.26859091 -0.12406430 -0.23484848
+v -0.31491704 -0.14160383 0.03609877
+v -0.35371373 -0.12255843 -0.03923754
+v -0.30174802 -0.22368028 -0.24656328
+v -0.33073683 -0.12995253 0.01566958
+v -0.33118794 -0.19340242 -0.05576653
+v -0.35641674 -0.12325268 -0.23418361
+v -0.31353752 -0.19198041 0.00075487
+v -0.36044789 -0.12040062 -0.21714692
+v -0.32244148 -0.16696590 0.00436951
+v -0.32531750 -0.19106512 -0.02834591
+v -0.36044049 -0.12056136 -0.07073325
+v -0.34016784 -0.17446207 -0.21623823
+v -0.33080572 -0.16414620 -0.01263680
+v -0.34156427 -0.16233214 -0.04277544
+v -0.34358202 -0.16186789 -0.23174559
+v -0.32811715 -0.19002189 -0.23054008
+v -0.35610278 -0.14744316 -0.18731022
+v -0.32627973 -0.17757384 -0.01455933
+v -0.35555152 -0.14756305 -0.08624872
+v -0.35675720 -0.13357514 -0.21662501
+v -0.34148403 -0.17698666 -0.07123405
+v -0.35697228 -0.13427561 -0.07141876
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 7 5 1
+f 8 2 5
+f 9 1 3
+f 10 2 8
+f 11 9 3
+f 11 3 6
+f 12 7 1
+f 12 1 9
+f 13 4 2
+f 13 2 10
+f 15 11 6
+f 15 6 4
+f 16 7 12
+f 16 15 4
+f 17 8 5
+f 18 5 7
+f 18 7 14
+f 18 17 5
+f 18 14 17
+f 19 13 10
+f 19 17 14
+f 20 12 9
+f 20 9 11
+f 20 11 15
+f 20 16 12
+f 20 15 16
+f 21 13 19
+f 22 10 8
+f 22 8 17
+f 22 19 10
+f 22 17 19
+f 23 19 14
+f 23 14 7
+f 23 21 19
+f 23 7 16
+f 23 16 21
+f 24 21 16
+f 24 16 4
+f 24 4 13
+f 24 13 21
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_3.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bbcc22eca2e9a344ce6ab85411d0514eeff5a89
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_3.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.12112405 -0.35283117 -0.23123235
+v 0.16782695 -0.33130477 -0.24311642
+v 0.11019695 -0.21497339 -0.23484848
+v -0.07162122 -0.21497339 -0.23484848
+v -0.14391304 -0.29835130 -0.33618181
+v -0.18568907 -0.32220606 -0.23139476
+v 0.15178588 -0.34173169 -0.23198141
+v 0.10463421 -0.31706096 -0.32974796
+v 0.11019695 -0.21497339 -0.34090908
+v -0.03965959 -0.36300692 -0.24504276
+v -0.17450034 -0.29986461 -0.30743123
+v 0.10497177 -0.33254399 -0.30119752
+v -0.07162122 -0.21497339 -0.34090908
+v 0.15107482 -0.29649531 -0.33502931
+v -0.03980880 -0.36657409 -0.23124319
+v -0.06899836 -0.33247990 -0.31633837
+v -0.19152788 -0.31850649 -0.23416912
+v 0.14861887 -0.33419766 -0.25918454
+v 0.04804164 -0.36310862 -0.24498152
+v -0.09727526 -0.31893829 -0.33080509
+v 0.14682114 -0.30191392 -0.32951456
+v 0.04832459 -0.36682830 -0.23105923
+v -0.11185704 -0.34953350 -0.24548158
+v 0.07607664 -0.33188330 -0.31562498
+v -0.13922256 -0.33123487 -0.27347985
+v -0.18793944 -0.31198416 -0.26210163
+v 0.12015712 -0.34919415 -0.24471531
+v -0.05404367 -0.34750907 -0.28787419
+v 0.14738427 -0.31713506 -0.30116583
+v -0.15608216 -0.33658608 -0.23123558
+v 0.09100291 -0.34776866 -0.27354552
+v -0.08313647 -0.34804784 -0.27403447
+v -0.12538075 -0.31792197 -0.31601761
+v -0.16949032 -0.30500120 -0.30253019
+v -0.18224290 -0.31615887 -0.25864277
+v 0.06209056 -0.34729392 -0.28760128
+v -0.11291663 -0.35242336 -0.23190221
+v -0.15470157 -0.33351378 -0.24509233
+v -0.12492502 -0.33153752 -0.28728426
+v -0.13969692 -0.30374373 -0.33052227
+v -0.18517831 -0.32049907 -0.23885057
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
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+f 14 5 9
+f 14 9 3
+f 14 3 2
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+f 18 2 7
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+f 21 8 14
+f 22 15 10
+f 22 10 19
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+f 24 20 8
+f 24 16 20
+f 26 17 4
+f 26 4 11
+f 27 18 7
+f 27 7 1
+f 27 12 18
+f 28 19 10
+f 29 18 12
+f 29 12 21
+f 29 2 18
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+f 29 14 2
+f 30 15 22
+f 30 22 1
+f 30 1 6
+f 31 22 19
+f 31 1 22
+f 31 27 1
+f 31 12 27
+f 32 10 15
+f 32 15 23
+f 32 28 10
+f 32 16 28
+f 32 20 16
+f 34 26 11
+f 35 17 26
+f 35 34 25
+f 35 26 34
+f 36 19 28
+f 36 31 19
+f 36 24 12
+f 36 12 31
+f 36 28 16
+f 36 16 24
+f 37 30 23
+f 37 23 15
+f 37 15 30
+f 38 25 23
+f 38 23 30
+f 38 35 25
+f 39 32 23
+f 39 23 25
+f 39 34 33
+f 39 25 34
+f 39 33 20
+f 39 20 32
+f 40 5 20
+f 40 20 33
+f 40 33 34
+f 40 34 11
+f 40 11 5
+f 41 6 17
+f 41 17 35
+f 41 35 38
+f 41 38 30
+f 41 30 6
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_30.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa0e5ba357abb166cfad69688f8aa22c85b841fd
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_30.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.15928518 -0.12382365 0.16160629
+v -0.02645079 -0.03265899 0.17038894
+v -0.24036035 -0.09751090 0.22780685
+v -0.08142991 0.06510847 0.18163661
+v -0.08286965 0.06013852 0.17309441
+v -0.02944029 0.05886606 0.17757401
+v -0.19140911 -0.11256763 0.21448040
+v -0.04124022 -0.06391328 0.16667340
+v -0.17663299 -0.00303697 0.16773360
+v -0.02543987 0.05753924 0.17568243
+v -0.21915565 -0.11081107 0.22556835
+v -0.04430265 -0.05127028 0.17307613
+v -0.22826726 -0.07469203 0.19103057
+v -0.24649843 -0.08543250 0.22148181
+v -0.22606026 -0.06823469 0.19055336
+v -0.22758177 -0.09266822 0.20443801
+v -0.22400925 -0.06339843 0.19357886
+v -0.23963682 -0.08169674 0.20926624
+v -0.23841104 -0.09225854 0.21622749
+f 6 4 3
+f 8 7 1
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 8 5
+f 10 2 8
+f 11 3 1
+f 11 1 7
+f 11 6 3
+f 11 2 6
+f 12 8 2
+f 12 7 8
+f 12 11 7
+f 12 2 11
+f 13 9 1
+f 14 3 4
+f 14 4 9
+f 15 9 13
+f 16 13 1
+f 17 15 14
+f 17 14 9
+f 17 9 15
+f 18 15 13
+f 18 14 15
+f 18 13 16
+f 19 16 1
+f 19 1 3
+f 19 3 14
+f 19 18 16
+f 19 14 18
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_31.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..019053b2f2017a5544fcc55b7d8a8687dfa25ab8
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_31.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.06559376 -0.01912630 0.16211824
+v -0.02644537 -0.01781266 0.17236193
+v 0.00590886 0.07344101 0.16792841
+v 0.04956389 0.07360061 0.16612127
+v -0.03012873 -0.01023365 0.28967683
+v 0.00226485 -0.01960078 0.16921363
+v 0.00640734 0.01315211 0.27815819
+v -0.02944029 0.05886606 0.17757401
+v 0.02076377 -0.00492046 0.25296211
+v 0.06592628 0.04334507 0.16710313
+v -0.01856960 0.03035281 0.28923748
+v -0.02543987 0.05753924 0.17568243
+v -0.03383146 0.01496360 0.27321170
+v 0.00119648 0.00237938 0.28461548
+v -0.01039855 -0.00981895 0.28209228
+v 0.03343045 0.00248228 0.23784756
+v -0.01128600 0.02744782 0.29013690
+v 0.00294753 0.07242056 0.16858450
+v -0.03109556 -0.00704103 0.27901005
+v -0.02843008 0.02140994 0.28844369
+v 0.03055793 0.01254751 0.24100177
+v 0.00503606 0.02499491 0.27041852
+v -0.01413863 0.02529024 0.29378356
+v -0.01926655 0.01483165 0.29527438
+v -0.02123654 0.02222794 0.29499332
+v -0.02225684 0.01382890 0.29545462
+f 1 2 3
+f 4 1 3
+f 6 5 2
+f 6 2 1
+f 6 1 5
+f 10 1 4
+f 10 4 7
+f 11 4 3
+f 12 2 8
+f 13 8 2
+f 15 5 1
+f 15 1 9
+f 15 14 5
+f 15 9 14
+f 16 9 1
+f 16 1 10
+f 16 14 9
+f 16 7 14
+f 17 4 11
+f 18 11 3
+f 18 8 11
+f 18 12 8
+f 18 3 2
+f 18 2 12
+f 19 13 2
+f 19 2 5
+f 19 5 13
+f 20 11 8
+f 20 8 13
+f 20 13 5
+f 21 16 10
+f 21 10 7
+f 21 7 16
+f 22 17 7
+f 22 7 4
+f 22 4 17
+f 23 14 7
+f 23 7 17
+f 23 17 11
+f 24 5 14
+f 24 14 23
+f 25 23 11
+f 25 11 20
+f 25 24 23
+f 26 25 20
+f 26 20 5
+f 26 5 24
+f 26 24 25
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_4.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5d6bbc37293c050022f6a70d2856342386005e4
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20596894 -0.29680162 0.01091339
+v 0.36545946 -0.10397899 -0.09987485
+v 0.26511398 -0.05925126 0.11103904
+v 0.30318873 0.17643825 0.00540266
+v 0.20110604 0.07290539 -0.09848485
+v 0.34930675 0.03987048 0.01465770
+v 0.31805779 -0.12901882 0.02614137
+v 0.20110604 -0.18467036 -0.09848485
+v 0.37227939 0.07037908 -0.09938728
+v 0.19980907 0.05684953 0.13894086
+v 0.32251539 -0.19486859 -0.09656686
+v 0.19275699 -0.22385979 0.10350581
+v 0.33463664 -0.04518644 0.04168098
+v 0.34981287 -0.14612449 -0.10006467
+v 0.31560094 0.18418434 -0.03497573
+v 0.36492857 -0.04590863 -0.02766973
+v 0.20110604 0.07290539 0.00757576
+v 0.29167619 0.08237848 0.08190258
+v 0.26019474 -0.23393982 0.01281302
+v 0.30504033 -0.11610785 0.05440705
+v 0.19555076 -0.12199740 0.13173921
+v 0.19473056 -0.28270647 0.04682870
+v 0.19307637 -0.19559745 0.11789196
+v 0.34839465 -0.11649408 -0.02842125
+v 0.33288713 0.12514867 -0.00135945
+v 0.36507129 0.03993474 -0.02809236
+v 0.34969429 -0.04556140 0.01402609
+v 0.28534085 0.15957318 0.04746085
+v 0.25157608 0.01110668 0.12604081
+v 0.33496686 0.03959862 0.04236344
+v 0.22487564 -0.28403877 0.00367405
+v 0.29106452 -0.08739347 0.08143042
+v 0.33407721 -0.08690624 0.02774226
+v 0.27372297 -0.18728680 0.03998663
+v 0.23653284 -0.07370734 0.12404383
+v 0.26233093 -0.14568822 0.08165752
+v 0.36427132 -0.10350916 -0.08531400
+v 0.33585482 -0.14570785 -0.02835539
+v 0.31782177 0.16800442 -0.01547357
+v 0.33968218 0.14270604 -0.04144999
+v 0.34997600 0.06892103 0.00034577
+v 0.34850668 -0.10235530 -0.01456435
+v 0.28391999 0.14368238 0.06061482
+v 0.30335906 0.13896650 0.03976915
+v 0.23772176 0.05396734 0.12627553
+v 0.25127853 -0.01653326 0.12624011
+v 0.26514474 0.05351707 0.11054593
+v 0.21699068 -0.27647647 0.02766924
+v 0.31946325 -0.07384701 0.05472470
+v 0.20244733 -0.19267118 0.11190043
+v 0.31845250 -0.14382620 0.01186663
+v 0.29018775 -0.14414964 0.05434162
+v 0.34858621 -0.14544471 -0.08571724
+v 0.36395867 -0.08897543 -0.05676612
+v 0.30899414 0.17087776 0.00083599
+v 0.32482710 0.17205232 -0.04176142
+v 0.33254473 0.13916806 -0.01551062
+v 0.36404773 0.06911647 -0.04262557
+v 0.33366616 0.08229899 0.02724389
+v 0.33234592 -0.13027534 -0.00169666
+v 0.30437903 0.15355528 0.02646380
+v 0.29144249 0.13953595 0.05486803
+v 0.31996233 0.06774795 0.05536003
+v 0.20413220 -0.27765839 0.04281599
+f 11 1 8
+f 14 8 5
+f 14 11 8
+f 14 9 2
+f 14 5 9
+f 15 9 5
+f 15 5 4
+f 16 2 9
+f 17 5 10
+f 22 8 1
+f 22 12 5
+f 22 5 8
+f 23 10 5
+f 23 5 12
+f 23 21 10
+f 26 16 9
+f 27 26 6
+f 27 16 26
+f 28 17 10
+f 28 4 5
+f 28 5 17
+f 30 27 6
+f 30 13 27
+f 31 1 11
+f 31 11 19
+f 33 20 7
+f 33 27 13
+f 35 23 3
+f 35 21 23
+f 36 20 32
+f 37 14 2
+f 38 19 11
+f 41 6 26
+f 42 16 27
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+f 43 28 10
+f 45 10 29
+f 45 43 10
+f 46 3 13
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+f 46 35 3
+f 46 21 35
+f 46 29 10
+f 46 10 21
+f 47 29 30
+f 47 45 29
+f 47 18 43
+f 47 43 45
+f 48 1 31
+f 48 31 19
+f 48 19 34
+f 49 32 20
+f 49 13 3
+f 49 3 32
+f 49 33 13
+f 49 20 33
+f 50 32 3
+f 50 3 23
+f 50 36 32
+f 50 23 12
+f 50 12 36
+f 51 34 19
+f 51 7 34
+f 51 19 38
+f 52 34 7
+f 52 7 20
+f 52 20 36
+f 52 36 12
+f 52 12 34
+f 53 37 24
+f 53 14 37
+f 53 24 38
+f 53 38 11
+f 53 11 14
+f 54 37 2
+f 54 2 16
+f 54 24 37
+f 54 42 24
+f 54 16 42
+f 55 39 15
+f 55 15 4
+f 56 40 9
+f 56 9 15
+f 56 15 39
+f 57 25 40
+f 57 55 25
+f 57 39 55
+f 57 56 39
+f 57 40 56
+f 58 26 9
+f 58 9 40
+f 58 41 26
+f 58 40 25
+f 58 25 41
+f 59 30 6
+f 59 6 41
+f 59 41 25
+f 59 25 44
+f 60 42 33
+f 60 33 7
+f 60 7 51
+f 60 51 38
+f 60 38 24
+f 60 24 42
+f 61 4 28
+f 61 28 44
+f 61 55 4
+f 61 44 25
+f 61 25 55
+f 62 44 28
+f 62 28 43
+f 62 43 18
+f 63 47 30
+f 63 18 47
+f 63 30 59
+f 63 59 44
+f 63 62 18
+f 63 44 62
+f 64 22 1
+f 64 1 48
+f 64 12 22
+f 64 48 34
+f 64 34 12
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_5.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d96fcdab1316fd7b11091b456a6a33cb5bb0e03
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.10653842 -0.36633261 -0.05567982
+v 0.34638925 -0.15147975 -0.18855277
+v 0.26018676 -0.27639710 -0.07147408
+v 0.32334369 -0.14645034 0.00018994
+v 0.11019695 -0.21497339 -0.34090908
+v 0.33390916 -0.17399651 -0.08612005
+v 0.20372563 -0.30441595 -0.00039941
+v 0.11019695 -0.21497339 0.00757576
+v 0.20766203 -0.17767142 -0.40489673
+v 0.27503979 -0.26235260 -0.15773477
+v 0.33912221 -0.14725018 -0.04158698
+v 0.19073170 -0.33332744 -0.05693599
+v 0.25896926 -0.24722719 -0.00164679
+v 0.10615190 -0.35156860 0.00192173
+v 0.31179108 -0.15710543 0.01015901
+v 0.11079612 -0.30785216 -0.34211606
+v 0.20110604 -0.18467036 0.00757576
+v 0.19686895 -0.18107812 -0.41050274
+v 0.27516280 -0.26267153 -0.09970136
+v 0.33465957 -0.17482859 -0.18718816
+v 0.31973798 -0.18837513 -0.05782376
+v 0.21698295 -0.31855905 -0.07228715
+v 0.23011560 -0.28899410 -0.01556177
+v 0.10677586 -0.36708981 -0.18675667
+v 0.16074577 -0.33179545 -0.00036003
+v 0.31793711 -0.15796960 -0.00221348
+v 0.21704308 -0.27399204 -0.30101967
+v 0.30503269 -0.21804819 -0.08594924
+v 0.33332910 -0.15877332 -0.04326945
+v 0.25995371 -0.26224184 -0.02922329
+v 0.20275301 -0.31718396 -0.02963784
+v 0.21796079 -0.31819677 -0.17151064
+v 0.10752600 -0.35645684 -0.23217836
+v 0.13403477 -0.36277091 -0.08565909
+v 0.14775985 -0.34704429 -0.02765084
+v 0.28938702 -0.21677174 -0.25897487
+v 0.19211609 -0.23612901 -0.37569194
+v 0.28905129 -0.23328020 -0.05715422
+v 0.23224431 -0.30431990 -0.18614150
+v 0.19068235 -0.33372068 -0.18597437
+v 0.16175349 -0.31740002 -0.28678112
+v 0.11965159 -0.34819407 0.00060437
+v 0.11992548 -0.36280008 -0.05623511
+v 0.16258801 -0.34720307 -0.05686315
+v 0.30435550 -0.21708895 -0.20176671
+v 0.30953372 -0.17750870 -0.27498920
+v 0.19333038 -0.19304757 -0.40577186
+v 0.25954835 -0.26013085 -0.24375186
+v 0.13430196 -0.36283968 -0.15730064
+v 0.20476435 -0.31848149 -0.21512918
+v 0.14819258 -0.34775047 -0.21499289
+v 0.17471712 -0.28733877 -0.32903579
+v 0.31830053 -0.18780326 -0.22983039
+v 0.27849846 -0.17662865 -0.33197264
+v 0.21604404 -0.21693620 -0.37041433
+v 0.25953474 -0.23063954 -0.30057324
+v 0.26040026 -0.27622255 -0.18683683
+v 0.23139384 -0.28872885 -0.24351488
+v 0.13440377 -0.34879509 -0.22994081
+v 0.16244777 -0.34796982 -0.18599038
+v 0.11987830 -0.36363500 -0.18623107
+v 0.17583931 -0.33134764 -0.22942637
+v 0.20175994 -0.25866815 -0.34268859
+v 0.18910759 -0.30243573 -0.28638044
+f 9 4 2
+f 11 6 2
+f 11 2 4
+f 14 8 5
+f 15 7 13
+f 15 14 7
+f 15 8 14
+f 17 4 9
+f 17 15 4
+f 17 8 15
+f 18 5 8
+f 18 17 9
+f 18 8 17
+f 18 16 5
+f 20 2 6
+f 20 19 10
+f 22 19 3
+f 23 13 7
+f 23 22 3
+f 24 14 5
+f 24 1 14
+f 25 7 14
+f 26 15 13
+f 26 4 15
+f 26 11 4
+f 28 20 6
+f 28 19 20
+f 28 6 21
+f 29 21 6
+f 29 6 11
+f 29 26 21
+f 29 11 26
+f 30 23 3
+f 30 13 23
+f 30 26 13
+f 30 21 26
+f 31 12 22
+f 31 25 12
+f 31 7 25
+f 31 23 7
+f 31 22 23
+f 32 19 22
+f 33 24 5
+f 33 5 16
+f 34 1 24
+f 35 12 25
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+f 38 3 19
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+f 38 30 3
+f 38 21 30
+f 39 10 19
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+f 40 32 22
+f 40 22 12
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+f 42 25 14
+f 43 1 34
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+f 43 42 14
+f 43 14 1
+f 44 34 12
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+f 44 43 34
+f 44 35 43
+f 45 20 10
+f 47 18 9
+f 47 37 16
+f 47 16 18
+f 48 36 45
+f 49 34 24
+f 49 40 12
+f 49 12 34
+f 50 39 32
+f 50 32 40
+f 52 41 16
+f 52 16 37
+f 53 45 36
+f 53 20 45
+f 53 36 46
+f 53 46 2
+f 53 2 20
+f 54 9 2
+f 54 2 46
+f 55 47 9
+f 55 37 47
+f 55 9 54
+f 56 48 27
+f 56 36 48
+f 56 55 54
+f 56 54 46
+f 56 46 36
+f 57 48 45
+f 57 45 10
+f 57 10 39
+f 58 39 50
+f 58 57 39
+f 58 48 57
+f 58 27 48
+f 59 33 41
+f 60 40 49
+f 61 49 24
+f 61 59 51
+f 61 24 33
+f 61 33 59
+f 61 60 49
+f 61 51 60
+f 62 50 40
+f 62 60 51
+f 62 40 60
+f 62 59 41
+f 62 51 59
+f 63 52 37
+f 63 27 52
+f 63 37 55
+f 63 56 27
+f 63 55 56
+f 64 52 27
+f 64 41 52
+f 64 27 58
+f 64 58 50
+f 64 62 41
+f 64 50 62
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_6.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96ec933f1fdf2fa7d4f29d475f495d12f3d217d5
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_6.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.11019695 -0.21497339 -0.35606060
+v 0.10457374 -0.20430824 -0.44280269
+v 0.11019695 -0.01800370 -0.35606060
+v -0.17846356 0.10382899 -0.44836226
+v -0.19399627 -0.23693624 -0.37897648
+v 0.10741166 -0.01758020 -0.49447206
+v -0.17768183 -0.01800370 -0.35606060
+v -0.12385750 0.11210955 -0.46823110
+v -0.08294900 -0.14927639 -0.47386096
+v 0.10522258 -0.13284167 -0.47394532
+v -0.11059428 -0.20462670 -0.44333096
+v -0.07050641 0.05596168 -0.49335567
+v -0.17072581 -0.11862383 -0.45818007
+v -0.02481996 -0.10660765 -0.49011327
+v 0.06189297 -0.16179870 -0.47294982
+v -0.11301846 0.09794235 -0.47674660
+v -0.16962483 -0.18916014 -0.42952045
+v -0.11067182 -0.17587765 -0.45727246
+v -0.09944790 -0.03147216 -0.49009337
+v 0.10437886 -0.17546795 -0.45719097
+v -0.05407049 -0.16376604 -0.47463930
+v 0.07674337 -0.10440104 -0.48859152
+v -0.14063017 0.08226771 -0.47331064
+v -0.15376911 -0.20302344 -0.42867527
+v -0.16950092 -0.16130456 -0.44367755
+v -0.15705747 -0.07498375 -0.47325619
+v 0.09024248 -0.14732635 -0.47272890
+v 0.07538724 -0.19010472 -0.45775676
+v -0.08213426 -0.19128186 -0.45884429
+v 0.10569077 -0.07543421 -0.48848484
+v -0.16768562 0.09555326 -0.45757071
+v -0.12596496 0.09667987 -0.47352888
+v -0.09908929 0.05487269 -0.49015322
+v -0.17044060 -0.20580343 -0.41813065
+v -0.15533540 -0.17560555 -0.44305648
+v -0.15568210 0.05430784 -0.47457627
+f 5 2 1
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 10 6 1
+f 10 1 2
+f 11 2 5
+f 13 5 4
+f 14 12 6
+f 16 8 6
+f 16 6 12
+f 18 13 9
+f 19 12 14
+f 19 14 9
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+f 22 15 14
+f 22 14 6
+f 24 11 5
+f 25 17 5
+f 25 5 13
+f 25 13 18
+f 26 19 9
+f 26 9 13
+f 27 10 20
+f 27 22 10
+f 27 15 22
+f 28 20 2
+f 28 27 20
+f 28 15 27
+f 28 21 15
+f 29 18 9
+f 29 9 21
+f 29 11 18
+f 29 21 28
+f 29 28 2
+f 29 2 11
+f 30 22 6
+f 30 6 10
+f 30 10 22
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+f 32 8 16
+f 32 16 23
+f 32 31 8
+f 32 23 31
+f 33 23 16
+f 33 16 12
+f 33 12 19
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+f 34 5 17
+f 34 17 24
+f 35 24 17
+f 35 17 25
+f 35 11 24
+f 35 25 18
+f 35 18 11
+f 36 26 13
+f 36 13 4
+f 36 4 31
+f 36 31 23
+f 36 23 33
+f 36 33 19
+f 36 19 26
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_7.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75abce210d59494d00baac8f60dca3a5a7d69ca6
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_7.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.03810505 -0.13672973 0.33085812
+v 0.06183985 -0.12498857 0.17252189
+v 0.06306471 -0.11740102 0.31862308
+v 0.02290794 -0.04665339 0.49777527
+v -0.02640056 -0.11220272 0.17298897
+v 0.07021021 -0.06950260 0.18611633
+v 0.03736606 -0.10797684 0.38763232
+v 0.00414482 -0.13955013 0.17611037
+v 0.01493886 -0.13862443 0.33759958
+v 0.06476203 -0.10971422 0.30690026
+v -0.01802794 -0.07785443 0.18725638
+v 0.06657138 -0.06868203 0.18497867
+v 0.05153590 -0.10867856 0.36239294
+v 0.03394119 -0.14003033 0.17533081
+v 0.01503913 -0.05295730 0.49720933
+v 0.03016072 -0.12045366 0.37639131
+v 0.07051358 -0.07036777 0.18628788
+v 0.06306453 -0.11195230 0.32125560
+v 0.02247099 -0.04895160 0.46865568
+v 0.05034028 -0.12509617 0.33168301
+v 0.05101818 -0.09976454 0.37659830
+v 0.04141512 -0.13677025 0.24006087
+v 0.01485648 -0.12027904 0.37764040
+v 0.01818399 -0.04813037 0.49878445
+v 0.02264382 -0.05043966 0.49868343
+v 0.06456235 -0.10975251 0.22349280
+f 1 2 3
+f 9 5 8
+f 10 3 2
+f 12 6 2
+f 12 2 5
+f 12 5 11
+f 12 4 6
+f 14 8 5
+f 14 5 2
+f 14 9 8
+f 14 1 9
+f 15 11 5
+f 16 9 1
+f 16 13 7
+f 16 1 13
+f 17 2 6
+f 17 6 4
+f 17 4 10
+f 18 10 4
+f 18 3 10
+f 19 12 11
+f 19 11 4
+f 19 4 12
+f 20 13 1
+f 20 1 3
+f 20 3 13
+f 21 13 3
+f 21 7 13
+f 21 18 4
+f 21 3 18
+f 22 14 2
+f 22 2 1
+f 22 1 14
+f 23 15 5
+f 23 5 9
+f 23 16 15
+f 23 9 16
+f 24 4 11
+f 24 11 15
+f 25 24 15
+f 25 4 24
+f 25 21 4
+f 25 7 21
+f 25 16 7
+f 25 15 16
+f 26 17 10
+f 26 10 2
+f 26 2 17
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_8.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4e1dd264839b6df515e0c72f2eceda73c45f1b5
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.18595453 0.17896599 0.00757576
+v 0.18595453 0.17896599 -0.23484848
+v 0.17650314 0.32770733 -0.08743958
+v -0.05351284 0.37387720 -0.07029072
+v -0.33205508 0.17206843 -0.02619440
+v 0.08989479 0.35599811 -0.22916540
+v 0.07372713 0.34380804 -0.00148530
+v 0.18009700 0.31994286 -0.23185448
+v -0.22424768 0.28200669 -0.22751943
+v 0.18003954 0.28813974 -0.00025466
+v -0.32114034 0.17366326 0.00415596
+v 0.06024708 0.37339892 -0.08579960
+v 0.11869850 0.35691269 -0.18647608
+v -0.21208347 0.31201684 -0.07053680
+v -0.08182268 0.35629004 -0.22866040
+v -0.31863625 0.17327400 -0.23107819
+v 0.02993279 0.35600438 -0.00101770
+v 0.17688122 0.31347651 -0.04501638
+v 0.08781464 0.35612220 -0.04398785
+v 0.13340692 0.34207569 -0.22986388
+v 0.17603366 0.32635812 -0.21520097
+v 0.11797741 0.35763804 -0.10075106
+v 0.06158029 0.37298947 -0.17217578
+v -0.29617479 0.22554164 -0.02916381
+v -0.11075898 0.35843650 -0.18601294
+v -0.33207710 0.17260295 -0.18660414
+v -0.18138377 0.31221106 -0.22777980
+v -0.05297421 0.35712847 0.00085790
+v 0.00299263 0.37356681 -0.04140772
+v 0.17771156 0.29911260 -0.01648994
+v 0.13133276 0.34223162 -0.05888686
+v 0.07354463 0.35645128 -0.03002421
+v 0.16287322 0.32910698 -0.23046505
+v -0.03946831 0.37415529 -0.18631939
+v -0.31171525 0.21150948 -0.04340339
+v -0.18234184 0.32780181 -0.05609193
+v -0.29587489 0.22508541 -0.19877158
+v -0.16674095 0.32594448 -0.21349720
+v -0.18225025 0.31274716 0.00101014
+v -0.02473442 0.37318699 -0.04128773
+v 0.16142325 0.32723128 -0.05951265
+v 0.14678749 0.34256550 -0.08757333
+v 0.03189075 0.37366077 -0.05652406
+v 0.04740697 0.37300445 -0.18626657
+v -0.06851636 0.37362711 -0.15786440
+v -0.32617608 0.18313620 -0.02790523
+v -0.31480869 0.18457049 0.00196979
+v -0.32647378 0.19848899 -0.08441995
+v -0.26875700 0.26971823 -0.09912284
+v -0.18273515 0.32758934 -0.17106861
+v -0.16749792 0.32585495 -0.01337982
+v -0.29610826 0.21100019 -0.22725989
+v -0.31038684 0.19771965 -0.21340658
+v -0.10974722 0.35578323 -0.19974638
+v -0.22588051 0.29745778 -0.04250978
+v -0.06804158 0.35834273 -0.01242521
+v -0.06841278 0.37378511 -0.09970009
+v -0.22456631 0.28358703 -0.00056754
+v -0.32630348 0.19885400 -0.12751777
+v -0.22464801 0.29712498 -0.18416954
+v -0.21129316 0.31251937 -0.15645093
+v -0.25374109 0.26838462 -0.19899991
+v -0.32620324 0.18419591 -0.18539263
+v -0.31255195 0.18511811 -0.22907149
+f 5 2 1
+f 8 1 2
+f 10 8 3
+f 10 1 8
+f 11 5 1
+f 15 6 8
+f 16 15 8
+f 16 8 2
+f 17 10 7
+f 17 1 10
+f 18 10 3
+f 20 8 6
+f 20 6 13
+f 21 13 3
+f 21 3 8
+f 21 20 13
+f 22 3 13
+f 22 12 19
+f 23 13 6
+f 23 22 13
+f 23 12 22
+f 26 16 2
+f 26 2 5
+f 27 16 9
+f 27 15 16
+f 28 11 1
+f 28 1 17
+f 29 28 17
+f 30 18 7
+f 30 7 10
+f 30 10 18
+f 31 22 19
+f 31 19 7
+f 31 7 18
+f 32 17 7
+f 32 7 19
+f 32 19 12
+f 33 21 8
+f 33 8 20
+f 33 20 21
+f 34 6 15
+f 34 12 23
+f 38 15 27
+f 39 11 28
+f 40 29 4
+f 40 28 29
+f 41 31 18
+f 41 18 3
+f 41 3 31
+f 42 31 3
+f 42 3 22
+f 42 22 31
+f 43 29 17
+f 43 17 32
+f 43 32 12
+f 43 12 34
+f 43 34 4
+f 43 4 29
+f 44 34 23
+f 44 23 6
+f 44 6 34
+f 45 34 15
+f 45 15 25
+f 46 5 11
+f 47 24 35
+f 47 46 11
+f 47 35 46
+f 48 26 5
+f 48 46 35
+f 48 5 46
+f 49 35 24
+f 49 48 35
+f 50 36 25
+f 50 25 38
+f 51 39 28
+f 52 9 16
+f 53 37 52
+f 54 38 25
+f 54 25 15
+f 54 15 38
+f 55 36 14
+f 55 49 24
+f 55 14 49
+f 55 51 36
+f 55 39 51
+f 56 40 4
+f 56 28 40
+f 56 51 28
+f 56 4 51
+f 57 4 34
+f 57 34 45
+f 57 51 4
+f 57 36 51
+f 57 45 25
+f 57 25 36
+f 58 24 47
+f 58 55 24
+f 58 39 55
+f 58 47 11
+f 58 11 39
+f 59 26 48
+f 59 49 37
+f 59 48 49
+f 60 27 9
+f 60 50 38
+f 60 38 27
+f 61 14 36
+f 61 36 50
+f 61 50 60
+f 61 60 49
+f 61 49 14
+f 62 52 37
+f 62 9 52
+f 62 60 9
+f 62 37 49
+f 62 49 60
+f 63 53 16
+f 63 16 26
+f 63 37 53
+f 63 59 37
+f 63 26 59
+f 64 53 52
+f 64 52 16
+f 64 16 53
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_9.obj b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85aad611268f1ab7eb18ab1747c5cbe07d3f8be8
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/collision/model_normalized_collision_9.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.29667558 -0.20066714 0.02445225
+v -0.26466101 -0.18247919 0.07963759
+v -0.32745361 0.06839948 0.07127084
+v -0.32610146 0.18633936 -0.03467055
+v -0.26174812 0.12923923 0.12048292
+v -0.35841309 -0.10510184 -0.04118476
+v -0.32605186 -0.03070564 0.07140502
+v -0.31483657 0.16105075 0.03362277
+v -0.36091893 0.11393546 -0.04061763
+v -0.33870566 -0.16723893 -0.03948811
+v -0.32616545 -0.07321343 0.05628617
+v -0.35591773 -0.03059162 0.01464357
+v -0.27331072 -0.01494814 0.12924518
+v -0.31548964 0.17990221 0.00811029
+v -0.29751798 0.12699876 0.08525360
+v -0.33912548 0.11156104 0.02849926
+v -0.33255303 -0.17706165 -0.03231641
+v -0.33469128 0.17368641 -0.04001443
+v -0.29487469 -0.16190877 0.05451682
+v -0.29789648 -0.05733878 0.09739987
+v -0.34060791 -0.10328389 0.01405597
+v -0.34123714 -0.07447433 0.02872357
+v -0.26956094 0.09776892 0.12656477
+v -0.26041868 -0.08980168 0.11744449
+v -0.27088721 0.12597103 0.11429304
+v -0.33961567 0.14019152 0.00059363
+v -0.32632409 0.12693929 0.04365348
+v -0.35554135 0.06997166 0.01556773
+v -0.34605076 -0.14944766 -0.04149992
+v -0.29710641 -0.17739507 0.04183918
+v -0.28581853 -0.04382941 0.11270793
+v -0.26941630 -0.16317189 0.08473628
+v -0.31823848 -0.17986046 0.00241380
+v -0.35495872 -0.08935388 -0.01371055
+v -0.26364369 -0.01611053 0.13540262
+v -0.29659127 0.09770864 0.09930099
+v -0.25994558 -0.13624452 0.10367730
+v -0.32560121 0.16837461 0.00059790
+v -0.34153266 0.15505904 -0.02811715
+v -0.35503935 0.09739666 0.00070924
+v -0.34095875 0.08287366 0.04293355
+v -0.34398036 0.15625996 -0.04106429
+v -0.34254634 -0.14834654 -0.02848210
+v -0.27237184 -0.17884702 0.07334260
+v -0.32440794 -0.13174202 0.02634556
+v -0.31172082 -0.08736332 0.06910992
+v -0.31313227 -0.17798023 0.01424585
+v -0.35552760 -0.10436924 -0.02788491
+v -0.26064663 0.09980132 0.13282867
+v -0.26148323 -0.16644133 0.09126062
+v -0.35488151 0.11196999 -0.01323455
+v -0.32651863 -0.16255953 -0.00064961
+v -0.34185257 -0.11841343 0.00026508
+v -0.29579244 -0.13228852 0.06822935
+f 2 1 4
+f 5 2 4
+f 12 7 3
+f 12 9 6
+f 13 3 7
+f 14 8 5
+f 14 5 4
+f 17 10 4
+f 17 4 1
+f 18 4 10
+f 20 7 11
+f 22 11 7
+f 22 7 12
+f 22 21 11
+f 23 3 13
+f 25 5 8
+f 25 8 15
+f 25 23 5
+f 27 15 8
+f 27 26 16
+f 27 8 26
+f 27 3 15
+f 28 12 3
+f 28 9 12
+f 29 18 10
+f 31 13 7
+f 31 7 20
+f 31 24 13
+f 33 17 1
+f 34 12 6
+f 34 22 12
+f 34 21 22
+f 35 13 24
+f 36 15 3
+f 36 3 23
+f 36 25 15
+f 36 23 25
+f 37 24 31
+f 37 31 20
+f 38 26 8
+f 38 8 14
+f 38 14 4
+f 39 26 38
+f 39 38 4
+f 39 4 18
+f 40 16 26
+f 40 9 28
+f 41 27 16
+f 41 3 27
+f 41 28 3
+f 41 40 28
+f 41 16 40
+f 42 29 6
+f 42 6 9
+f 42 18 29
+f 42 39 18
+f 42 9 39
+f 43 29 10
+f 43 10 17
+f 44 30 1
+f 44 1 2
+f 44 19 30
+f 44 2 32
+f 45 30 19
+f 45 19 11
+f 45 11 21
+f 46 20 11
+f 46 11 19
+f 47 33 1
+f 47 1 30
+f 47 30 45
+f 48 34 6
+f 48 6 29
+f 48 29 43
+f 49 23 13
+f 49 13 35
+f 49 5 23
+f 49 35 24
+f 49 37 5
+f 49 24 37
+f 50 2 5
+f 50 5 37
+f 50 32 2
+f 50 37 20
+f 50 20 32
+f 51 39 9
+f 51 26 39
+f 51 40 26
+f 51 9 40
+f 52 43 17
+f 52 17 33
+f 52 45 21
+f 52 47 45
+f 52 33 47
+f 53 21 34
+f 53 48 43
+f 53 34 48
+f 53 52 21
+f 53 43 52
+f 54 32 20
+f 54 20 46
+f 54 46 19
+f 54 44 32
+f 54 19 44
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/model.xml b/objects/objaverse/tomato/tomato_6/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b305b45aded14add2f75356af24a9a49f8d77d99
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="tomato_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08000000000000003 0.08000000000000003 0.08000000000000003" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="GeneratedMat1.002" texture="image0" specular="0.5" shininess="0.013743655"/>
+    <material name="material_0.112" texture="image0" specular="0.5" shininess="0.534013587"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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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_1_vis" conaffinity="0" contype="0" group="1" material="material_0.112"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-2.3529200000000923e-05 -0.0002553464000000006 -0.039562308800000015" name="bottom_site"/>
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+      <site rgba="0 0 0 0" size="0.005" pos="0.02978235120000001 0.02993242320000001 0.0001702235999999991" name="horizontal_radius_site"/>
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+  </worldbody>
+</mujoco>
diff --git a/objects/objaverse/tomato/tomato_6/visual/material.mtl b/objects/objaverse/tomato/tomato_6/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e6dfcd83300fc78b2bff67f656e7c8f627841a1
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 534.01358700
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/objects/objaverse/tomato/tomato_6/visual/model_normalized_0.obj b/objects/objaverse/tomato/tomato_6/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c05458a26f2a76e775c8d7e94d431baf951138f
--- /dev/null
+++ b/objects/objaverse/tomato/tomato_6/visual/model_normalized_0.obj
@@ -0,0 +1,5264 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file